DE102017216352B4 - Method for positioning a trailer hitch, arrangement for positioning a trailer hitch and computer program product - Google Patents

Abstract

Method for positioning a trailer coupling (1) of a towing vehicle (2) with respect to a coupling counterpart (4) arranged on a drawbar of a trailer (3), comprising: a) detecting the trailer (3) and the coupling counterpart (4), b) computer-aided determination an orientation of the detected trailer (3) and a position of the detected coupling counterpart (4), c) computer-aided determination of a stop position (P1) for the towing vehicle (2) depending on the determined orientation of the trailer (3) and the determined position of the coupling counterpart ( 4),d) moving the towing vehicle (2) to the stop position (P1),e) computer-aided determination of a target position (P2) for the towing vehicle (2), upon reaching which the trailer coupling (1) is in a target area of the coupling counterpart (4) is positioned, f) computer-aided determination of a route (F) for the towing vehicle (2) from the stop position (P1) to the target position (P2) and g) completing the determined route (F) to the target position (P2).

Description

The present invention relates to a method and an arrangement for positioning a trailer coupling of a towing vehicle with respect to a coupling counterpart arranged on a drawbar of a trailer and to a computer program product.

Vehicles with autonomous properties are currently the focus of many research and development activities. The level of autonomy is constantly increasing and the first fully autonomous vehicles have been developed.

A fully autonomous vehicle is a self-driving vehicle that can carry out all safety-critical functions for the entire driving process itself, so that control by the vehicle driver is not necessary at any time. The vehicle controls all functions from start to stop itself, including all parking functions.

In addition, a manual mode can also be provided, in which a human driver controls all or part of the vehicle functions. A semi-autonomous vehicle only performs a few selected functions, possibly independently under certain conditions such as a specified maximum speed, i.e. H. autonomous, off. Various assistance systems can be provided for this purpose.

Autonomous vehicles should, if possible, be designed in such a way that all the properties of a conventional vehicle are integrated. For example, the autonomous vehicle should be designed so that parking can be automated, e.g. B. by using an appropriate parking assistance system.

Another application scenario involves attaching a trailer to the vehicle using a trailer hitch on the towing vehicle and a hitch counterpart, e.g. B. a towball coupling. While assistance systems for maneuvering a towing vehicle with a trailer are widespread, options for autonomously attaching and unhooking a trailer are only rudimentarily known.

For example, the US 2014/0309840 A1 simply indicates that an automated parking and steering system can be used to position the towing vehicle relative to the trailer's drawbar. The US 2014/0012465 A1 describes that a route is determined based on processed image data in order to align the trailer coupling and the coupling counterpart of the trailer. However, neither of the two publications discloses a specific method for autonomously attaching and detaching a trailer from a towing vehicle.

The DE 10 2012 001 380 A1 describes an assistance method for a coupling maneuver of a motor vehicle with a trailer coupling to a trailer coupling socket using a driver assistance system. An image is recorded and displayed with a rear-view camera, in the detection range of which there is at least one clutch pan. In addition, a steering angle of a steering wheel is recorded. An image evaluation unit is given an area within the recorded image to detect the clutch socket through the steering angle. A trajectory between the trailer hitch and the hitch socket is then calculated and the trajectory is superimposed on the screen display of the image. Several partial trajectories can also be calculated.

The DE 10 2012 005 707 A1 discloses a method for coupling a trailer to a motor vehicle, which is automatically guided laterally when the motor vehicle is maneuvered.

From the DE 10 2015 213 404 A1 a method for coupling a motor vehicle with a trailer coupling to a coupling element of a trailer with at least partially automatic control of the motor vehicle based on data recorded by means of environmental sensors is known, wherein a controlled change in height on at least one axle is carried out by means of an air suspension system of the motor vehicle based on the recorded data.

The US 2010 / 0 013 188 A1 describes a trailer hitch support system that automatically guides a vehicle into a position for connecting a trailer hitch and a hitch counterpart.

The DE 10 2013 015 738 A1 describes a system and method for coupling a vehicle to a trailer. The vehicle can be coupled to the trailer remotely.

From the DE 10 2016 003 847 A1 a method for supporting a parking process of a vehicle with a trailer is known.

The present invention is based on the object of providing a method and a device with which at least semi-autonomous positioning of the towing vehicle and trailer relative to one another is possible.

This task is solved by the subjects of the independent claims. Advantageous developments of the invention are specified in the subclaims.

