DE102021201460A1 - Method for assisted maneuvering of a vehicle-trailer combination while driving along a route, as well as driver assistance system and vehicle - Google Patents

Abstract

The invention relates to a method for assisted maneuvering of a vehicle-trailer combination (1) while driving along a route (2), a current position of the vehicle-trailer combination (1) being determined with a position-determining unit (9), and a position of a route section (7) of a lane (6) of the route is provided and/or the position of the route section (7) is detected with a detection unit (13), having the following steps:- providing driving behavior information from several other vehicle trailers- The driving behavior information characterizes a driving behavior of a vehicle-trailer combination in the route section (7);- Predicting a driving trajectory and/or a movement behavior (15) of the trailer (4) of the vehicle-trailer combination (1) for the following route section (7) to be traveled depending on the driving behavior information; and- Assisted maneuvering of the vehicle-trailer combination (1) when driving on the route section (7) by at least one driver assistance system (8) of the vehicle (1) depending on the predicted driving trajectory and/or the predicted movement behavior (15).Furthermore the invention relates to a driver assistance system (8) and a vehicle (1).

Description

The invention relates to a method for assisted maneuvering of a vehicle-trailer combination while the vehicle-trailer combination is moving along a route, with a current position of the vehicle-trailer combination being determined with a position determination unit during a locomotion journey, and a position of a Route section of a roadway of the route is provided and / or the position of the route section is detected with a detection unit.

Furthermore, the invention relates to a driver assistance system and a vehicle with a corresponding driver assistance system.

In the case of vehicle-trailer combinations, the trailer can often sway or swing or oscillate, which means that driving the combination can become unsafe and dangerous, particularly for the vehicle driver. Dangers in road traffic can arise for an oncoming road user or a following road user. This is particularly relevant for passenger cars with a trailer or a front vehicle. This also applies to every truck or tractor unit with a trailer.

Conventional stabilization systems (anti-snaking clutches) are used to achieve damping of the oscillation or the snaking movement through specific control interventions. For example, there are also special stabilizing devices on the trailer hitch or on the connection between the vehicle and the trailer. For example, there are also braking and/or control interventions of a driver assistance system such as ESP systems (electronic stabilization program or electronic stability program). These are already installed in most vehicles as vehicle dynamics control systems.

For example, from the U.S. 2014/0176716 A1 a trailer lane departure warning system known. A movement or a swaying or a swinging of the trailer can be detected and evaluated by means of detection units. Depending on the current movement behavior of the trailer, a corresponding warning regarding lane departure can then be issued.

From the U.S. 2011/0257860 A1 a method for detecting an oscillating or snaking of a trailer is known. In particular, the method can be used to take appropriate countermeasures or to compensate for the detected rolling.

The disadvantage of the known systems with regard to the stabilization of a vehicle trailer is that a momentary countermeasure is only carried out in the event of an actual current dangerous movement of the trailer.

The object of the present invention is to carry out anticipatory control of the stabilization of the vehicle trailer for a planned movement path.

This object is achieved by a method, a driver assistance system and a vehicle according to the independent patent claims. Useful developments result from the dependent claims.

• - eine aktuelle Position des Fahrzeug-Anhänger-Gespanns mit einer Positionsbestimmungseinheit bei der Fortbewegungsfahrt bestimmt wird, und
• - eine Position eines Streckenabschnitts einer Fahrbahn der Fahrstrecke bereitgestellt wird und/oder die Position des Streckenabschnitts mit einer Erfassungseinheit erfasst wird,

gekennzeichnet, durch folgende Schritte:

• - Bereitstellen von Fahrverhaltensinformationen von mehreren anderen Fahrzeug-Anhänger-Gespannen, wobei die Fahrverhaltensinformationen zumindest ein Fahrverhalten eines Fahrzeug-Anhänger-Gespanns in dem Streckenabschnitt charakterisieren;
• - Prädizieren einer Fahrtrajektorie und/oder eines Bewegungsverhaltens zumindest des Anhängers des Fahrzeug-Anhänger-Gespanns für den nachfolgend zu befahrenden Streckenabschnitt in Abhängigkeit von den Fahrverhaltensinformationen der mehreren anderen Fahrzeug-Anhänger-Gespanne;
• - Assistiertes Manövrieren des Fahrzeug-Anhänger-Gespanns beim Befahren des Streckenabschnitts durch zumindest ein Fahrerassistenzsystem des Fahrzeugs in Abhängigkeit von der prädizierten Fahrtrajektorie und/oder des prädizierten Bewegungsverhaltens.

One aspect of the invention relates to a method for assisted maneuvering of a vehicle-trailer combination during a locomotion journey of the vehicle-trailer combination along a route, wherein

• - a current position of the vehicle-trailer combination is determined with a position determination unit during the locomotion journey, and
• - a position of a route section of a lane of the route is provided and/or the position of the route section is detected with a detection unit,

characterized by the following steps:

• - Providing driving behavior information from a plurality of other vehicle-trailer combinations, the driving behavior information characterizing at least one driving behavior of a vehicle-trailer combination in the route section;
• - Predicting a travel trajectory and/or a movement behavior of at least the trailer of the vehicle-trailer combination for the route section to be traveled below as a function of the driving behavior information of the plurality of other vehicle-trailer combinations;
• - Assisted maneuvering of the vehicle-trailer combination when driving on the route section by at least one driver assistance system of the vehicle depending on the predicted driving trajectory and/or the predicted movement behavior.

