DE102019115789A1 - Reversing assistance for a combination with a motor vehicle and a trailer - Google Patents

Abstract

To determine a collision angle (γ) of a combination (9) with a motor vehicle (10) and a trailer (11), a target value (Y3) for an articulation angle (Y) of the combination (9) is recorded using a user interface (20) and a The vehicle combination (9) drives backwards as a function of the target value (Y3) by means of a vehicle guidance system (22). A first sensor system (17) detects that a distance between the trailer (11) and a body of the motor vehicle (10) is equal to a predetermined minimum distance. By means of a second sensor system (18) of the motor vehicle (10), a value of the bending angle (Y) corresponding to the minimum distance is determined as the collision angle (Y2) and the collision angle (Y2) is stored by the computing unit (19).

Description

The present invention relates to a method for reversing assistance of a combination with a motor vehicle and a trailer, with a target value for a kink angle of the combination being detected by means of a user interface of the motor vehicle, a corresponding vehicle guidance system and a corresponding computer program. The invention also relates to a method for determining a collision angle of a combination with a motor vehicle and a trailer, a corresponding electronic vehicle guidance system and a corresponding computer program.

When automatically reversing a combination with a motor vehicle and a trailer, it can be advantageous if the reverse movement does not have to be interrupted by moving forward, for example to avoid a collision of the combination with an object or the trailer with the motor vehicle. In particular, it is advantageous if a reduction in the articulation angle of the combination can be achieved at any point in time during reverse travel solely by steering maneuvers and reverse travel, without the need for forward travel. In addition, however, it is important that a collision between the trailer and the motor vehicle is safely and reliably avoided while reversing.

The document DE 100 30 738 C1 relates to an arrangement for determining the articulation angle between a towing vehicle and a trailer. For this purpose, two ultrasonic transducers are installed in the towing vehicle, which send ultrasonic pulses in the direction of the trailer. Reflected ultrasound components are recognized by the transducers and an on-board computer can calculate the articulation angle based on this.

In the document EP 1 459 963 B1 a motor vehicle is specified which has distance sensors by means of which a distance determination is carried out when the trailer is not attached. When the trailer is attached, the distance sensors are used to determine the articulation angle.

Against this background, it is an object of the present invention to provide an improved concept for reversing assistance of a combination with a motor vehicle and a trailer, which makes it possible to carry out an automatic reversing without interruptions by driving forward and at the same time reliably prevent a collision between trailer and motor vehicle.

According to the invention, this object is achieved by a method for determining a collision angle, a method for reversing assistance for a trailer combination, electronic vehicle control systems and computer programs, and a computer-readable storage medium according to the independent claims.

The improved concept is based on the idea of restricting an articulation angle of the combination for reverse travel in such a way that a predetermined minimum distance between the trailer and a body of the motor vehicle is maintained.

According to a first independent aspect of the improved concept, a method for determining a collision angle of a combination with a motor vehicle and a trailer is specified. A target value for an articulation angle of the combination is recorded by means of a user interface of the motor vehicle. The combination is driven backwards as a function of the recorded target value, at least partially automatically by means of an electronic vehicle guidance system of the motor vehicle. By means of a first sensor system of the motor vehicle, it is recognized, in particular while reversing, that a distance between the trailer and a body of the motor vehicle is equal to a predetermined minimum distance. A value of the articulation angle corresponding to the minimum distance is determined as the collision angle by means of a second sensor system of the motor vehicle, in particular at a point in time at which the distance is equal to the predefined minimum distance. The collision angle is stored by means of a computing unit of the motor vehicle, in particular on a storage medium of the motor vehicle or of the electronic vehicle guidance system.

Here and in the following, the combination can be understood to mean the combination of the motor vehicle and the trailer which is attached to the motor vehicle by means of a trailer coupling.

The articulation angle can be understood here and in the following to be an angle which a longitudinal axis of the trailer includes with a longitudinal axis of the motor vehicle. By definition, the articulation angle is, for example, zero if the longitudinal axes of the trailer and the motor vehicle are parallel to one another or on top of one another. In the following, a symmetrical definition of the articulation angle is assumed. This means that the articulation angle can be understood as the absolute value of that angle which the longitudinal axes of the motor vehicle and trailer enclose.

The longitudinal axis or longitudinal axis of the motor vehicle can be understood to mean that axis or direction along which the motor vehicle moves when the steering of the motor vehicle is in a neutral position and the motor vehicle is moving forward. The longitudinal axis or longitudinal axis of the trailer can be understood to mean, for example, an axis along which the motor vehicle and the trailer move when the trailer is attached to the motor vehicle, the steering of the motor vehicle is in the neutral position and the combination drives forward continuously. The longitudinal axis of the trailer can for example correspond to a longitudinal axis of a drawbar of the trailer or be parallel to this.