A method according to the invention for positioning a trailer coupling of a towing vehicle with respect to a coupling counterpart arranged on a drawbar of a trailer has the following features: detecting the trailer and the coupling counterpart, using sensors, computer-aided determination of an orientation of the detected trailer and a position of the detected coupling counterpart, computer-aided determination a stop position for the towing vehicle depending on the determined orientation of the trailer and the determined position of the coupling counterpart, moving the towing vehicle to the stop position, computer-aided determination of a target position for the towing vehicle, upon reaching which the trailer coupling is positioned in a target area of the coupling counterpart, computer-aided determination of a Route for the towing vehicle to the target position and completing the determined route to the target position.

The characteristics of the procedure can be carried out in the order in which they are mentioned, but also in a different order or in parallel if necessary.

By means of the method according to the invention, at least semi-autonomous positioning of the towing vehicle with respect to the trailer or the trailer coupling of the towing vehicle with respect to the coupling counterpart on the drawbar of the trailer can be achieved. The method can advantageously be integrated into a parking assistance method. This allows the use of other relevant facilities, e.g. B. Sensors may be dispensable. For example, the process can be integrated as a mere software add-on.

The method is not limited to a specific type of coupling between towing vehicle and trailer. The trailer coupling and the coupling counterpart can, for example, form a pin coupling, a mouth coupling, a fifth wheel coupling or a ball head coupling, whereby in the case of a ball head coupling the coupling counterpart is designed as a towing ball coupling. The trailer coupling can also be referred to as a trailer towing device.

The target position can be set in such a way that the trailer can subsequently be coupled to the towing vehicle. For this purpose, the trailer coupling can be arranged in the target position, for example, overlapping or directly opposite the coupling counterpart.

The target position concerns at least the positioning in the xy plane of the towing vehicle and trailer. A height adjustment (z plane) between the trailer coupling and the coupling counterpart can be achieved, for example, by appropriately adjusting the chassis of the towing vehicle, e.g. B. a spring adjustment. For this purpose, a height setpoint for the trailer coupling can be specified, for example by input from the vehicle driver or using a V2X (vehicle-to-everything) communication system. Alternatively, the height setpoint for the trailer coupling can be determined by the trailer, e.g. B. by determining the distance to the ground, for example using a telemeter or a similar device. The specific height setpoint can then be transmitted by the trailer to the towing vehicle or its data processing system. Storage in a storage unit for later use may also be possible.

According to various embodiments, the method can further comprise coupling the trailer coupling to the coupling counterpart. This coupling can be carried out, for example, by a person, e.g. the vehicle driver, or automatically by the towing vehicle and/or the trailer.

According to further embodiment variants, the computer-aided determination of the route and the completion of the determined route can have a first and a second phase, with in the first phase a first section of the route up to an intermediate position in which the towing vehicle and trailer are centered and spaced apart from one another, e.g . B. are arranged at a distance of approximately 1 m, is determined and completed and in the second phase a second section of the route from the intermediate position to the target position is determined and completed. Such a division into two phases can advantageously enable a more precise determination and completion of the route. For example, different sensor systems with different setpoint specifications and different parameters to be monitored can be used for the two phases.

According to further design variants, the movement of the towing vehicle to the stop position, the completion of the determined route and/or the coupling of the trailer coupling to the coupling counterpart can be carried out autonomously or remotely controlled. Both an autonomous and remote-controlled design can be considered computer-aided designs.

Autonomous means that the corresponding procedure is carried out entirely by the towing vehicle and/or trailer. With others According to these words, no human intervention is required. Remote controlled, on the other hand, means that control signals for carrying out the process are transmitted remotely from a remote control device to the towing vehicle or trailer. The control signals can be transmitted, for example, using radio signals. In addition, a return channel can be provided with which signals from the towing vehicle or trailer can be transmitted to the remote control device in the distance.

According to further embodiment variants, the method can further include monitoring the surroundings of the towing vehicle while completing the determined route, for example by means of sensors such as sensors of the towing vehicle. Depending on the detected environment of the towing vehicle, the method can, for example, be interrupted or aborted or a warning signal, e.g. B. in acoustic or optical form.

Depending on the process characteristics, different sensors can be used to monitor the environment and different signals can be used for monitoring. This can, for example, prevent dangerous situations from occurring if the environment of the towing vehicle changes after the stop position or route has been determined. If, for example, it is detected that a person is between the towing vehicle and the trailer, a warning signal can be issued and the process can be aborted if necessary.

