DE102019216686A1 - Procedure for safely towing a vehicle - Google Patents

Abstract

A method for safely towing a vehicle is proposed, which has the following steps: determining that a vehicle (1) is in a towing state, continuous recording of at least one item of distance information from the vehicle (1) and / or a relative speed to an object (2) located behind the vehicle (1) and / or to other attributes that describe the physical conditions by means of an environment sensor system (12) of the vehicle (1); - automatic longitudinal control and, optionally, additional automatic lateral control of the vehicle (1 ) depending on the detected distance information and / or relative speed and / or on further attributes that describe the physical conditions.

Description

The invention relates to a method for safely towing a vehicle. Furthermore, a device for safely towing a vehicle is specified, as well as a vehicle with such a device.

State of the art

Although motor vehicles are becoming more and more reliable, there are always situations in which, for example, the drive of a vehicle fails and the vehicle cannot leave its position on its own. In these situations, the broken-down vehicle is often towed away with the help of another vehicle (towing vehicle). Either a tow rope or a tow bar are typically used to transmit power to the broken-down vehicle. Due to the small distance between the towed vehicle and the towing vehicle, there are recurring rear-end collisions with the towing vehicle, especially if the braking force assistance has failed due to the lack of engine running in the towed vehicle. Even when using a tow bar, rear-end collisions cannot be ruled out, since the tow bar cannot always be aligned in the longitudinal direction of the towing vehicle due to lateral movements of the vehicle and braking forces can therefore only be partially transferred to the towed vehicle. Manual lateral guidance of the towed vehicle is also difficult under certain circumstances, as the view to the front is restricted by the towing vehicle and the small distance.

The disclosure document DE 10 2015 201 981 A1 shows a method in which first distance values of a vehicle to an object located in front of the vehicle, such as a towing vehicle, are recorded over a specific time interval. It is determined that the vehicle is in a safe towing state if the detected distance values are within a predetermined distance range. In this case, an emergency braking assistance function is deactivated.

Disclosure of the invention

The invention is intended to keep the distance between the vehicles within a very limited framework during a towing operation and thereby avoid rear-end collisions. In addition, an optionally provided transverse guidance of the towing vehicle enables the towing vehicle to be tracked accurately.

The core of the invention is the automated distance and, if necessary, lateral control of the towing vehicle based on at least one environment sensor during a towing process.

• - Feststellen, dass sich das Fahrzeug in einem abschleppenden Zustand befindet,
• - fortlaufendes Erfassen von mindestens einer Abstandsinformation des Fahrzeugs und/oder einer Relativgeschwindigkeit zu einem hinter dem Fahrzeug befindlichen Objekt und/oder von weiteren Attributen, die die physikalischen Gegebenheiten beschreiben, mittels einer Umfeldsensorik des Fahrzeugs;
• - automatische Längsregelung und optional zusätzlich automatische Querregelung des Fahrzeugs abhängig von der erfassten Abstandsinformation und/oder der erfassten Relativgeschwindigkeit und/oder von erfassten weiteren Attributen, die die physikalischen Gegebenheiten beschreiben.

According to a first aspect of the invention, a method for safely towing a vehicle is proposed which has the following steps:

• - Establishing that the vehicle is in a towing condition,
• - Continuous acquisition of at least one item of distance information from the vehicle and / or a relative speed to an object located behind the vehicle and / or of further attributes that describe the physical conditions by means of an environment sensor system of the vehicle;
• - Automatic longitudinal regulation and, optionally, additional automatic transverse regulation of the vehicle as a function of the recorded distance information and / or the recorded relative speed and / or recorded further attributes that describe the physical conditions.