The target value for the articulation angle is input in particular by a user or driver of the motor vehicle, in particular in or by means of the user interface. For example, depending on the design of the electronic vehicle guidance system, the user can see a representation of the articulation angle or the combination and / or the surroundings of the combination as well as corresponding changes when changes are made to the entered target value. The entered target value represents, in particular, an input variable for the vehicle guidance system for automatically performing reverse travel; for example, the target value can correspond to the single input variable that must be entered by a user in order to initiate reverse travel.

For example, the user can recognize a roadway or obstacles in the vicinity of the combination on the display or the display and accordingly, in particular before the start of reverse travel, select and enter the target value for the articulation angle in order to achieve a desired target position for the combination, which at the end of the reverse travel should be achieved. The target value of the articulation angle can in particular be specified indirectly by the user. This means that the user does not necessarily have to enter a specific numerical value for the articulation angle. The input can in particular take place by appropriate adaptation of a graphic representation by means of an operating element of the vehicle guidance system.

Reverse travel can be understood here and in the following to mean, in particular, a drive of the combination in which a driving force of the motor vehicle acts in the direction of the trailer, so that the motor vehicle pushes the trailer while reversing and in particular does not pull it, as would be the case with forward travel . At a start time of the reverse travel, the combination is at a start position at a target time of the reverse travel at a target position. Reversing is carried out in a single move by means of the vehicle guidance system from the start to the target position, that is to say with only one move, in particular without a forward maneuver or a forward move.

In particular, the articulation angle cannot assume arbitrarily large values in the combination without a collision between the motor vehicle and the trailer taking place. The articulation angle at which the collision takes place is called, for example, jackknife angle or jackknife angle.

The collision angle can be understood here and in the following to be a kink angle at which the collision between the vehicle and the trailer has not yet occurred in that the specified minimum distance is maintained. The collision angle is therefore approximately the folding knife angle. How much the folding knife angle and the collision angle differ from one another depends in particular on the specified minimum distance. The predetermined minimum distance can, for example, be in the order of one or more centimeters, for example in the order of 4 to 30 cm.

The distance between the trailer and the body can in particular be understood as a shortest distance between the trailer and the body, in particular between a firmly defined point or area of the motor vehicle and a point or area, in particular any point or area, of the trailer. The distance thus corresponds, for example, to a minimum distance that any component or part of the trailer has to the defined point or area of the motor vehicle.

The fact that the distance is equal to the minimum distance means in particular that the distance and the minimum distance coincide with the exception of a predetermined, customary or tolerance value to be provided.

Carrying out at least partial reverse travel by means of the vehicle guidance system includes, in particular, automatic control of the steering of the motor vehicle, for example fully automatic control or steering, and can, for example, issue instructions to the user, for example to brake or accelerate the motor vehicle, in particular by means of a visual, acoustic and / or haptic instruction signal to the user. Alternatively or in addition, the vehicle guidance system can also do the braking and / or accelerate the motor vehicle automatically, in particular fully automatically.

In order to carry out the reverse drive automatically, the driver assistance system can, in particular, use an articulation angle sensor of the motor vehicle or of the vehicle guidance system, in particular of the second sensor system, by means of which the articulation angle of the combination can be determined. The articulation angle sensor can, for example, contain a camera or a sensor system built into the trailer coupling for determining an angle of rotation of the trailer relative to the motor vehicle.

The fact that the value of the kink angle corresponding to the minimum distance is determined as the collision angle can in particular be understood to mean that the kink angle is determined at a point in time at which the distance is equal to the predetermined minimum distance and is identified as the collision angle.

One of the jackknife or jackknife angles, at which the trailer and the motor vehicle actually collide, cannot easily be carried out in advance, since the jackknife angle depends on the detailed conditions and geometric configurations of the trailer and the motor vehicle. In particular, a trailer length, trailer shape and contour as well as a motor vehicle length and shape and contour would be included in such a calculation. A preliminary calculation would therefore be inflexible and would have to be laboriously determined for each team.

By means of a method according to the improved concept for determining the collision angle, the collision angle, which approximately corresponds to the jackknife angle, is determined and stored once by means of the sensor systems of the motor vehicle and can thus advantageously be used at any time for future reversing trips. The need for a complex calculation of the jackknife angle is therefore eliminated.

Such a method for determining the collision angle can in particular be viewed as a training phase or training method for a subsequent method for reversing assistance, in particular according to the improved concept. In particular, the collision angle determined by means of the method can be used as a limit value for the articulation angle during a later reversing of the combination.