The proposed method can also be used to ensure that a locomotion journey of a vehicle-trailer combination can be made safer with regard to snaking or oscillating or oversteering or understeering of the trailer in the route section. In particular, the trailer can be stabilized while it is moving. A planned movement path or a planned route can thus be traveled in such a way that dangerous movement behavior of the vehicle trailer can be minimized or prevented early on by the predicted travel trajectory and/or predicted or predicted movement behavior of the vehicle trailer while driving. As a result, it is possible to react to dangerous snaking movements or pendulum movements of the vehicle trailer at an early stage and appropriate countermeasures can be prepared or initiated at an early stage. So driving a vehicle with a trailer attached can be safer for yourself and other road users. In particular, the proposed method is a computer-implemented method.

In particular, depending on the predicted driving trajectory and/or the predicted movement behavior or the predicted driving route or the predicted course of the route of the vehicle-trailer combination, the driving behavior of the vehicle-trailer combination and in particular the driving behavior of the trailer can be intervened at an early stage with at least one driver assistance system, especially on the system side. This means that automatic interventions in the driving behavior can be carried out by the system before the trailer begins to swerve or oscillate. As a result, the movement of the vehicle-trailer combination can be carried out more safely and, in particular, without accidents.

The vehicle-trailer combination can be a passenger car or a bus or a truck with a vehicle trailer attached or a trailer of a truck or a caravan trailer.

In particular, any type of trailer, especially trailers on the road, can be attached to the vehicle.

Driving behavior information from several other vehicle-trailer combinations can in particular be information that was recorded or recorded or determined when driving on the route section with these other vehicle-trailer combinations. This determination of information is therefore prior to the implementation of the above-explained method according to the independent aspects of the invention.

In particular, the assisted maneuvering or assisted moving of the vehicle-trailer combination is carried out for a predetermined or defined or specific route section along a lane of the route. In order to make this possible, the position of the vehicle-trailer combination and the position of this route section must first be known. This can be done, for example, by detection units or position determination units (GNSS or GPS systems). In particular, this respective position data can be provided to the vehicle-trailer combination via central processing units, such as a backend, a server, a processing unit, a database or a data cloud. In particular, vehicles in a vehicle fleet can be networked with one another, in particular via a central server unit. Thus, the respective information can be exchanged at any time. For example, the detection unit can be arranged or integrated on the vehicle, so that the detection unit, such as a sensor unit or camera unit, can detect a surrounding area ahead, in which in particular the route section is located, depending on the current position of the vehicle-trailer combination. This allows the position of the route section to be determined. For example, this can be calculated or determined or generated with an electronic evaluation unit. For example, the electronic evaluation unit can be part of the vehicle or the driver assistance system as a computing unit or processing unit.

In order to be able to make a prediction regarding the driving behavior of the trailer in the route section, the driver assistance system in particular requires a wide variety of information regarding the driving behavior or movement behavior of a vehicle-trailer combination, in particular the vehicle trailer, in the special route section. This information can be communicated globally via databases or data clouds to a wide variety of vehicles and in particular to a wide variety of vehicle-trailer combinations or fleet vehicles via communications technology, in particular wireless connections. Thus, with the driving behavior information, an averaged or a frequency of good or bad driving behavior in the respective route section can be provided. This can be used or taken into account for predicting or determining or predicting the forthcoming travel trajectory and/or the forthcoming movement behavior of the trailer of the vehicle-trailer combination for the route section to be traveled subsequently. A possible behavior of the trailer in this special route section can be predicted based on the empirical values or information provided in the past and this can be taken into account when determining or predicting the respective forthcoming movement behavior or trajectory of the trailer. Therefore, appropriate regulation or control interventions in the driving behavior of the vehicle-trailer combination and in particular the trailer can be prepared at an early stage and stored, for example, in the driver assistance system or the other control or assisted systems of the vehicle, so that the vehicle-trailer can drive efficiently with assistance -Trailer combination can be carried out without dangerous situations occurring.

The section of the route is in front of the trailer in the direction of travel of the trailer. In particular, it is to be driven on in the near future. This means in particular that the route section is not currently being traveled on by the vehicle combination during the analysis, as is carried out by the method according to the aspect mentioned above. In addition, however, it is then driven on with the team. The analysis can also be continued further.

In one embodiment of the invention, it is provided that information regarding a type of trailer and/or information regarding a loading condition of the trailer is provided, with the information regarding the type of trailer and/or the loading condition of the trailer being used when predicting the travel trajectory and/or of movement behavior are taken into account. For example, this information can be transmitted to the electronic evaluation unit and/or the driver assistance system. For example, the type of trailer and/or the load status can be recorded during a coupling process or when coupling the trailer to the vehicle. This information can either be recorded via recording units at the rear of the vehicle or on the trailer itself and made available to the driver assistance system or the electronic evaluation unit via technical communication connections, such as wireless or wired.

For example, the trailer can have a number of sensors or sensor units or weight-detecting sensors with which the current loading status, ie the current loading of the trailer, can be determined. In particular, the loading state of the trailer characterizes a weight distribution and/or a distribution of the center of gravity of a load on the trailer. Likewise, the load status can be used to characterize a type of load or the load or the loaded objects or a number or a number of items of the load. The type of trailer can be, in particular, the size of the trailer, a vertical load of the trailer or a maximum loading weight. In particular, the type of trailer can be a single-axle trailer or a multi-axle trailer or a trailer with a tarpaulin structure or a trailer for transporting general cargo. The type of trailer can also be used to indicate whether, for example, the trailer contains electronic systems (stabilization systems or braking systems). Furthermore, information regarding an aging condition or a wear condition of the trailer can be provided and taken into account. The older or more worn the trailer is, the greater the likelihood that the trailer will begin to oscillate or sway more and the trailer will have poor braking properties.

All of the data and information mentioned above can be taken into account and used by the evaluation unit to predict or predict or determine the driving trajectory and/or the movement behavior. For example, all of this data can be stored in a database or data cloud or in a central computing or server unit and can be called up by the evaluation unit or the driver assistance system as required.