• - Eine Umfeldsensorik zum kontinuierlichen Erfassen mindestens einer Abstandsinformation und/oder einer Relativgeschwindigkeit des Fahrzeugs zu einem hinter dem Fahrzeug befindlichen Objekt, und/oder von weiteren Attributen, die die physikalischen Gegebenheiten beschreiben;
• - einer Steuereinheit, die ausgebildet ist,
  • - festzustellen, dass sich das Fahrzeug in einem abschleppenden Zustand befindet, und
  • - in einem abschleppenden Zustand ein Längsregelungssystem und optional zusätzlich ein Querregelungssystem des Fahrzeugs abhängig von der Abstandsinformation und/oder der Relativgeschwindigkeit und/oder von erfassten weiteren Attributen, die die physikalischen Gegebenheiten beschreiben anzusteuern.

According to a second aspect of the invention, a device for safely towing a vehicle is proposed which comprises:

• An environment sensor system for continuously detecting at least one item of distance information and / or a relative speed of the vehicle to an object located behind the vehicle, and / or of further attributes that describe the physical conditions;
• - a control unit which is designed,
  • - determine that the vehicle is in a towing condition, and
  • - in a towing state, a longitudinal control system and optionally also a lateral control system of the vehicle to be controlled depending on the distance information and / or the relative speed and / or other recorded attributes that describe the physical conditions.

According to a third aspect of the invention, a vehicle is proposed which has a device designed according to the invention for safe towing. The vehicle is preferably a road vehicle, in particular a car or truck.

The object behind the vehicle can in particular be the act towed vehicle or part of the towed vehicle.

The environment sensor system includes at least one environment sensor, which can be designed as a stereo camera, for example. Alternatively or additionally, the environment sensor system can include further environment sensors, for example one or more ultrasonic sensors and / or radar sensors and / or lidar sensors. In particular, the environment sensor system comprises at least one sensor unit for contactless detection of a distance between the vehicle and an object located behind the vehicle, a sensor unit for contactless detection of a distance being designed, in particular, as a camera unit and / or as an acoustic sensor unit and / or as a radar sensor unit. A distance measurement by means of an acoustic sensor unit, for example an ultrasonic sensor or a radar sensor unit, takes place, for example, according to the known pulse-echo principle, with an acoustic or electromagnetic signal, for example, being transmitted by the sensor unit, the signal being reflected on the object located behind the vehicle and the reflected echo signal is received by the sensor unit that sent the signal or a separate receiver unit. A distance can thus be calculated in a known manner from the transit time of the echo signal and the known propagation speed of the signal. A stereo camera can also be used to determine a distance between the vehicle and an object located behind the vehicle. The environment sensor system can include several environment sensors, in particular several environment sensors of different sensor types. For example, the environment sensor system can include a stereo camera and at least one ultrasonic sensor. In one possible embodiment, the longitudinal regulation can take place as a function of measurement data that are recorded by a first environment sensor, and the lateral regulation can take place as a function of measurement data that are recorded by a second environment sensor. Alternatively, the longitudinal control and the lateral control can be carried out depending on measurement data that are recorded by the same environment sensor, for example a stereo camera that, for example, records information about the distance as well as about the relative position of the vehicle and the towing vehicle. Alternatively or additionally, a sensor which is designed to measure the direction and / or the load of a tow bar or a tow rope can be provided as the environment sensor.

A towing state is understood to mean a state of the vehicle in which the vehicle is connected to a vehicle pulled behind the vehicle, the towed vehicle, by means of a towing device, such as a tow rope or a tow bar, and the vehicle is pulling or is about to close it pull. The towing vehicle is also referred to below as the towing vehicle.

In the context of the invention, distance information can be understood to mean any information about the current driving situation that describes the distance as well as the relative alignment and the relative movement between the towed vehicle and the towing vehicle. The distance information can include, for example, one or more distance values, the relative orientation, in particular a lateral offset with respect to the towing vehicle, and / or the relative acceleration of the towed vehicle and the towing vehicle.

The relative speed can describe the current speed difference between the towed vehicle and the towing vehicle.

Further attributes that describe the physical conditions can also be recorded. This can mean, for example, further movement variables or abstract measured variables. As further attributes that describe the physical conditions, e.g. a relative acceleration between the towing vehicle and the towed vehicle and / or the change in size can be recorded in a video image.