According to at least one embodiment of the method for determining the collision angle, all, that is to say all, steering maneuvers for controlling the combination are carried out fully automatically by means of the vehicle guidance system while reversing.

In particular, no manual steering maneuver or manual intervention in the steering by the driver or user is required. One advantage of such embodiments is that, due to the controlled conditions that can be implemented by means of fully automatic steering, a more precise determination of the collision angle is possible.

In various embodiments, a speed of the motor vehicle or the trailer combination can be limited by means of the vehicle guidance system or controlled partially or fully automatically by means of the vehicle guidance system while reversing.

According to at least one embodiment, the first and the second sensor system can at least partially use the same sensors in order to determine the distance or the articulation angle. In particular, distance sensors can be used to determine the distance on the one hand and to determine further distances between the trailer and the motor vehicle on the other hand in order to use these further distances as a basis for calculating the articulation angle. Alternatively, different sensors can be used to determine the bending angle and to determine the distance.

According to a further independent aspect of the improved concept, a method for reversing assistance of a combination with a motor vehicle and a trailer is specified, a target value for a kink angle of the combination being detected by means of a user interface of the motor vehicle. A first limit value for the articulation angle is recorded by a computing unit of the motor vehicle, in particular an electronic vehicle guidance system of the motor vehicle, the articulation angle being able to be reduced without the combination moving forward if, in particular precisely when, the articulation angle is less than or equal to a first limit value is. A second limit value for the articulation angle is recorded by the computing unit, a distance between the trailer and a body of the motor vehicle corresponding to a given minimum distance if the articulation angle is equal to the second limit value. The acquired target value is limited to a minimum limit value of the two limit values by means of the arithmetic unit and the combination is reversed depending on the limited target value at least partially automatically by means of the electronic vehicle guidance system of the motor vehicle.

The first limit value corresponds to a maximum reversible articulation angle, which means that it is the angle that the articulation angle must not exceed if it is possible to reduce the articulation angle solely by reversing and steering, i.e. in particular without interrupting reversing by driving forward should be. The fact that the articulation angle can be reduced without moving the combination forwards when the articulation angle is equal to the first limit value can be understood as a definition of the maximum reversible articulation angle.

The calculation of the maximum reversible articulation angle is known per se and in particular requires knowledge of an effective wheelbase of the trailer, in particular a distance between a wheel axle of the trailer and a coupling point between the trailer, in particular a drawbar of the trailer, and the trailer coupling of the motor vehicle. In addition, the maximum reversible articulation angle depends on a distance between the trailer coupling and a rear wheel axle of the motor vehicle, on a wheelbase of the motor vehicle and on a maximum steering angle of the motor vehicle.

In particular, the first limit value can be or have been determined as a collision angle according to one of the embodiments of a method for determining the collision angle according to the improved concept.

If the articulation angle is greater than the first limit value, the articulation angle can, in particular, only be reduced by the fact that the combination interrupts the reverse travel and executes a forward travel move.

The acquisition of the first limit value can include, in particular, a retrieval or loading of a stored value for the first limit value from a storage medium of the electronic vehicle guidance system or a calculation of the first limit value, for example by means of the vehicle guidance system.

Detecting the second limit value can include, for example, calling up or loading the value of the second limit value from the storage medium or determining the second limit value based on a distance measurement using a sensor system of the motor vehicle.

The fact that the distance is equal to the minimum distance when the kink angle is equal to the second limit value can be understood as a definition of the second limit value.

In particular, the distance is greater than the predefined minimum distance when the bending angle is smaller than the second limit value and the distance is smaller than the predefined minimum distance when the bending angle is greater than the second limit value.

The first limit value corresponds in particular to a collision angle, as can be determined according to a method for determining the collision angle according to the improved concept. For example, the first limit value can have been determined by means of a method for determining the collision angle according to the improved concept and stored on the storage medium.

The minimum limit value of the two limit values is given in particular by the first limit value when the first limit value is smaller than the second limit value and by the second limit value when the second limit value is smaller than the first limit value. If the first limit value is equal to the second limit value, then the minimum limit value is also equal to the first and the second limit value.

The fact that the target value is restricted to the minimum limit value can in particular be understood to mean that the recorded target value is only used directly as the target for reversing when the recorded target value is less than or equal to the minimum limit value. In other words, the reverse travel is carried out with the recorded target value as the actual target value for the reverse travel if the recorded target value is smaller than the minimum limit value. If the recorded target value is greater than the minimum limit value, the minimum limit value is used as the actual target value for reversing instead of the recorded target value.

At the same time, this ensures that neither a collision between the motor vehicle and the trailer can occur while reversing, nor can a situation arise in which the articulation angle can only be reduced by driving forward.