In a further exemplary embodiment of the invention, it is provided that the at least one driver assistance system, in particular from a plurality of assistance systems, is adapted or adapted or adjusted or changed depending on the predicted driving trajectory and/or the movement behavior, so that an actual driving trajectory of the vehicle trailer -Trailer combination is adapted to a target driving trajectory for driving on the route section. In other words will evaluate the current movement path or the current movement behavior as the actual driving trajectory of the vehicle-trailer combination as to whether it matches the predicted or predicted information. The greater the deviation from this, the more likely it is that the vehicle-trailer combination, and in particular the trailer, will behave in a dangerous manner. For this purpose, the evaluation unit or the database or a central processing unit can determine or provide a target driving trajectory. The target driving trajectory is an optimal or ideal driving trajectory or ideal driving behavior in which no safety-critical driving situations can arise when driving on the route section. In particular, when adhering to the target travel trajectory, the risk of a snaking motion or a pendulum motion of the trailer is minimized, in particular reduced. The driver assistance systems or the at least one driver assistance system can thus be set or adjusted or adapted automatically and in particular independently in such a way that the current driving trajectory or actual driving trajectory is adapted to a specified, predicted driving trajectory or target driving trajectory. Thus, depending on the predicted driving trajectory and/or the environmental behavior, the driver assistance system can intervene in the driving behavior of the vehicle-trailer combination.

In a further exemplary embodiment of the invention, it is provided that movement status information of the vehicle-trailer combination, in particular of the trailer, and/or an actual speed and/or an actual acceleration of the vehicle-trailer combination are provided. The movement status information and/or the actual speed and/or the actual acceleration are taken into account when predicting the travel trajectory and/or the movement behavior. In other words, the current driving characteristics and/or driving states and/or current vehicle parameters and/or driving parameters of the evaluation unit are transmitted or provided or offered to the driver assistance system in particular. In order to be able to predict the driving trajectory and/or the movement behavior as efficiently as possible, the current data relating to the vehicle-trailer combination are necessary. The current data of the vehicle-trailer combination and the driving behavior information provided can be used to carry out the best possible and optimal prediction of the future driving trajectory and/or the movement behavior for the forthcoming locomotion journey on the route section.

The information on the state of motion can relate to a fundamental rolling or oscillating or an unsteady driving behavior of the vehicle-trailer combination. A current travel time and/or a current travel route can also be specified with the movement status information. Likewise, specific information regarding the vehicle driver and/or information regarding driver assistance systems and/or vehicle components can be provided with the movement state information of the vehicle-trailer combination. Furthermore, the current speed and/or the current acceleration can be determined and provided with detection units of the vehicle. In principle, a difference between the current speed and the preferred speed for future driving on the route section can thus already be tapped here and the current speed can be corrected or adjusted accordingly at an early stage. For example, a current braking capacity or a current state of the vehicle brakes of the vehicle and/or the trailer can be provided as further movement state information as additional information. A more precise prediction of the driving trajectory and/or the movement behavior can thus be carried out.

In a further exemplary embodiment of the invention, it is provided that an actual driving behavior of the trailer is recorded while the vehicle-trailer combination is moving with at least one detection unit of the vehicle, which is part of an electronic, camera-based side mirror which is arranged on one longitudinal side of the vehicle is. A surrounding area of a vehicle rear of the vehicle can be detected with the detection unit. The recorded actual driving behavior is taken into account during assisted maneuvering or steering or controlling the vehicle-trailer combination when driving on the route section.

The detection units are, in particular, cameras or sensors, which are arranged on the side mirrors or on the outer mirrors, in particular in an outer side rear-view mirror of the vehicle. In particular, the detection units are electronic or digital rear-view mirrors. In particular, the detection units are side mirror cameras of the vehicle. With the help of Detection unit, the rear area, in which the trailer is positioned in particular, are detected. There is thus a digital, electronic possibility of being able to detect and record the rear area of the vehicle. In particular, the detection units have a main detection area or a main detection direction, which detects the area around the rear of the vehicle and in particular the area around the trailer. Thus, the respective driving behavior and/or movement behavior and/or pendulum behavior and/or snaking behavior of the trailer can be continuously monitored and assessed while the vehicle-trailer combination is moving. Based on this continuously recorded and evaluated information regarding the actual driving behavior of the trailer, a corresponding assisted maneuvering of the vehicle-trailer combination when driving on a section of road can be carried out. This can be achieved in that the respective driving behavior or movement behavior of the trailer, which is precisely related to the trailer, can be taken into account. In this way, prominent driving maneuvers or driving characteristics or disruptive characteristics that characterize the respective trailer can be taken into account.

In particular, the recorded actual driving behavior can be used to predict the driving trajectory and/or the movement behavior. On the other hand, the actual driving behavior can be continuously recorded independently of the route section and other driver assistance systems can be used to stabilize the locomotion of the vehicle-trailer combination. Thus, the locomotion journey of the vehicle-trailer combination can be continuously adapted with regard to the movement behavior or driving behavior of the trailer.