A longitudinal regulation of the vehicle is understood to mean, in particular, regulated acceleration and / or regulated deceleration of the vehicle. The longitudinal control system can accordingly be represented, for example, by the drive of the vehicle and / or a brake system and / or a component of the brake system. Such an automated distance control can drastically reduce the probability of a rear-end collision between the towed vehicle and the towing vehicle. A driver who remains in the towed vehicle can thus concentrate better on the overall traffic situation. When using a tow bar, the power transmission through the bar can also be reduced during a braking maneuver. This also reduces the risk of skidding and collision with the towing vehicle.

If, for example, a rope and not a tow bar is used for the connection and power transmission between the towed vehicle and the towing vehicle, the automated longitudinal control can preferably be carried out in such a way that the rope is prevented from sagging Towing vehicle cannot jerk or break the rope.

Lateral regulation of the vehicle is understood to mean, in particular, a regulated change in direction, in particular by means of a steering system as the lateral regulation system of the vehicle. According to the invention, an automated transverse control can also be provided, but is not absolutely necessary. It can be provided that no automated lateral control takes place, i.e. the driver of the towing vehicle must carry out all steering processes himself. Alternatively, it can be provided that, if necessary, an additional automated transverse control takes place. Alternatively, the entire lateral regulation of the vehicle can also be automated. The optional additional lateral control of the towing vehicle can also take place as a function of the distance information detected by at least one environment sensor and can thus advantageously enable the towed vehicle to follow the towing vehicle with high accuracy. For example, the towing vehicle can react immediately to lateral movements of the towed vehicle. This efficiently reduces the likelihood of a collision with objects to the side of the towed vehicle. In a preferred embodiment of the invention, the distance information includes at least one lateral offset between the towed vehicle and the towing vehicle. The automatic longitudinal control and automatic lateral control of the towing vehicle are carried out in such a way that this lateral offset is minimized. This ensures that the towed vehicle follows the towing vehicle as accurately as possible. This in particular avoids collisions with objects on the side.

Furthermore, it is conceivable that the longitudinal and / or transverse regulation of the vehicle being towed also takes place in a completely automated manner during the towing process. In this way, no driver has to be present in the towed vehicle during the towing process.

In a preferred embodiment of the invention, the distance information comprises at least one distance value from the vehicle to an object located behind the vehicle, for example the towed vehicle or a part of the towed vehicle. The environment sensor system of the towing vehicle includes at least one distance sensor. The distance value is continuously recorded by means of the distance sensor. The automatic longitudinal regulation and the automatic transverse regulation of the towing vehicle now take place in such a way that the distance value remains within a certain distance range.

An upper value of the distance range and a lower value of the distance range can preferably be set, for example by a user input or by a system specification adapted to the vehicle and / or the situation. Particularly preferably, the upper value of the distance range and the lower value of the distance range can be determined dynamically, that is to say changed if necessary during the towing process. Furthermore, the difference between the upper value of the distance range and the lower value of the distance range can preferably be adapted in real time to a driving situation of the vehicle, in particular a current driving speed of the vehicle.

This has the advantage that the longitudinal regulation and, if necessary, the automatic transverse regulation of the towing vehicle can be adapted to a current situation.

The determination that the vehicle is in a towing state can preferably take place by means of an environment sensor system of the vehicle and / or on the basis of current vehicle data. For example, the environment sensors can be used to detect that there is another vehicle behind the vehicle, namely the vehicle being towed, and that a towing device, e.g. a rope, is stretched or a tow bar is arranged between the vehicle being towed and the vehicle being towed. Additionally or alternatively, for example, car-to-car communication (C2C) can provide vehicle data from the towed vehicle to the towing vehicle which contain the information that this vehicle is not in a driving-wide state and therefore needs to be towed. For this purpose, a sensor unit and / or an interface for querying current vehicle data can preferably be provided, the control unit being designed to determine that the vehicle is in a towing state by evaluating measurement data from the sensor unit and / or evaluating current vehicle data. The sensor unit can be, for example, a sensor unit of the environment sensor system. Alternatively or additionally, a sensor unit designed separately for the purpose of recognizing a towing state can be provided. For example, it can be detected by the sensor unit that a towing device, such as a tow rope or a tow bar, is arranged between the vehicle and a towed vehicle.