On the one hand, this enables efficient automatic maneuvering or reversing, since the actual target value is always less than or equal to the first limit value, i.e. the maximum reversible articulation angle. Reverse travel that is not interrupted by forward travel in order to reduce the articulation angle is particularly efficient and therefore advantageous.

On the other hand, a collision between the trailer and the motor vehicle is also effectively and reliably prevented, since the actual target value is always smaller than or equal to the second The limit value is, in particular, always smaller than the jackknife or jackknife angle. It is particularly important to note that the jackknife or jackknife angle can be smaller or larger than the maximum reversible articulation angle, depending on the geometric conditions of the team. It is therefore an advantage of the method according to the improved concept that neither of the two limit values is exceeded.

In particular, according to the improved concept, a collision must always be prevented without having to drive forward.

According to at least one embodiment of the method for reversing support for the trailer combination, all, that is to say all, steering maneuvers for controlling the trailer combination are carried out fully automatically by means of the vehicle guidance system while reversing.

In particular, it is not necessary for the driver or user of the motor vehicle to intervene in the steering or control of the motor vehicle. In this way, a collision can advantageously be prevented without appropriate intervention and without any attention or reaction on the part of the driver, and this advantageously without driving forward.

According to at least one embodiment of the method for reversing assistance, the speed of the trailer combination is limited to a maximum value while reversing by means of the vehicle guidance system and / or controlled partially or fully automatically by means of the vehicle guidance system.

According to at least one embodiment of the method for assisting the vehicle combination to reverse, the second limit value is determined as the collision angle by means of a method for determining the collision angle according to the improved concept. The method for reversing assistance then contains in particular the method for determining the collision angle. The method for determining the collision angle can in particular take place independently of time, in particular in advance of the other steps of the method for reversing assistance.

In particular, a method for determining the collision angle is carried out according to the improved concept for the trailer combination, the collision angle is stored as a result of the method and the detection of the second limit value in the method for assisting the trailer combination includes reading out the stored collision angle.

According to at least one embodiment of the method for reversing assistance, a training target value for the articulation angle is recorded by means of the user interface. A training backward movement of the combination is carried out at least partially automatically by means of the vehicle guidance system as a function of the training target value. A first sensor system of the motor vehicle is used to detect that a distance between the trailer and the body of the motor vehicle is equal to the predetermined minimum distance. A value of the articulation angle corresponding to the minimum distance is determined as the collision angle by means of a second sensor system of the motor vehicle, and the collision angle is stored on a storage medium by means of the computing unit. The acquisition of the second limit value for the articulation angle includes reading out or loading the stored collision angle from the storage medium.

According to a further independent aspect of the improved concept, an electronic vehicle guidance system for the motor vehicle is specified. The vehicle guidance system has a user interface for detecting a target value for an articulation angle of a combination, the combination containing the motor vehicle and a trailer. The vehicle guidance system is set up to at least partially automatically reverse the vehicle combination as a function of the target value. The vehicle guidance system has a first sensor system which is set up to detect, in particular during reversing, that a distance between the trailer and a body of the motor vehicle is equal to a predetermined minimum distance. The vehicle guidance system has a second sensor system which is set up to determine a value of the articulation angle corresponding to the minimum distance as the collision angle. The vehicle guidance system has a computing unit which is set up to store the collision angle, in particular on a storage medium of the vehicle guidance system or of the motor vehicle.

According to at least one embodiment of the electronic vehicle guidance system, the first sensor system has a radar system, an optical distance sensor system, a lidar system and / or an ultrasonic sensor system in order to determine the distance between the trailer and the body.

According to the respective embodiment, the sensor system is set up, for example, to emit radio waves, light and / or ultrasonic waves and to detect reflected portions of the radio waves, light and / or ultrasonic waves and to determine the distance between the trailer and the body based on the recorded reflected portions.

For this purpose, sensors can advantageously be used which are also provided or are used for other applications. In particular, sensors of the first sensor system can serve as general distance sensors for determining a distance between the motor vehicle and an obstacle or object in the vicinity of the motor vehicle. This results in a synergy effect through the use of the same sensors for different purposes and a corresponding reduction in costs for the overall system and the motor vehicle.

According to at least one embodiment of the vehicle guidance system, the second sensor system has a camera system in order to determine the articulation angle.

According to at least one embodiment, the second sensor system, in order to determine the articulation angle, has a rotation angle sensor system which is installed in a trailer coupling for connecting the trailer to the motor vehicle.

In at least one embodiment of the vehicle guidance system, the second sensor system can access the radar system, the optical distance sensor system, the lidar system and / or the ultrasound system of the first sensor system in order to determine at least one further distance between the trailer and the body. The computing unit is set up, for example, to calculate the articulation angle based on the distance and / or the at least one further distance.