In a further exemplary embodiment of the invention, it is provided that a lane boundary line of a lane of the route traveled by the vehicle-trailer combination is detected with the at least one detection unit. The actual driving behavior of the trailer is checked to see whether the trailer is driving within the lane boundary line of the lane, with the actual driving behavior of the trailer being dynamically adapted to a target driving behavior by the at least one driver assistance system when it is detected that the trailer is crossing the lane boundary line . For example, the lane boundary line of the lane can be detected either with detection units, specifically with the electronic, camera-based side mirror, or with front cameras or with other sensor units of the vehicle. The lane boundary line is in particular the outer lane markings of a lane or a lane, with which the lane is clearly delimited or defined. In particular, the lane boundary lines are lane boundary lines. In other words, the actual driving behavior of the trailer is checked to determine whether the trailer is within the lane, ie within the lane width of the lane, while the vehicle-trailer combination is moving. From this it can also be concluded that the trailer is snaking or swaying, since the trailer would drive over or exceed the lane markings in the event of swaying or snaking movements. If there is only little or no negative driving behavior of the trailer, the trailer is normally in the middle of the lane. In particular, when the trailer has a desired driving behavior, the lane markings are not crossed by the trailer. If the detection unit or the evaluation unit detects or determines that the actual driving behavior of the trailer does not take place within the lane markings, the driver assistance system can automatically intervene in the driving behavior. System-side interventions in the actual driving behavior of the trailer can thus be made by dynamically adapting or adapting or setting this to a target driving behavior or predetermined driving behavior. Appropriate countermeasures can thus be initiated and implemented if negative driving behavior of the trailer occurs or is detected. Consequently, the vehicle-trailer combination can drive through the route section, but also any other route section along the route, in particular without dangerous situations. In particular, compliance with the lane is monitored constantly or continuously during the entire locomotion journey of the vehicle-trailer combination.

In particular, the monitoring of the actual driving behavior and an adaptation to a target driving behavior can be taken into account by the driver assistance system and in particular by the evaluation unit when predicting the driving trajectory and/or the movement behavior of the trailer for the subsequent driving on the route section.

In a further exemplary embodiment of the invention, it is provided that targeted longitudinal and transverse dynamic interventions in the actual driving behavior of the vehicle-trailer combination are carried out by the at least one driver assistance system can be carried out as a function of the predicted travel trajectory and/or the movement behavior when driving on the route section. In other words, depending on the current driving characteristics or the current driving condition or current driving behavior of the vehicle-trailer combination, system-side interventions can be made, so that in particular the actual driving behavior of the vehicle-trailer combination is adapted to a predicted target driving behavior for driving on the route section. In particular, the longitudinal and transverse dynamic interventions can be braking interventions or steering interventions or acceleration interventions or deceleration interventions.

In particular, a respective point in time and/or respective geographic position within the route section can be determined at which a specific longitudinal and transverse dynamic intervention is necessary in order to be able to stabilize the trailer when driving on the route section. In particular, the longitudinal and lateral dynamic interventions can be carried out cyclically or at predetermined time intervals, so that the vehicle-trailer combination can travel through the section of road as smoothly and quietly as possible and without major control maneuvers.

In a further exemplary embodiment of the invention, it is provided that a roadway property of the route section and/or a route profile of the route section and/or a lane width of a lane of the route section and/or weather information relating to a zone around the route section is provided, with the roadway property of the route section and /or the route of the route section and/or the lane width of a lane of the route section and/or the weather information relating to a zone around the route section when predicting the travel trajectory and/or the movement behavior are taken into account. In other words, the most diverse and varied information and data can be used and in particular the evaluation unit can be taken into account or used when determining the travel trajectory and/or the movement behavior. In this way, an exact and precise prediction of the forthcoming travel trajectory and/or the forthcoming movement behavior for driving on the route section can be carried out.

In the case of the roadway property, a roadway surface and/or an aging state of the roadway surface and/or damage along the roadway are of particular relevance. The course of the route section can be understood, for example, as an incline and/or a decline and/or a bend and/or a bridge course and/or a tunnel course. The lane width of the lane is particularly important for keeping to the lane with the trailer. In the case of the weather information, it is possible in particular to characterize any rain showers or snowfalls that occur or areas of fog on the route section. In particular, possible aquaplaning can be inferred in this regard. All of the previously mentioned examples for the most diverse parameters and information variants for predicting the travel trajectory or the movement behavior are not to be understood as exhaustive, but are intended to represent only a small section of the possible parameter variants.

A further aspect of the invention relates to a driver assistance system with an evaluation unit, the driver assistance system being designed to carry out a method according to the previous aspect or an advantageous development thereof. In particular, the method described above is executed or carried out with the driver assistance system. The driver assistance system is in particular an electronic driver assistance system with which interventions in the driving behavior of the vehicle can be carried out. The driver assistance system can contain, for example, an electronic evaluation unit or electronic processing unit. The driver assistance system can also contain a detection unit, a position determination unit and a database. Likewise, the driver assistance system can have a machine learning unit with which the driver assistance system can be mechanically, automatically trained or taught to carry out a method according to the previous aspect. In particular, the driver assistance system can be part of an on-board electronic system of the vehicle and can contain various microprocessors and microchips for processing information that is necessary for carrying out the method described above.

A further aspect of the invention relates to a vehicle with a driver assistance system just described. The vehicle can be a passenger car or a truck or a bus or a motor vehicle. In particular, the vehicle can contain a number of driver assistance systems for supporting a driver when driving the vehicle.

A further aspect of the invention relates to a vehicle-trailer combination with a driver assistance system as described above. The vehicle-trailer combination can be a passenger car with a vehicle trailer or, for example, a truck with a truck trailer. For example, the vehicle-trailer combination can have several trailers.

Advantageous exemplary embodiments and embodiments of the individual aspects are to be regarded as advantageous exemplary embodiments and/or exemplary embodiments of the other aspects and vice versa.

The invention also includes developments of the driver assistance system according to the invention and of the vehicle according to the invention, which have features as have already been described in connection with the developments of the method according to the invention. For this reason, the corresponding developments of the driver assistance system according to the invention and the vehicle according to the invention are not described again here.

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

Exemplary embodiments of the invention are described below. For this purpose, the only figure shows a schematic example of a vehicle-trailer combination during a locomotion journey.