Additionally or alternatively, vehicle data from the towed vehicle can be sent to the vehicle using car-to-car communication (C2C), for example towing vehicle are provided which contain information that allow the transverse and / or longitudinal guidance of the towing vehicle to be adapted as a function of the information. For example, the towed vehicle can also have an automated longitudinal and / or lateral control, by means of which the towing process is additionally supported. In this way, the interaction between the two vehicles can advantageously be improved. For example, the acceleration or speed of the towing vehicle can be limited if a controller of the towed vehicle reaches its limits.

Alternatively or additionally, the determination that the vehicle is in a towing state can take place in that an input is recorded, in particular via a human-machine interface (“human-machine interface” or HMI). For this purpose, the device according to the invention can preferably have an input unit, in particular a man-machine interface (HMI). The control unit can be designed to determine that the vehicle is in a towing state in that a user input is recorded via the human-machine interface (HMI). For example, a switch or another user interface can be provided in the vehicle, which a driver or another user can activate. When this occurs, it is determined that the vehicle is in a towing state, that is to say is acting as a towing vehicle.

In a preferred embodiment of the invention, the environment sensor system also comprises at least one further sensor unit for detecting a towing force transmitted via a towing device. The automatic longitudinal regulation and / or the automatic transverse regulation of the vehicle can thus also take place as a function of the recorded towing force. In this way, forces can be avoided which would damage or tear off the towing device.

In an advantageous embodiment of the invention, a towing force transmitted via a towing device, usually a rope or a rod, can also be detected and the automatic longitudinal control and automatic transverse control of the vehicle also take place as a function of the detected towing force. For example, it can be prevented that the towing device tears or is deformed in such a way that power transmission can no longer take place.

In a further preferred embodiment of the invention, an additional environment sensor system can also be provided on the towing vehicle, which is oriented towards the front, that is to say monitors the area in front of the towing vehicle. With the help of such an environment sensor system, the automatic longitudinal regulation of the vehicle can be adapted as a function of the monitoring. For example, braking maneuvers can be foreseen so that the speed can be reduced in good time in order to reduce the maximum required deceleration and to enable smoother braking.

In a further preferred embodiment of the invention, further assistance functions of the towing vehicle (e.g. ACC, AEB, LKS, ...) can be automatically deactivated when it is determined that the vehicle is in a towing state. This can prevent these assistance functions from intervening in the automatic longitudinal control and / or the optional additional automatic lateral control of the vehicle and hindering the towing process.

In a further preferred embodiment of the invention, an activation of the rear lights of the towing vehicle can also be adapted and the towing process for the driver of the towed vehicle can thus be improved.

For example, it would be conceivable to activate the brake lights of the towing vehicle shortly before an upcoming braking process in order to allow the driver of the towed vehicle to react for additional time and to enable a brake to be actuated. In particular, the state of a towing device, for example a tow rope, which is determined by the environment sensor system, can also flow into this control of the rear lights. If, for example, sagging of the tow rope is already detected before a pending braking process, the brake lights can be activated even earlier than with a taut tow rope. Further parameters that can be taken into account when activating the rear lights are distance, relative speed and relative acceleration as well as recorded previous reaction times of the towed vehicle.

It is also possible to adaptively regulate the light output of the rear lights in the dark in order to exclude potentially dangerous dazzling of the driver of the towed vehicle.

Figure list

• 1 shows an exemplary embodiment of a method for safely towing a vehicle as a flowchart.
• 2 shows schematically a device for the safe towing of a vehicle according to an embodiment of the invention.
• 3 shows a first exemplary scenario for explaining a method for safely towing a vehicle.
• 4th shows a second exemplary scenario for explaining a method for safely towing a vehicle.