According to a further independent aspect of the improved concept, a motor vehicle is specified which has an electronic vehicle guidance system according to the improved concept.

According to a further independent aspect of the improved concept, a further electronic vehicle guidance system for a motor vehicle is specified, which has a user interface for detecting a target value for an articulation angle of a combination, the combination containing the motor vehicle and a trailer. The vehicle guidance system has a computing unit which is set up to detect a first limit value for the articulation angle, the articulation angle being able to be reduced without moving the combination forward if the articulation angle is equal to or less than the first limit value. The arithmetic unit is set up to detect a second limit value for the articulation angle, a distance between the trailer and a body of the motor vehicle corresponding to a given minimum distance when, in particular precisely when, the articulation angle is equal to the second limit value. The computing unit is set up to limit the recorded target value to a minimum limit value of the two limit values. The vehicle guidance system is set up to at least partially automatically reverse the vehicle combination as a function of the restricted target value.

According to at least one embodiment of the further electronic vehicle guidance system, the vehicle guidance system is set up to carry out all steering maneuvers for controlling the trailer combination fully automatically while reversing.

According to at least one embodiment of the further electronic vehicle control system, the user interface is set up to detect a training target value for the articulation angle and the vehicle control system is set up to at least partially automatically perform a training reverse travel of the trailer combination depending on the training target value. The vehicle guidance system has a first sensor system which is set up to recognize, in particular during the backward movement for training, that the distance between the trailer and the body is equal to the predetermined minimum distance. The vehicle guidance system has a second sensor system which is set up to determine a value of the articulation angle corresponding to the minimum distance as the collision angle. The computing unit is set up to store the collision angle, in particular on a storage medium of the vehicle guidance system or the motor vehicle, and to detect the collision angle as the second limit value, in particular by reading or loading the stored collision angle from the storage medium.

According to a further independent aspect of the improved concept, a motor vehicle is specified which has a further electronic vehicle guidance system according to the improved concept.

According to a further independent aspect of the improved concept, a computer program with instructions is specified. When the computer program is executed by an electronic vehicle control system according to the improved concept, in particular a computing unit of the electronic vehicle control system, the commands cause the electronic vehicle control system to carry out a method for determining a collision angle according to the improved concept.

According to a further independent aspect of the improved concept, a further computer program is specified which has commands that, when the further computer program is executed by a computer system, in particular by a computing unit of a further electronic vehicle control system according to the improved concept, the computer system, in particular the electronic Vehicle guidance system to carry out a method for reversing assistance according to the improved concept.

According to a further independent aspect of the improved concept, a computer-readable storage medium is specified on which a computer program or another computer program according to the improved concept is stored.

Further embodiments of the electronic vehicle guidance system follow directly from the various embodiments of the method for determining a collision angle according to the improved concept and vice versa. In particular, the electronic vehicle guidance system is designed or programmed to carry out a method for determining a collision angle according to the improved concept, or the electronic vehicle guidance system carries out such a method.

Further embodiments of the further electronic vehicle guidance system follow directly from the various embodiments of the method for reversing assistance according to the improved concept and vice versa. In particular, the further electronic vehicle control system is designed or programmed to carry out a method for reversing assistance according to the improved concept, or the further electronic vehicle control system carries out such a method.

Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the specified combination, but also in other combinations without departing from the scope of the invention . Embodiments of the invention that are not explicitly shown and explained in the figures, but emerge and can be generated from the explained embodiments by means of separate combinations of features, are thus also to be regarded as being covered and disclosed. Designs and combinations of features are also to be regarded as disclosed, which therefore do not have all the features of an originally formulated independent claim. In addition, designs and combinations of features, in particular through the statements set out above, are to be regarded as disclosed that go beyond the combinations of features set forth in the back-references of the claims or differ from them.

The invention is explained in more detail below on the basis of specific exemplary embodiments and associated schematic drawings. Identical or functionally identical elements are provided with the same reference symbols in the figures. The description of identical or functionally identical elements may not necessarily be repeated in different figures.