According to further embodiments, the method can further comprise a computer-aided determination of steering angles and/or speeds for the towing vehicle to complete the determined route. The route can then be completed using the determined steering angles and/or the determined speeds.

For example, it is possible for the determined steering angles and/or speeds to be output to a vehicle driver or a remote control device, e.g. B. in a graphical representation and can be used to complete the route. Another possibility is to use the determined steering angles and/or speeds to autonomously complete the route by outputting the determined data to a control device of the towing vehicle and using it to control the towing vehicle. In this way, completing the determined route can be simplified and deviations of the actual route from the determined route can be reduced or avoided.

According to further embodiment variants, a position aligned parallel or perpendicular to the trailer, based on its longitudinal orientation, can be set as the stop position. A parallel-aligned stop position can, for example, be advantageously set if the trailer is positioned parallel to a road, for example parked in a parallel parking space. A vertically oriented stop position can, for example, be advantageously set if the trailer is positioned perpendicular to a road, for example parked in a perpendicular parking space or is in a garage with a garage opening parallel to the road.

A method not according to the invention for removing a trailer coupling of a towing vehicle from a coupling counterpart arranged on a drawbar of a trailer has a computer-aided determination of a target position for the towing vehicle, a computer-aided determination of a route for the towing vehicle to the target position, and completing the determined route to the target position and detaching the trailer coupling from the coupling counterpart. This can advantageously achieve at least partially autonomous uncoupling of the trailer from the towing vehicle. The method can be implemented in a parking assistance system, for example by considering the removal of the trailer hitch as a parking maneuver.

Here, too, it is possible to determine an intermediate position in a first phase and to first determine and complete a route to the intermediate position before determining and completing the route from the intermediate position to the target position in a second phase. The intermediate position of the removal method can be the relative intermediate position of the method for positioning the trailer coupling, e.g. B. in terms of the distance between the trailer coupling and the coupling counterpart.

Furthermore, all statements regarding the method for positioning the trailer coupling also apply mutatis mutandis to the method for removing the trailer coupling. For example, steering angles and/or speeds for the towing vehicle to complete the determined route can also be determined with computer assistance. The entire method can advantageously be carried out autonomously by also completing the determined route autonomously.

Detaching the trailer coupling from the coupling counterpart can - just like attaching it - be carried out by one person or automatically. In the latter case it can entire procedures can be carried out fully autonomously.

An arrangement according to the invention for positioning a trailer coupling of a towing vehicle with respect to a coupling counterpart arranged on a drawbar of a trailer has sensors for detecting the trailer and the coupling counterpart and a data processing system.

The data processing system is for receiving input data from the sensors, for determining an orientation of the trailer and a position of the coupling counterpart from the input data, for determining a stop position for the towing vehicle depending on the determined orientation of the trailer and the determined position of the coupling counterpart, for determining a target position for the towing vehicle, upon reaching which the trailer coupling is positioned in a target area of the coupling counterpart, for determining a route for the towing vehicle to the target position, for issuing instructions for moving the towing vehicle to the stop position and for issuing instructions for completing the determined route up to set up and trained for the target position.

The arrangement according to the invention can, for example, be used to carry out the method according to the invention explained above for positioning a trailer coupling of a towing vehicle with respect to a coupling counterpart arranged on a drawbar of a trailer and/or for carrying out the method according to the invention for removing a trailer coupling of a towing vehicle from one arranged on a drawbar of a trailer Coupling counterpart must be suitable. Therefore, the statements explaining the method according to the invention also serve to describe the device according to the invention. The advantages of the arrangement according to the invention correspond to those of the methods according to the invention and their corresponding embodiment variants.

The arrangement according to the invention can, for example, be arranged partially or completely in a towing vehicle. Some or all of the sensors can be designed as sensors arranged on the towing vehicle. The data processing system can also be arranged in or on the towing vehicle. Alternatively, the data processing system can be arranged remotely, e.g. in a central data processing device. In this case, the towing vehicle can have a transmitting and receiving device that is set up and designed to communicate with the data processing system.

Issuing the instructions can, for example, be given to a person, e.g. B. the driver, who then carries out the necessary actions. Alternatively, instructions in the form of control signals can be issued to actuators of the towing vehicle, so that moving the towing vehicle to the stop position and/or completing the determined route to the target position can be carried out autonomously.

The sensors of the arrangement according to the invention and other sensors described can be designed, for example, as ultrasonic, infrared, laser, radar or camera sensors. The sensors can be designed to receive measurement signals from a sensor area with a medium distance, i.e. H. an area of a few meters from the sensor, or from a sensor area with a short distance, i.e. H. an area with a distance of less than 1 m from the sensor. The sensors can be used for near-field communication with the data processing system or for radio transmission between the sensor and the data processing system, e.g. B. via Bluetooth.