Embodiments of the invention

In the following description of the exemplary embodiments of the invention, the same elements are denoted by the same reference numerals, and a repeated description of these elements may be dispensed with. The figures represent the subject matter of the invention only schematically.

1 shows a possible embodiment of a method for safely towing a vehicle 1 .

In a first process step 100 it is checked whether the vehicle is 1 is in a towing state. For example, a state of an operating element of a man-machine interface can be used for this purpose 19th of the vehicle 1 be queried. Will in step 120 found that there is no towing condition, the method begins again at step 100 . Will in step 120 it is determined that a towing condition is present, then in a subsequent step 130 at least one piece of distance information and a relative speed of the vehicle 1 to one behind the vehicle 1 located object, especially the towed vehicle 2 , by means of an environment sensor system of the vehicle 1 continuously recorded. In this example, the distance information includes a distance d between the towing vehicle traveling in front 1 and the towed vehicle 2 as well as information about a lateral displacement of the towing vehicle 1 regarding the towed vehicle 2 . You can also get information about the speed of the vehicle 1 and / or the speed of the towing vehicle 1 and / or the acceleration of the vehicle 1 and / or the acceleration of the towing vehicle 1 and / or a relative speed between the towed vehicle 2 and the towing vehicle 1 and / or a relative acceleration between the towed vehicle 2 and the towing vehicle 1 are recorded.

In a subsequent step 140 becomes the detected distance d of the vehicle 1 to the towed vehicle 2 checked to that effect whether the distance d is within a certain distance range [d _min , d _max] . In step 150 there is an automatic longitudinal regulation of the vehicle 1 depending on the detected distance d, in such a way that the distance value d remains within the determined distance range.

The distance range here has an upper value dmax and a lower value dmin. The values dmax and dmin can be fixed in this case. For example, a tow rope usually has a length of 4 meters. The values of dmax and dmin can be set symmetrically around a mean value of 4 meters, ie dmax = 4m + Δ and dmin = 4m - Δ, the permissible fluctuation Δ being a fixed length, for example Δ = 50cm. However, the value of the allowable fluctuation Δ need not be limited to these values. In particular, the value of the allowable fluctuation Δ can be obtained from the control unit 11 dynamically to a driving situation of the vehicle 1 can be adjusted so that, for example, at a higher speed of the vehicle 1 the value of Δ is chosen to be higher, for example using one in the control unit 11 stored table, than at lower driving speeds, in order to take into account a greater fluctuation in the distance d.

Furthermore, the upper value dmax and the lower value dmin cannot be chosen symmetrically around the mean value of 4 meters. Another mean value can also be set. A tow bar usually has a length of about 2 meters, so that, for example, an average of 2 meters can be selected.

According to a further exemplary embodiment, the value of dmax and the value of dmin are entered manually via an interface. Furthermore, the registration unit 11 determine a distance value at an initial point in time, which can be selected manually via an interface, for example, which is used as the mean value for determining dmax and dmin.

In parallel, in step 160 the detected lateral displacement s and / or s' of the vehicle 1 to the towed vehicle 2 certainly. In step 170 there is an automatic lateral control of the vehicle 1 depending on the detected lateral offset s and / or s', such that the vehicle being towed 2 the towing vehicle 1 follows as faithfully as possible. The automatic lateral control of the vehicle can do this 1 be carried out, for example, in such a way that the lateral offset s and / or s' is minimized. The lateral offset s' can, for example, be on a respective central axis 7th , 7 ' of the vehicles 1 and 2 related to be determined. Alternatively or additionally, the offset s can be based on an outer contour 8th or. 8th' of the vehicles 1 and 2 related, see 4th .

Optionally, the distance value d can be taken into account in the transverse control and / or the offset s and / or s' can be taken into account in the longitudinal control. Furthermore, both with the longitudinal control and with the optional transverse control, the current speeds and / or accelerations and / or those on a towing device can be used 4th such as a tow rope or a tow bar, acting force must be taken into account.