• 1 ein Ablaufdiagramm einer beispielhaften Ausführungsform eines Verfahrens zur Bestimmung eines Kollisionswinkels nach dem verbesserten Konzept sowie einer beispielhaften Ausführungsform eines Verfahrens zur Rückfahrunterstützung nach dem verbesserten Konzept;
• 2 ein Gespann aus einem Kraftfahrzeug und einem Anhänger;
• 3 ein Gespann aus einem Anhänger und einem Kraftfahrzeug, welches eine beispielhafte Ausführungsform eines elektronischen Fahrzeugführungssystems nach dem verbesserten Konzept aufweist;
• 4 Situationen, die beim Rückwärtsfahren eines Gespanns auftreten können;
• 5 eine weitere Situation, die beim Rückwärtsfahren eines Gespanns auftreten kann

Show:

• 1 a flowchart of an exemplary embodiment of a method for determining a collision angle according to the improved concept and an exemplary embodiment of a method for reversing assistance according to the improved concept;
• 2 a combination of a motor vehicle and a trailer;
• 3 a combination of a trailer and a motor vehicle, which has an exemplary embodiment of an electronic vehicle guidance system according to the improved concept;
• 4th Situations that can occur when reversing a combination;
• 5 another situation that can occur when reversing a trailer

In 2 is a team 9 from a motor vehicle 10 and a trailer 11 shown being the trailer 11 on a trailer coupling 12 , the motor vehicle 10 is connected to this. The car 10 has two wheel axles 14th , 15th and has a wheelbase R, which is a distance between the wheel axles 14th , 15th corresponds. The team 9 also has an effective trailer wheelbase R 'which, for example, is a distance between a wheel axle 13th of the trailer 11 and the trailer hitch 12 corresponds. The trailer coupling is in particular a fulcrum of the combination 9 represent.

In 3 is also a team 9 from a motor vehicle 10 and a trailer 11 shown, referring to the remarks too 2 is referred.

The car 10 has an electronic vehicle guidance system 22nd on. The electronic vehicle guidance system 22nd includes a first sensor system 17th which contains, for example, one or more distance sensors, in particular distance sensors of a radar system, a lidar system, an ultrasonic sensor system or an optical distance sensor system.

The vehicle guidance system 22nd also has a second sensor system 18th which has, for example, a camera system or a rotation angle sensor system or articulation angle sensor system. in the 3 is the second sensor system 18th for example shown as a camera system and on a rear of the motor vehicle 10 arranged. In alternative embodiments, the second sensor system 18th be designed as a rotation angle system and on or in the trailer coupling 12 be installed to a rotation angle of the team 9 and use it to measure its bending angle.

The vehicle guidance system 22nd also has a computing unit 19th on as well as a user interface 20th and optionally a storage medium 21st .

How the electronic vehicle guidance system works 22nd will be referred to below with reference to 1 explained.

In 1 an exemplary embodiment of a method for reversing assistance according to the improved concept is shown as a flowchart. The process steps represent 1 to 5 represents an exemplary embodiment of a method for determining a collision angle according to the improved concept. In this special embodiment, the method for determining the collision angle is thus part of the method for reversing assistance. In alternative embodiments, these two methods can be separate from one another or provided independently of one another.

In step 1 of the method is a user of the motor vehicle 10 for example a training target value for an articulation angle γ of the combination 9 by means of the user interface 20th one, for example 50 °. The kink angle Y corresponds to an angle formed by a longitudinal axis 15th of the trailer 11 with a longitudinal axis 16 of the motor vehicle 10 includes, as in 3 shown. The training target value is obtained, for example, from the computing unit 19th detected.

The arithmetic unit 19th can for example be the computer-readable storage medium 21st read out in order to carry out a program stored on it, which the processing unit 19th and / or the vehicle guidance system 22nd prompted to carry out steps of the respective procedure.

In step 2 of the method is carried out by means of the computing unit 19th a backward training ride for the team 9 carried out automatically, with all steering maneuvers during the training reversing fully automatically by the vehicle guidance system 22nd , controlled by the computing unit 19th to be executed.

In particular, the training target value is used as the target value for the articulation angle γ of the training reversing. That is, the vehicle guidance system 22nd tries to reverse the training exercise in such a way that the training target value for the articulation angle Y is reached.

Using the first sensor system 17th can be the distance between the trailer 11 and a body of the motor vehicle 10 determined or monitored. The distance can be, for example, at an initial kink angle Y of 0 ° 90 cm, and when the kink angle Y is increased, for example, to 15 ° or 25 °, it can be reduced to 60 cm or 40 cm.

In step 4th of the method is carried out by means of the first sensor system 17th recognized that the distance between the trailer 11 and the body of the motor vehicle 10 is equal to a predetermined minimum distance. The minimum distance corresponds to a predefined distance which, by definition, should not or must not be undershot, so that a collision between motor vehicles 10 and trailers 11 can be safely excluded. The minimum distance can, for example, be between 1 cm and 50 cm, for example 25 cm.
In step 4th the method is also carried out by means of the second sensor system 18th of the motor vehicle 10 determines the kink angle Y belonging to the specified minimum distance. To do this, the articulation angle Y is measured when the distance between trailers 11 and body is equal to the minimum clearance. In the numerical example given, this can correspond to a kink angle γ of 40 °.