The data processing system can have several functional units for executing different functions. For example, a trailer identification module may be included that determines the orientation of the trailer and the position of the coupling counterpart, e.g. B. determined by means of image processing and / or processing of the sensor information from distance sensors. For this purpose, a modified algorithm can be used, according to which the first obstacle with a certain minimum length of, for example, 1 m is considered a trailer. Already existing algorithms, e.g. B. used by parking assistance systems.

For simplicity, the determination can be made based on a position of the vehicle driver or another person positioning themselves at a specific position on the trailer. Alternatively, a remote control unit e.g. B. can be positioned on the left front corner or above the coupling counterpart.

Furthermore, the data processing system can have a module for controlling the lateral and longitudinal movement of the towing vehicle, as is present, for example, in a vehicle for autonomous driving or for autonomous parking and reversing by means of a parking assistance system.

Another module can be used to determine route. This module can be used as a module for determining the entry and exit path of a parka assistance system, whereby special restrictions can be made.

A coordination module can coordinate the other modules and enable data exchange.

According to various embodiment variants, the data processing system can be set up and designed to determine a first and a second phase for the route for the towing vehicle to the target position, wherein in the first phase a first section of the route up to an intermediate position in which the towing vehicle and trailer centered and arranged at a distance from each other, is determined and in the second phase a second section of the route from the intermediate position to the target position is determined.

According to further embodiments, the instructions for moving the towing vehicle to the stop position and/or the instructions for completing the determined route to the target position can be output as control signals to devices of the towing vehicle for autonomously moving the towing vehicle.

According to further embodiment variants, the arrangement can have sensors for monitoring the surroundings of the towing vehicle.

According to further embodiment variants, the data processing system can further be designed and set up to determine and output steering angles and/or speeds for the towing vehicle to complete the route.

According to further embodiment variants, the data processing system can further be designed and set up to issue instructions for coupling the trailer coupling to the coupling counterpart. The instructions can, for example, be issued to the towing vehicle and/or the trailer in the form of control signals. Alternatively or additionally, instructions, e.g. B. in optical or acoustic form, to a person such as the vehicle driver.

According to further embodiment variants, the arrangement can further have a remote control unit for receiving signals from the data processing system and/or sending signals to the data processing system. In other words, the vehicle driver can remotely send commands to the data processing system and receive commands from the data processing system. The commands can be output and input, for example, acoustically, visually and/or haptically.

Any wireless communication technology can be used for the remote control unit, e.g. B. Radio transmission. The remote control unit can, for example, be designed as a mobile means of communication such as a smartphone or tablet or be integrated into one. The remote control unit can also be designed as a key fob, for example.

Commands can be issued and input, for example, acoustically, visually and/or haptically. Any wireless communication technology can be used for the remote control unit, e.g. B. Radio transmission.

A computer program product according to the invention comprises commands which cause one of the previously described arrangements to carry out the computer-aided features of one of the methods described above for positioning a trailer coupling.

A computer program product is understood to mean a program code that is stored on a suitable medium and/or can be accessed via a suitable medium. Any medium suitable for storing software, for example a DVD, a USB stick, a flashcard or the like, can be used to store the program code. The retrieval of the program code can take place, for example, via the Internet or an intranet or via another suitable wireless or wired network.

According to various embodiment variants, the computer program product can further include commands which cause a towing vehicle to move to the stop position with one of the previously described arrangements and/or the determined route to the target position is completed by the towing vehicle.

Optionally, the computer program product can include further commands which cause one of the described arrangements or a towing vehicle with one of the described arrangements to carry out one of the described methods in whole or in part.

• 1 eine schematische Darstellung zum Ablauf eines erfindungsgemäßen Verfahrens; und
• 2 eine weitere schematische Darstellung zum Ablauf eines erfindungsgemäßen Verfahrens.

Further advantages of the present invention will be apparent from the detailed description and illustrations. The invention is explained in more detail using the illustrations and the following description. Show it:

• 1 a schematic representation of the sequence of a method according to the invention; and
• 2 a further schematic representation of the sequence of a method according to the invention.