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

Elements with the same function are each provided with the same reference symbols in the figures.

the 1 shows a schematic representation of a vehicle-trailer combination 1 during a locomotion journey of the vehicle-trailer combination 1 along a route 2. The vehicle-trailer combination 1 consists of a vehicle 3 and a trailer 4. For example, the vehicle-trailer -Trailer combination 1 have several trailers. In particular, the vehicle 3 is a tractor for towing or transporting the trailer 4. The vehicle 3 can be a passenger car or a truck, for example. The vehicle 3 is connected to the trailer 4 by a coupling unit 5 . The coupling unit 5 is a trailer coupling for the freely movable mounting of the trailer by means of a coupling rod. The vehicle 3 and the trailer 4 are not only mechanically connected to one another during the assembled vehicle-trailer combination 1, but are also electronically or digitally networked with one another.

In particular, the vehicle-trailer combination 1 is traveling along a roadway 6 of a route 2. The route 2 can be a country road or a freeway, for example.

When driving a vehicle-trailer combination 1, problems relating to the stabilization of the trailer 4 can often occur. In particular, the vehicle trailer 4 can get into an unstable driving state when driving along the route 2 due to pendulum movements and/or snaking movements. In order to counteract this, current snaking movements and/or pendulum movements of the trailer 4 can be detected with known systems in the prior art and targeted braking interventions can be carried out using appropriate systems in order to stabilize the vehicle-trailer combination 1 . The aim of these known systems is to dampen or level off or reduce the pendulum and/or snaking movements.

The method according to the invention can be carried out in order to prepare for improved driving behavior or driving properties of the vehicle-trailer combination 1 for driving safely on the route 2 . Not only are the disruptive movement patterns or behavior patterns of the trailer 4 currently acting detected and compensated for, but an ideal driving behavior or a driving trajectory and/or a movement behavior is predicted or predicted for a subsequent route section 7 to be traveled on. Appropriate measures can thus be taken in advance of driving on the route section 7 so that the vehicle-trailer combination 1 can continue the journey without being disturbed by the trailer 4 . Thus, a predictive determination of a driving behavior or the driving trajectory or the movement behavior for driving on the route section 7 by the vehicle-trailer combination 1. The route section 7 can be a specially specified section or road section or road course of the route 2.

In order to be able to assist or support the journey of the vehicle-trailer combination 1 through the route section 7 , the vehicle-trailer combination 1 or the vehicle 3 has at least one driver assistance system 8 . The driver assistance system 8 can be an independent electronic system of the vehicle 3 or part of existing driver assistance systems or vehicle systems of the vehicle 3. In particular, the driver assistance system 8 is connected to other systems and/or components of the vehicle 3 and/or to systems and/or components outside of the vehicle 3 electronically or digitally networked. For example, the driver assistance system 8 can be used to carry out braking interventions and/or acceleration processes and/or stabilization measures and/or countersteering measures to stabilize the trailer 4 and in particular the vehicle-trailer combination 1 .

So that the vehicle-trailer combination 1 can be prepared or set early for the forthcoming route section 7 , a current position of the vehicle-trailer combination 1 should first be determined using a position-determining unit 9 of the vehicle 1 . The position determination unit 9 can be a global navigation satellite system (GNSS), for example. Likewise, the position determination unit 9 can be a GPS system. The current position can also be determined using the navigation system of the vehicle 3 . In addition to the own position of the vehicle-trailer combination 1, the position of the route section 7 can be made available to the driver assistance system 8. For example, the position of the route section 7 can be stored or filed in an electronic, digital map 10 or in a database 11 or in a data cloud 12 . Thus, in particular from external information points, the respective positions of the route sections 7 can be transmitted to the driver assistance system 8 via a communication connection, for example wirelessly using Bluetooth.

It is also conceivable that the database 11 is stored in the vehicle 3 in a digital storage unit. The database 11 can also be a central processing unit or a digital data storage unit or a vehicle fleet server or a backend. The data cloud 12 can in particular be a cloud. The digital map 10 can be stored in the database 11 or in the data cloud 12, for example. The positions and/or geographic properties or navigation data relating to the route 2 can be stored in the digital map 10 . For example, the vehicle-trailer combination 1 and in particular the vehicle 3 can be part of a vehicle fleet. The respective data can thus be exchanged between the individual vehicles in the vehicle fleet, in particular with regard to the route section 7 .

A further possibility for detecting and thus for determining the position of the route section 7 can be carried out via a detection using a detection unit 13 of the vehicle 3 . Depending on its current position, the vehicle 3 can detect or record the course of the route 2 ahead. The position of the route section 7 can thus be determined from this, in particular as a function of the map information on the digital map 10 . For example, this determination can be carried out or carried out with an electronic evaluation unit or electronic processing unit or a microprocessor or a processor device. The detection unit 13 can be, for example, a camera system or a sensor system of the vehicle 3 .

In order to be able to predict the respective travel trajectory and/or the respective driving behavior, specific information regarding the route section 7 is required. This can be provided or transmitted to the vehicle-trailer combination 1 as driving behavior information from a number of other vehicle-trailer combinations, in particular a vehicle fleet. This information can be filed or stored, for example, in the database 11 and/or the data cloud 12 . The driving behavior information can be used to characterize different driving behaviors of vehicle-trailer combinations in route section 7 . In this way, the most diverse, extensive information relating to driving on the route section 7 with a vehicle-trailer combination can be processed. This enables an exact prediction of the future movement behavior to be made. Based on this driving behavior information, a driving trajectory and/or a movement behavior 15 of at least the trailer 4 of the Vehicle-trailer combination 1 for driving on the route section 7 are predicted or transmitted or predicted. Thus, the vehicle 3 or the vehicle-trailer combination 1 and the various systems of the vehicle-trailer combination 1 can be made based on the predicted driving trajectory and/or the movement behavior 15 according to preconfigurations or default settings.