In step 5 of the method, the bending angle γ measured in this way, that is to say the correspondingly determined collision angle γ2, is used as the second limit value γ2 by means of the computing unit 19th on the storage medium 21st saved. The training backward travel and the method for determining the collision angle γ2 are thus ended and a later reverse travel is imminent.

In step 6th of the method, a first limit value γ1 and the second limit value γ2 are determined by the computing unit 19th detected.

The first limit value γ1 corresponds, for example, to a minimal reversible bending angle. The minimum reversible kink angle corresponds to the angle that the articulation angle Y is allowed to assume, so that a reduction in the articulation angle Y can be achieved during reverse travel without interrupting reverse travel by traveling forward. That is, as long as the articulation angle Y is smaller than the first limit value γ1, the vehicle guidance system can 22nd Carry out reverse travel in such a way that the articulation angle Y can only be reduced by steering and reversing. The first limit value γ1 can be 60 °, for example.

A jackknife corner of the team 9 For example, corresponds to an angle at which a trailer collision 11 by motor vehicle 10 he follows. If the articulation angle Y is smaller than the jackknife angle, no collision occurs, whereas the collision occurs as soon as the articulation angle γ reaches or exceeds the jackknife angle. The collision angle γ2 therefore corresponds approximately to the jackknife angle, but is somewhat smaller than the latter.

The jackknife angle, and thus the collision angle or the second limit value γ2, can, depending on the length and other geometric properties of the trailer 11 and / or the motor vehicle 10 be smaller or larger than the first limit value γ1. For explanation is in 4th a situation is shown in which the first limit value γ1 is smaller than the jackknife angle. In 5 is shown a situation in which the trailer 11 longer than in 4th and therefore the jackknife angle is smaller than the first limit value γ1.

In step 7th of the method, the first limit value γ1 with the second limit value γ2 by means of the computing unit 19th compared. In step 8th manages the electronic vehicle guidance system 22nd the backward movement of the team 9 at least partially automatically in such a way that the articulation angle Y falls to the minimum of the two limit values Y1 , γ2 is restricted. This means that neither the limit value γ1 nor the second limit value γ2 are exceeded while reversing.

This ensures, on the one hand, that the articulation angle Y can be reduced at any point in time during reverse travel solely by reversing and steering, and that there is also a collision of the motor vehicle 10 with the trailer 11 According to the improved concept, for example, an impending jackknife collision or jackknife collision of a combination of a vehicle and a trailer can be detected with the aid of distance sensors. Based on this detection, a bending angle request from a user can be effectively limited so that the collision is prevented.

One advantage of the improved concept is that the corresponding collision angle only has to be determined once for the combination in a training phase and can be used as a limit value in later reversing trips. When reversing later, automatic braking by the vehicle guidance system that may surprise the user in order to avoid the collision is generally no longer necessary. Rather, when reversing later, the articulation angle is kept smaller than the collision angle from the outset. This increases the comfort for the user.

QUOTES INCLUDED IN THE DESCRIPTION

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Patent literature cited

• DE 10030738 C1 [0003]
• EP 1459963 B1 [0004]

Claims (15)