2 shows schematically a device 9 for the safe towing of a vehicle according to a possible embodiment of the invention. The device 9 includes an environment sensor system 12th with several environmental sensors 22 ' to 22 ⁿ for the continuous acquisition of at least one distance information item d and a relative speed of the vehicle 1 to one behind the vehicle 1 located object 2 . The device further comprises 9 one of a control unit 11 which is designed to determine that the vehicle is in a towing state and a longitudinal control system is in a towing state 13th and optionally a lateral control system 15th of the vehicle depending on the distance information d and the relative speed. The control unit 11 can in particular have a microcontroller. To see if the vehicle is 1 is in a towing state, a user input on a human-machine interface (HMI) 19th through the control unit 11 detected. Furthermore, the control unit 11 Information, for example about the distance information d and / or current parameters of the longitudinal control and / or the lateral control, to the man-machine interface (HMI) 19th so that this information is sent to a driver of the vehicle 1 can be displayed.

For example, the control unit checks 11 whether distance values detected within a certain time interval lie within a specified distance range.

One or more environmental sensors ^N 22'-22 take the surroundings of the towing vehicle 1 true. They are essentially used to identify the distance d, the relative speed and, for example, the relative acceleration to the towed vehicle 2 responsible. Furthermore, the environment sensors 12th other obstacles for the towing vehicle 1 and / or the towed vehicle 2 recognize and the control unit 11 to transfer. One in the control unit 11 The implemented evaluation logic takes over the processing of the environmental sensors ^N 22'-22 recorded data, decides on the necessity and strength of the interventions in the vehicle dynamics (longitudinal control and / or lateral control) and controls the longitudinal control system accordingly 13th and optionally the lateral control system 15th of the vehicle 1 at. Communication with a human-machine interface (HMI) can be used for operation. 19th be provided. The HMI can essentially show the driver the system status and enables, for example, the system to be switched on and off and its configuration.

The longitudinal control system 13th has the task of carrying out the commands in the control unit 11 implemented evaluation logic, ie to produce an accurate delay with the help of a suitable actuator if necessary.
The lateral control system 15th controls the lateral movement of the towed vehicle based on the commands from the evaluation logic. The device 9 This means that not only can you follow the towed vehicle in the right direction 2 realize, but also ensure that lateral obstacles are avoided, for example if the curve radius of the towing vehicle is too narrow 1 to a danger for the trailer team from the towing vehicle 1 and towed vehicle 2 can be.

3 shows a typical towing situation in side view 3 The situation shown here is a defective vehicle to be towed 2 , for example a road vehicle, in particular a passenger car (car) or a truck (truck), on a road surface 3 . In the forward direction of the vehicle 80 in front of the vehicle 2 is also located on the road surface 3 a towing vehicle 1 , with a front of the towing vehicle 1 in the same direction as a front of the vehicle 2 shows. On a rear one, the vehicle 1 facing part of the towing vehicle 1 there is a first bracket 5 . On a front, the towing vehicle 1 facing part of the vehicle 2 there is a second bracket 6th . Between the first bracket 5 and the second bracket 6th is a towing device 4th , for example a tow rope or a tow bar, attached to the vehicle 2 with the towing vehicle 1 connects. The vehicle 2 is at a distance d from the towing vehicle 1 which is the distance between the rear of the towing vehicle 1 and the front of the vehicle 2 parallel to the road surface 3 represents. The towing vehicle 1 comprises a first environment sensor 22 ' on, which is designed as a stereo camera in this example. The vehicle 1 comprises in this example at least one further environment sensor 22 " on, which in this example is designed as an ultrasonic sensor is. By means of the environment sensors 22 ' , 22 " Surrounding sensor system formed can provide distance information from the vehicle 1 to the towing vehicle 2 continuously determined. So can the ultrasonic sensor 22 " the distance d to the towing vehicle 2 using the well-known pulse-echo method. The stereo camera 22 ' records the relative positions and speeds of the towing vehicle 1 and the towed vehicle 2 and can thus both the distance d and a lateral offset s and / or s' (cf. 4th ) of the vehicle 2 and the towing vehicle 1 determine. The ones from the environment sensors 22 ' , 22 '' , 22 ''' captured data is handled by a control unit 11 of the vehicle 1 evaluated and at least one distance information item and / or determined. Based on this, an automatic longitudinal control and an automatic lateral control of the vehicle take place 1 . In addition, the towing vehicle 1 an additional environment sensor 23 that is facing the front, i.e. monitors the area in front of the towing vehicle. The environment sensors 23 can for example comprise a camera and / or a radar sensor. With the help of the environment sensors 23 can the automatic longitudinal control of the vehicle 1 can be adjusted depending on the monitoring. For example, braking maneuvers based on the traffic ahead can be foreseen, so that the speed can be reduced in good time in order to reduce the maximum required deceleration and to enable smoother braking.