Depending on this predicted driving trajectory and/or the predicted movement behavior 15 , the driver assistance system 8 can then use the driver assistance system 8 to assist in maneuvering or moving or controlling the vehicle-trailer combination 1 through the route section 7 . In other words, depending on this predicted data, the vehicle-trailer combination 1 is maneuvered automatically, in particular semi-autonomously, through the route section 7.

In order to be able to predict or determine or predict the driving trajectory and/or the movement behavior 15 as precisely and precisely as possible and adapted to the respective situation, the most varied and extensive information or data is required. For example, information regarding a type of trailer 4 and/or information regarding a loading condition of the trailer 4 can be provided or recorded. This information can be taken into account to assess the current driving behavior and the future driving behavior in the route section 7 of the trailer 4 and the vehicle-trailer combination 1 . In particular, during a coupling process between the vehicle 3 and the trailer 4, the type or the type or the model of the trailer 4 can be made available to the evaluation unit 14, or the type of trailer 4 can be detected via corresponding camera systems of the vehicle 3, in particular rear cameras will. Furthermore, the loading condition is decisive for the respective driving behavior or the stability of the trailer 4 . What is particularly important here is how much weight or how much load the trailer 4 has loaded and which center of gravity or weight shift the load exerts in or on the trailer 4 . All of this can be responsible for disturbance variables or influencing variables for an oscillating movement or for a snaking movement or for an instability of the trailer 4 . A more precise and more exact and more efficient determination of the driving trajectory and/or the movement behavior 15 can be carried out by recognizing these quantities or these parameters.

The respectively predicted driving trajectory and/or the predicted movement behavior 15 and the respective behavior information and/or trailer types and/or load states can be transmitted in the database 11 or the data cloud 12, so that an updated database or updated data collection takes place, which further or other road users or be made available to other vehicles in the vehicle fleet.

In particular, further information for predicting the driving trajectory and/or the movement behavior 15 can be provided to the driver assistance system 8 or the evaluation unit 14 via the database 11 or the data cloud 12 . For example, a roadway property of route section 7 and/or a route of route section 7 and/or a lane width 16 of lane 6 and/or weather information relating to a zone or environment around route section 7 can be provided. This information can thus also be taken into account when determining the driving trajectory and/or the movement behavior 15 . In particular, weather information (snowfall, rain, strong side wind) affect the handling of the trailer 4. So that the driver assistance system 8 or other driver assistance systems or support systems of the vehicle 3 can maneuver or control or move the vehicle-trailer combination 1 efficiently, it can be provided that the at least one driver assistance system 8 is adapted depending on the predicted driving trajectory and/or the movement behavior 15 or adjusted or adapted. Corresponding parameters can be set in the control systems of driver assistance system 8 . In particular, corresponding control signals can be generated for this purpose, which are transmitted to the corresponding computing units or processors of driver assistance system 8 or vehicle 3 . The adapted driver assistance system 8 can be used to adapt an actual driving behavior 17 or actual driving trajectory or current driving trajectory of the vehicle-trailer combination 1 to a target driving trajectory for driving on the route section 7 . The target driving trajectory is to be understood in particular as an ideal driving route along the route section 7 in which an unstable state of the trailer 4 is low. For example, the target driving trajectory in the digital map 10 or in the database 11 or in the Be stored data cloud 12 and the driver assistance system 14, in particular the electronic driver assistance system, are provided.

In order to be able to make the prediction of the travel trajectory and/or the movement behavior 15 even better, information on the state of movement of the vehicle-trailer combination 1, in particular of the trailer 4, and/or an actual speed and/or an actual acceleration of the vehicle-trailer -Team 1 are provided. This information can be provided either via database 11 or data cloud 12 or via vehicle systems of vehicle 3 or can be transmitted to driver assistance system 8 . Based on this data, in particular also based on the speed or current speed, the driving behavior for driving on the route section 7 ahead can be adapted such that the trailer 4 can be moved safely and in particular stabilized through the route section 7 . For example, an actual driving behavior 18 of the trailer 4 can be detected with at least one detection unit 19 of the vehicle 3 during the entire or complete locomotion of the vehicle-trailer combination 1 . The at least one detection unit 19 is in particular part of the electronic, camera-based side mirror 20 which is arranged on a steering side 21 of the vehicle 3 . In other words, the detection unit 19 is arranged or integrated on the two side mirrors or on the left and right outer side mirrors 20 of the vehicle 3 or is already part of the side mirror 20. In particular, this can be an already electronic side mirror for detecting a rear area of the vehicle 3 act. A surrounding area 22 of a vehicle rear end 23 of the vehicle 3 can be detected with the aid of the detection unit 19 . Thus, the rear surrounding area or rear area of the vehicle 3, in particular where the trailer 4 is positioned, can be detected. In particular, the vehicle trailer 4 is arranged as intended in this area.

The actual driving behavior 18 can thus be observed, monitored and analyzed continuously. This can also be used to determine the driving trajectory and/or the movement behavior 15 . In particular, this actual driving behavior 18 can already be recorded continuously during the locomotion journey and the actual driving behavior 18 can be adjusted at any time.