Method for determining a collision angle (Y2) of a combination (9) with a motor vehicle (10) and a trailer (11), characterized in that - a target value (Y3) for an articulation angle (Y) of the combination (9) by means of a user interface (20) of the motor vehicle (10) is detected; - A reverse travel of the combination (9) as a function of the target value (Y3) is carried out at least partially automatically by means of an electronic vehicle guidance system (22) of the motor vehicle (10); - by means of a first sensor system (17) of the motor vehicle (10) it is recognized that a distance between the trailer (11) and a body of the motor vehicle (10) is equal to a predetermined minimum distance; - A value of the articulation angle corresponding to the minimum distance is determined as the collision angle (Y2) by means of a second sensor system (18) of the motor vehicle (10); and - the collision angle (Y2) is stored by means of a computing unit (19) of the motor vehicle (10). Procedure according to Claim 1 , characterized in that while reversing is carried out, all steering maneuvers for controlling the combination (9) are carried out fully automatically by means of the vehicle guidance system (22). Method for reversing support for a combination (9) with a motor vehicle (10) and a trailer (11), wherein a target value (Y3) for an articulation angle (Y) of the combination (9) is recorded by means of a user interface (20) of the motor vehicle (10) becomes; characterized in that - a first limit value (Y1) for the articulation angle (Y) is recorded by a computing unit (19) of the motor vehicle (10), the articulation angle (Y) being able to be reduced without the combination (9) moving forward if the articulation angle (γ) is less than or equal to the first limit value (Y1); - A second limit value (Y2) for the articulation angle (γ) is detected by the arithmetic unit (19), a distance between the trailer (11) and a body of the motor vehicle (10) corresponding to a predetermined minimum distance if the articulation angle (Y) is equal to the second limit value (Y2); - the detected target value (Y3) is limited to a minimum limit value of the two limit values (Y1, γ2) by means of the computing unit (19); and - the combination (9) is driven backwards as a function of the restricted target value (Y3), at least partially automatically by means of an electronic vehicle guidance system (22) of the motor vehicle (10). Procedure according to Claim 3 , characterized in that while reversing is carried out, all steering maneuvers for controlling the combination (9) are carried out fully automatically by means of the vehicle guidance system (22). Method according to one of the Claims 3 or 4th , characterized in that the second limit value (Y2) as a collision angle (Y2) by means of a method according to one of the Claims 1 or 2 is determined. Electronic vehicle control system for a motor vehicle (10), - having a user interface (20) for detecting a target value (Y3) for an articulation angle (Y) of a combination (9), the combination (9) containing the motor vehicle (10) and a trailer ( 11); and - set up to carry out a reverse drive of the combination (9) at least partially automatically as a function of the target value (Y3); characterized in that the vehicle guidance system (22) has a first sensor system (17) designed to recognize that a distance between the trailer (11) and a body of the motor vehicle (10) is equal to a predetermined minimum distance; and - has a second sensor system (18) set up to determine a value of the articulation angle (Y) corresponding to the minimum distance as the collision angle (Y2); - Has a computing unit (19) set up to store the collision angle (Y2). Electronic vehicle guidance system according to Claim 6 , characterized in that the first sensor system (17) has a radar system, an optical distance sensor system, a lidar system and / or an ultrasonic sensor system in order to determine the distance between the trailer (1) and the body. Electronic vehicle guidance system according to one of the Claims 6 or 7th , characterized in that the second sensor system (18) has a camera system to determine the articulation angle (Y). Electronic vehicle guidance system according to one of the Claims 6 to 8th , characterized in that the second sensor system (18) has a rotation angle sensor system which is installed in or on a trailer coupling (12) of the motor vehicle (10) for connecting the trailer (11) to the motor vehicle (10). Electronic vehicle guidance system for a motor vehicle (10), having a user interface (20) for detecting a target value (Y3) for an articulation angle (γ) of a combination (9), the combination (9) containing the motor vehicle (10) and a trailer (11); characterized in that the vehicle guidance system (22) - has a computing unit (19) set up to - detect a first limit value (Y1) for the articulation angle (Y), the articulation angle (Y) without the vehicle combination (9) moving forward can be reduced if the articulation angle (γ) is less than or equal to the first limit value (Y1); - To detect a second limit value (Y2) for the articulation angle (Y), a distance between the trailer (11) and a body of the motor vehicle (10) corresponding to a predetermined minimum distance if the articulation angle (Y) is equal to the second limit value (Y2 ) is; and - to limit the detected target value (Y3) to a minimum limit value of the two limit values (Y1, Y2); and - is set up to carry out at least partially automatic reverse travel of the combination (9) as a function of the restricted target value (Y3). Electronic vehicle guidance system according to Claim 10 , characterized in that the vehicle guidance system (22) is set up to carry out all steering maneuvers for controlling the combination (9) fully automatically while reversing. Electronic vehicle guidance system according to one of the Claims 10 or 11 , characterized in that - the user interface (20) is set up to record a training target value for the articulation angle (γ); - The vehicle guidance system (22) is set up to at least partially automatically carry out a training reverse travel of the combination (9) as a function of the training target value; - The vehicle guidance system (22) has a first sensor system (17) designed to recognize that the distance between the trailer (11) and the body is equal to the predetermined minimum distance; and - the vehicle guidance system (22) has a second sensor system (18) set up to determine a value of the articulation angle (Y) corresponding to the minimum distance as the collision angle (Y2); - The arithmetic unit (19) is set up to store the collision angle (Y2) and to detect the collision angle (Y2) as the second limit value (Y2). Computer program with instructions which, if the computer program from an electronic vehicle control system (22) to one of the Claims 6 to 9 or after Claim 12 is performed, cause the electronic vehicle guidance system (22) to implement a method according to one of the Claims 1 , 2 or 5 perform. Computer program with instructions which, when the computer program is from a computer system, in particular from a computing unit (19) of an electronic vehicle control system (22) according to one of the Claims 10 or 11 , is executed, the computer system a method according to one of the Claims 3 or 4th perform. Computer-readable storage medium on which a computer program according to one of the Claims 13 or 14th is stored.

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