4th exposes the situation 3 in plan view. In this representation it is visible that not only the distance d from the towing vehicle 1 which is the distance between the rear of the towing vehicle 1 and the front of the towed vehicle 2 parallel to the road surface 3 describes what is relevant for the driving situation, but also whether the towed vehicle 2 the towing vehicle 1 true to track. For this purpose, for example, a lateral offset s' and / or s of the vehicle can be used 1 regarding the vehicle 2 to be determined. The offset s' can preferably be based on a respective central axis 7th , 7 ' of the vehicles 1 and 2 to be determined. Alternatively or additionally, for example, an offset s can also be based on an outer contour 8th or. 8th' of the vehicles 1 and 2 to be determined. Further methods, a lateral position of the vehicle being towed, will become apparent to those skilled in the art 2 relative to the towing vehicle 1 to parameterize. For example, an angle α of the towing device can be 4th relative to a normal or relative to a direction of travel 80 to be determined. The distance information relating to the lateral position of the vehicle 2 relative to the vehicle 1 can, for example, with the environment sensor designed as a stereo camera 22 ' of the vehicle 1 are recorded. In addition, based on this information, the automatic longitudinal control and the automatic lateral control of the vehicle 1 respectively.

QUOTES INCLUDED IN THE DESCRIPTION

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Patent literature cited

• DE 102015201981 A1 [0003]

Claims (20)