The invention makes it possible to connect a vehicle as a towing vehicle to a trailer partially or fully autonomously, i.e. H. to couple a trailer to the towbar of the towing vehicle and to remove the trailer again. During this maneuver, the driver can be outside the towing vehicle, for example near the trailer to observe the maneuver and, if necessary, to couple the trailer after the towing vehicle and trailer have been positioned, unless this is done automatically.

In various embodiments, the towing vehicle and/or the trailer can be operated remotely by using the control, for example. B: done using a drone or a central control system. The trailer can also have automated functions, such as: B. an automatic locking system.

The proposed method can, for example, be integrated into a parking assistance system as an extension. For this purpose, the implementation of the method can advantageously be made possible by a software extension alone, without any changes to the hardware being necessary.

• - ein Zugfahrzeug 2, ausgestattet mit der erfindungsgemäßen Anordnung, d. h. Sensoren und einem Datenverarbeitungssystem;
• - ein Anhänger 3, der an das Zugfahrzeug 2 an- oder abgekuppelt werden soll;
• - ein Fahrzeugführer, der sich außerhalb des Zugfahrzeugs 2 befinden kann; alternativ kann anstelle des Fahrzeugführers ein externes automatisiertes System genutzt werden, beispielsweise eine Drohne, ein zentraler Server oder einer Car-to-Infrastructure Kommunikationseinrichtung.
• - Sensoren, wie oben beschrieben;
• - ein Datenverarbeitungssystem, wie oben beschrieben.
• - optional eine Fernsteuerungseinheit, wie oben beschrieben.

The following components and devices are important for carrying out the methods according to the invention:

• - a towing vehicle 2, equipped with the arrangement according to the invention, ie sensors and a data processing system;
• - a trailer 3 that is to be coupled or uncoupled from the towing vehicle 2;
• - a driver who can be outside the towing vehicle 2; Alternatively, an external automated system can be used instead of the vehicle driver, for example a drone, a central server or a car-to-infrastructure communication device.
• - Sensors, as described above;
• - a data processing system as described above.
• - optionally a remote control unit, as described above.

Referring to 1 The method for positioning the trailer coupling 1 of the towing vehicle 2 with respect to the coupling counterpart 4 arranged on the drawbar of the trailer 3 is described below, the trailer 3 being aligned parallel to the towing vehicle 2, that is, for example, parked in a parallel parking space.

First, the arrangement for carrying out the method is initialized by sending a signal to the arrangement, e.g. B. is sent by the vehicle driver using a user interface or a suitable device. The arrangement is then activated and the vehicle driver is informed about the activation if necessary. This activation phase can be carried out, for example, by a parking assistance system. The following measures can be carried out for activation: starting the towing vehicle 2, leaving the towing vehicle 2 by the vehicle driver, optionally informing the arrangement by the vehicle driver that the activation phase has been completed.

In addition, it can be assumed that the towing vehicle 2 is located near the trailer 3, for example as if the towing vehicle 2 is looking for a parking space. Preferably, the towing vehicle should be positioned behind and parallel to the trailer 3. In one embodiment, it can be provided that the position of the trailer 3 and its orientation are first determined and, based on this, instructions are issued to the driver or the towing vehicle 2 in order to position the towing vehicle 2 as described.

According to the method according to the invention, the trailer 3 and the coupling counterpart 4 are detected. For this purpose, the towing vehicle 2 can be moved at low speed with sensors activated to detect laterally arranged obstacles. This detection process can also be carried out by the vehicle driver or another person using a remote control unit. Corresponding functions of a parking assistance system can preferably be used. For example, it can be assumed that the coupling counterpart 4 is located in the middle of the trailer 3.

To detect the trailer 3, it can be assumed that the first lateral obstacle, which is followed by a gap for positioning the towing vehicle 2, e.g. B. a parking space around which trailer 3 is concerned. In order to avoid errors when detecting the trailer 3, a certain minimum length can be specified for the obstacle, e.g. B. at least 1 m. The position of the coupling counterpart 4 can be assumed on the edge of the obstacle aligned with the gap. Optionally, it can be provided that a specific design of the trailer 3 and its orientation, e.g. B. parallel, inclined or perpendicular to the road, in a garage, etc., is selected. If necessary, a further design and/or further orientations can also be defined via a user interface and specified in the arrangement. Storage for future use may be possible.