In a concrete exemplary embodiment, the side mirrors 20 of the vehicle 3 can be replaced by side mirror cameras as the detection unit 19 compared to conventional vehicles. A lateral area of the vehicle 3 can thus be digitally recorded for driver assistance systems and used as a parameter or input variable. With the aid of the side mirror cameras as the detection unit 19, the two side areas, in particular the left and right side of the vehicle 3, can be detected. The cameras or the side mirror cameras are aligned in particular towards the rear of the vehicle 23 . In particular, these side mirror cameras each have a main extension direction 24 . Thus, in particular, the area around the trailer 4 is detected. In particular, it can be determined whether the host vehicle as vehicle 3 actually pulls the trailer 4 . A plausibility check can thus be carried out. For example, a width or a geometry or a shape of the trailer 4 can be evaluated by means of a camera evaluation, in particular by means of the evaluation unit 8 . For example, this can be carried out using optical methods. The camera images captured by the side mirror cameras can also be taken or evaluated for a width of the road or the edges of the road. The camera images can also be used to align trailer 4 within a recognized lane as lane 6 . In particular, the camera images can be continuously evaluated with the aid of evaluation algorithms or evaluation software, so that an oscillating or snaking or swinging of the trailer 4 can be detected. Thus, for example, a deviation between the vehicle 3 and the trailer 4, in particular its driving behavior 17, 18, can be recorded or detected. For example, an ESP system of the vehicle 3 or a driver assistance system of the vehicle 3 can be adapted on the basis of this recorded information. For example, if swinging or swinging of the trailer 4 is detected, braking and steering interventions can be carried out, in particular by the driver assistance system 8, so that swinging or swinging of the trailer 4 can be reduced, minimized or prevented. Thus, an optical detection of an unstable state of the trailer 4 is carried out with the aid of the side mirror cameras as the detection unit 19 . This can be done in place of traditional anti-sway couplers or tow ropes.

For example, the actual driving behavior 18 of the trailer 4 can be regulated with the aid of the driver assistance system 8 in such a way that the damping of the pendulum movement and/or the oscillation is reduced or damped can be. Furthermore, the driver assistance system 8 controls the vehicle-trailer combination 1 in such a way that the trailer 4 is not only stabilized, but also that the trailer 4 is aligned within the lane 6 . The width of the lane 16 and the orientation of the trailer 4 and a curvature of the route 7 can be detected and made available using the side mirror cameras and other driver assistance systems of the vehicle 3 . The driver assistance system 8 controls the trailer 4 in such a way that the planned path or the planned route or the planned routing along the route 2 is taken into account in the control. The control takes into account, in particular, the curvature of the road ahead of the road section 7 when controlling the vehicle-trailer combination 1 through targeted longitudinal and transverse dynamic interventions.

These targeted longitudinal and transverse dynamic interventions, such as braking or steering, can adjust or adapt the actual driving behavior 17 of the vehicle-trailer combination 1 depending on the predicted driving trajectory and/or the movement behavior 15 when driving on the route section 7. For example, the driving trajectory or the movement behavior 15 can be used to predict a curve trajectory and/or a curve radius for the route section 7 so that precisely these special curve profiles can be taken into account when the vehicle-trailer combination 1 is maneuvered with assistance. Furthermore, a lane boundary line 25 of the lane 6 of the route 2 can also be detected with the detection unit 13 or the detection unit 19 . Lane boundary line 25 is in particular lane markings or lane boundary lines that delimit lane 6 . In particular, the lane width 16 is present between the two lane boundary lines 25 of the lane 6 . The lane boundary lines are used to ensure that the actual driving behavior 18 of the trailer 4 is monitored or adjusted in such a way that the trailer 4 is within the lane 6, ie within the lane boundary lines 25. Thus, the trailer 4 can be moved in particular in the middle or in a straight line within the section 7 of the route. In particular, when it is determined that the lane boundary lines 25 have been exceeded, that is to say when the trailer 4 crosses the lane lines, the actual driving behavior 18 is correspondingly adapted to a target driving behavior. This is also taken into account when predicting the travel trajectory and/or movement behavior 15 . It is thus possible to keep trailer 4 in lane within lane 6 . In particular, this is dynamically adjusted in the event of an unstable or pendulum movement of the trailer 4 . In the process, dynamic adjustments or interventions are made with the aid of the driver assistance system 8 .

In particular, the driver assistance system 8 can prevent the trailer 4 from crossing the lane markings as lane boundary lines 25 .

The driver assistance system 8 comes into its own particularly advantageously when the predicted travel trajectories and/or movement behavior 15 are already determined even if there are no oscillations and/or pendulum movements and/or unstable states of the trailer 4, and countermeasures or counter-control interventions can therefore be prepared at an early stage . For this purpose, a roadway property or a road property or a road curvature of the route segment or route section 7 ahead can be determined in particular by the digital map 10 and/or the detection unit 13 . This early determination of the corresponding countermeasures can thus prevent lane 6 from being left in a targeted manner in advance of the actual bend or route section 7 . This can be done in particular by early adjustments to the longitudinal and transverse dynamic behavior of the vehicle-trailer combination 1 and in particular of the trailer 4 . A stabilization of the lane guidance along the traffic lane 6 is thus achieved.

For example, the driver assistance system 8 can support a vehicle driver or vehicle driver of the vehicle 3 or independently adapt the driving behavior 17 to the forthcoming route section 7 by the system. In this way, compliance with the lane lines can be achieved. For this purpose, for example, the evaluation unit 8 can be used to predict the driving trajectory 17 in such a way that the lane width 16 and a width of the vehicle-trailer combination 1 are calculated or processed in such a way that, for example, in the case of a curved route section 7, a corresponding curve of the vehicle-trailer combination 1 is inserted into the curve as section 7. In particular, the driver assistance system 8 can take into account a recognized or recorded route or route curvature and/or incline of the route section 7 when controlling the driving behavior or the movement behavior of the vehicle-trailer combination 1 . Thus, the vehicle-trailer combination 1 can travel within a predicted lane 6 along the route Section 7 can be guided stably and without any vibrations or lane crossings. In particular, the driver assistance system 8 can be used to carry out steering assistance depending on the curvature of the road, so that the lanes are not crossed. This is particularly advantageous in driver assistance systems such as an ACC system or an ESP system. In this way, longitudinal dynamic interventions can be carried out or implemented by the driver assistance system 8 .