Method for safely towing a vehicle (2) with the steps: - Establishing that a vehicle (1) is being towed, - Continuous acquisition of at least one item of distance information from the vehicle (1) and / or a relative speed to an object (2) located behind the vehicle (1) and / or of further attributes that describe the physical conditions by means of an environment sensor system (12) of the Vehicle (1); - Automatic longitudinal regulation and, optionally, additional automatic transverse regulation of the vehicle (1) depending on the recorded distance information and / or the recorded relative speed and / or other recorded attributes that describe the physical conditions. Procedure according to Claim 1 - The distance information comprises at least one distance value (d) of the vehicle (1) to an object (2) located behind the vehicle (1), and the environment sensor system of the vehicle (1) comprises at least one distance sensor (22 ', 22 ", 22 '''), the distance value (d) being continuously recorded by means of the distance sensor (22', 22 '', 22 '''), and - the automatic longitudinal control and, optionally, the automatic lateral control of the vehicle (1) in this way it occurs that the distance value (d) remains within a certain distance range. Procedure according to Claim 2 , an upper value (dmax) of the distance range and a lower value (dmin) of the distance range being set, in particular being determined dynamically Procedure according to Claim 3 , the difference between the upper value (dmax) of the distance range and the lower value (dmin) of the distance range being adapted in real time to a driving situation of the vehicle (1), in particular a driving speed of the vehicle (1). Method according to one of the Claims 1 to 4th , wherein - the distance information comprises at least one lateral offset (s, s') of the vehicle (1) to an object located behind the vehicle (1), in particular the towed vehicle (2), and - the automatic longitudinal control and automatic lateral control of the Vehicle (1) takes place in such a way that the lateral offset (s, s') is minimized. Method according to one of the Claims 1 to 5 - The automatic longitudinal regulation of the vehicle (1) takes place in such a way that the relative speed between the vehicle (1) and the object located behind the vehicle (1) is minimized. Method according to one of the Claims 1 to 6th whereby the determination that the vehicle (1) is in a towing state is carried out by means of an environment sensor system of the vehicle (1) and / or on the basis of current vehicle data. Method according to one of the Claims 1 to 7th whereby the determination that the vehicle (1) is in a towing state takes place in that an input is recorded, in particular via a man-machine interface (19) of the vehicle (1). Method according to one of the Claims 1 to 8th , wherein the towing force transmitted is detected via a towing device (4) and the automatic longitudinal control and / or the automatic transverse control of the vehicle (1) also takes place as a function of the detected towing force. Method according to one of the Claims 1 to 9 , whereby an area in front of the towing vehicle (1) is monitored by means of an additional environment sensor system (23) on the towing vehicle (1) and the automatic longitudinal control of the vehicle (1) is adapted as a function of the monitoring. Method according to one of the Claims 1 to 10 , wherein other assistance functions of the towing vehicle (1) are automatically deactivated when it is determined that the vehicle (1) is in a towing state. Method according to one of the Claims 10 or 11 , characterized in that, in the event of an upcoming braking process of the towing vehicle (1), control of the tail lights of the towing vehicle (1) is adapted, in particular by brake lights of the towing vehicle (1) being activated before the braking process, with an activation time of the brake lights is selected in particular as a function of a state of a towing device (4). Device (9) for safely towing a vehicle (1) for carrying out a method according to one of the Claims 1 to 12th , comprising: - an environment sensor system (12) for continuously detecting at least one item of distance information and / or a relative speed of the vehicle (1) to an object (2) located behind the vehicle (1) and / or of further attributes that describe the physical conditions ; - A control unit (11) which is designed - determine that the vehicle (1) is in a towing state, and - in a towing state, a longitudinal control system (13) and optionally additionally a lateral control system (15) of the vehicle (1) depending on the distance information and / or the relative speed and / or by other attributes that describe the physical conditions. Device (9) according to Claim 13 , the environment sensor system (12) being designed to detect at least one distance value (d) from the vehicle (1) to an object behind the vehicle (1) as distance information and / or to detect at least one lateral offset (s, s') as distance information. of the vehicle (1) to an object located in front of the vehicle (1) and the control unit (11) is designed to control a longitudinal control and optionally also a lateral control of the vehicle (1) in such a way that the distance value (d) is within a certain Distance range remains and / or that the lateral offset (s, s') is minimized. Device (9) according to Claim 13 or 14th , wherein the environment sensor system (12) has at least one sensor unit (22 ', 22', 22 ''') for contactless detection of the distance (d) of the vehicle (1) to an object (2) in front of the vehicle (1), wherein a sensor unit (22 ', 22'',22''') is designed in particular as a camera unit and / or as an acoustic sensor unit and / or as a radar sensor unit and / or as a lidar sensor unit. Device (9) according to one of the Claims 13 to 15th , wherein the device has an input unit, in particular a man-machine interface (19) and wherein the control unit (11) is designed to determine that the vehicle (1) is in a towing state by a user input via the human Machine interface (19) is detected. Device (9) according to one of the Claims 13 to 16 , wherein the device (9) has a sensor unit and / or an interface for querying current vehicle data and wherein the control unit is designed to determine that the vehicle (1) is in a towing state by evaluating measurement data from the sensor unit and / or current Vehicle data are evaluated. Device (9) according to one of the Claims 13 to 17th , wherein the environment sensor system has at least one further sensor unit for detecting a towing force transmitted via a towing device (4). Vehicle (1) with a device (9) for safe towing according to one of the preceding Claims 13 to 18th . Vehicle (1) after Claim 19 , wherein the vehicle (1) is a road vehicle, in particular a car or truck.

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