The explanations just mentioned and in particular the various parameters and information can be made available in a backend or database 11 or data cloud 12 so that this information can be taken into account for other vehicles which will be driving through the route section 7 in the future. This information can also be made available to other vehicle-trailer combinations that do not have the appropriate camera systems and/or detection units themselves. In this way, they can adapt their respective driving behavior in the route section 7 in a simple manner.

In particular, the driving behavior information and/or the predicted driving trajectories and/or the predicted movement behavior and/or the information regarding a type of trailer and/or a loading condition of the trailer 4 and/or an actual driving behavior of the trailer 4 or the vehicle 3 and/or or the other diverse information, as mentioned in the previous examples, is provided as additional information for averaged control information of a vehicle fleet or a swarm of vehicles. In particular, these can be stored in the digital map 10 in addition to the respective position of the route section 7 . In particular, the camera-based map and localization technology "Road Experience Management (REM)" can be used. Thus, a high-precision and high-precision digital map 10 can be generated and constantly updated, so that driving a vehicle-trailer combination through the route section 7 can be safer and more traffic-safe.

Reference List

1

Vehicle-trailer combination

2

driving distance

3

vehicle

4

follower

5

clutch unit

6

lane

7

track section

8th

driver assistance system

9

positioning unit

10

digital map

11

Database

12

data cloud

13

registration unit

14

evaluation unit

15

predicted driving trajectory and/or predicted movement behavior

16

lane width

17

Actual driving behavior of the vehicle-trailer combination

18

Actual driving behavior of the trailer

19

registration unit

20

side mirror

21

steering side of the vehicle

22

Surrounding area of the rear of the vehicle

23

vehicle rear

24

main extension direction

25

lane marking line

QUOTES INCLUDED IN DESCRIPTION

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

Patent Literature Cited

• US 2014/0176716 A1 [0005]
• US 2011/0257860 A1 [0006]

Claims (10)

Method for assisted maneuvering of a vehicle-trailer combination (1) during a locomotion journey of the vehicle-trailer combination (1) along a route (2), wherein - A current position of the vehicle-trailer combination (1) is determined with a position determination unit (9) during the locomotion journey, and - a position of a route section (7) of a lane (6) of the route is provided and/or the position of the route section (7) is detected with a detection unit (13), characterized by the following steps: - Providing driving behavior information from a plurality of other vehicle-trailer combinations, the driving behavior information characterizing at least one driving behavior of a vehicle-trailer combination in the route section (7); - Predicting a driving trajectory and/or a movement behavior (15) of at least the trailer (4) of the vehicle-trailer combination (1) for the route section (7) to be traveled below, depending on the driving behavior information of the several other vehicle-trailer combinations; - Assisted maneuvering of the vehicle-trailer combination (1) when driving on the route section (7) by at least one driver assistance system (8) of the vehicle (1) depending on the predicted driving trajectory and/or the predicted movement behavior (15). procedure after claim 1 , characterized by providing information relating to a type of trailer (4) and/or information relating to a loading condition of the trailer (4), the information relating to the type of trailer (4) and/or the loading condition of the trailer (4) be taken into account when predicting the driving trajectory and/or the movement behavior (15). procedure after claim 1 or 2 , characterized by adapting the at least one driver assistance system (8), in particular several driver assistance systems, depending on the predicted driving trajectory and/or the movement behavior (15), so that an actual driving trajectory of the vehicle-trailer combination (1) corresponds to a target - Travel trajectory for driving on the route section (7) is adjusted. Method according to one of the preceding claims, characterized by providing information on the state of movement of the vehicle-trailer combination (1), in particular the trailer (4), and/or an actual speed and/or an actual acceleration of the vehicle-trailer -Trailer combination (1), the movement state information and/or the actual speed and/or the actual acceleration being taken into account when predicting the travel trajectory and/or the movement behavior (15). Method according to one of the preceding claims, characterized by detecting an actual driving behavior (18) of the trailer (4) while the vehicle-trailer combination (1) is moving with at least one detection unit (19) of the vehicle (3), which is a component a camera-based side mirror (20), which is arranged on a steering side (21) of the vehicle (3), is arranged to detect a surrounding area (22) of a vehicle rear (23) of the vehicle (3), the actual driving behavior detected (18) is taken into account in the assisted maneuvering of the vehicle-trailer combination (1) when driving on the route section (7). procedure after claim 5 , characterized by detecting a lane boundary line (25) of a lane (6) of the route (2), which is traveled by the vehicle-trailer combination (1), with the at least one detection unit (19), the actual driving behavior (18 ) of the trailer (4) is checked to determine whether the trailer (4) is driving within the lane boundary line (25) of the lane (6), with the actual driving behavior being determined when the trailer (4) exceeds the lane boundary line (25). (18) of the trailer (4) is dynamically adapted to a target driving behavior by the at least one driver assistance system (8). Method according to one of the preceding claims, characterized by the at least one driver assistance system (8) carrying out longitudinal and transverse dynamic interventions in the actual driving behavior (17) of the vehicle-trailer combination (1) as a function of the predicted driving trajectory and/or or the movement behavior (15) when driving on the route section (7). Method according to one of the preceding claims, characterized by providing a roadway property of the route section (7) and/or a route profile of the route section (7) and/or a lane width (16) of the lane (6) of the route section (7) and/or a Weather information relating to a zone around the route section (7), the roadway property of the route section (7) and/or the course of the route of the route section (7) and/or the lane width (16) of the lane (6) of the route section (7) and/or the weather information relating to a zone around the route segment (7) are taken into account when predicting the driving trajectory and/or the movement behavior (15). Driver assistance system (8) with an evaluation unit (8), a detection unit (13, 19) and a position determination unit (9), wherein the driver assistance system (8) is designed to carry out a method according to one of the preceding claims. Vehicle (3) with a driver assistance system (8). claim 9 .

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