In one embodiment, information about the detected obstacle, which is detected as a trailer 3, can be output. This information can be obtained, for example, via a remote control unit, e.g. B. to the driver. It can be provided that the correct detection of the trailer 3 must be confirmed before the following procedural steps are carried out. In one embodiment it can be provided that the information is displayed as a map, e.g. B. in a two-dimensional or three-dimensional representation. For example, the vehicle driver can use this two-dimensional or three-dimensional representation of the environment to confirm that the detected obstacle is the trailer 3 or the vehicle driver can specify another object as the trailer 3. Optionally, the process of detecting trailer 3 and coupling counterpart 4 can be repeated until the detection is satisfactory. To detect the trailer 3 and the coupling counterpart, sensors, e.g. B. sensors of the towing vehicle 2 or sensors in the surroundings of the towing vehicle 2 are used.

After the trailer 3 has been detected and, if necessary, confirmation that the trailer 3 has been detected correctly, the coupling counterpart 4 is detected. In addition, the orientation of the detected trailer 3 and the position of the detected coupling counterpart 4 are determined with the aid of a computer. In one embodiment, it can be provided that the vehicle driver or another person positions themselves at a specific position relative to the trailer 3, e.g. B. on the left front corner, to the right of the coupling counterpart 4 etc., or that a remote control unit is positioned with respect to the trailer 3, e.g. B. above the coupling counterpart 4. This can advantageously simplify the determination of the orientation of the trailer 3 and the position of the coupling counterpart 4, since the positioned person or the positioned remote control unit can be used as a reference. Optionally, confirmation of the successful determination of the orientation of the trailer 3 and the position of the coupling counterpart 4 can be provided, e.g. B. by the vehicle driver carrying out the confirmation by executing a specific gesture, which is recognized using a gesture recognition algorithm, or by the vehicle driver making an entry on a remote control unit to confirm, e.g. B. presses a certain button.

Optionally, additional information can be used to detect the trailer 3 and the coupling counterpart 4 as well as to determine the orientation of the trailer 3 and the position of the coupling counterpart 4. For example, it can be provided that the coordinates of the trailer 3 are taken into account, which have a suitable infrastructure, e.g. B. a remote control unit, a voice output or a display can be output. Radio location of the trailer 3 can also be included.

Depending on the determined orientation of the trailer 3 and the determined position of the coupling counterpart 4, a stop position P1 for the towing vehicle 2 is determined with the aid of a computer. For example, the same position that would be selected when parking in a parking space in front of the trailer 3 can be selected as the stop position P1. A parking assistance system can therefore advantageously be used to determine the stop position P1.

For example, a position can be selected as the stop position P1 in which the distance between the towing vehicle 2 and the coupling counterpart 4 is fixed, e.g. B. to a distance of 5 m or a distance that corresponds to the length of the towing vehicle 2.

The towing vehicle 2 is then moved to the stop position P1 and stopped there, for example by the vehicle driver or autonomously using autonomous properties of the towing vehicle 2. For example, the towing vehicle 2 can be moved past the detected trailer 2, e.g. B. for a distance of 5 m after the trailer 3 is no longer detected, or for a distance that corresponds to the length of the towing vehicle. Reaching the stop position P1 can be communicated to the vehicle driver, the remote control unit or the data processing system of the towing vehicle 2.

In the further course, a target position P2 for the towing vehicle 2 is determined so that when the target position P2 is reached, the trailer coupling 1 of the towing vehicle 2 is positioned in a target area of the coupling counterpart 4. This enables the trailer coupling 1 to be coupled to the coupling counterpart 4 without having to change the position of the towing vehicle 2 or the trailer 3.

A route F for the towing vehicle 2 from the stop position P1 to the target position P2 is then determined. This route F will now be up to completed to the target position P2. It is possible to pre-process data, e.g. B. from previous maneuvers, or to correct the route F during completion, e.g. B. by means of the remote control unit or recognition of the driver's gestures.

Together with the route, steering angles and/or speeds for the towing vehicle 2 can be determined to complete the determined route F.

The route F can be completed autonomously by the towing vehicle 2 itself or by the driver or another person, e.g. B. by means of a remote control unit. Once the target position P2 has been reached, this can be signaled to the vehicle driver or the data processing system of the arrangement.

Before starting to complete the route F, a confirmation from the vehicle driver can be provided. In addition, it can be provided that a confirmation button must be pressed during the entire driving process, e.g. B. on a remote control unit by the vehicle driver. If the confirmation button is no longer pressed, the driving process is immediately interrupted. This can increase safety because the driving process can be quickly interrupted, e.g. B. if there is suddenly an obstacle in the determined route F.

In one embodiment, it can be provided that in the case of a non-optimal target position P2, i.e. one that needs to be improved, the driver or an external device requests the towing vehicle 2 to carry out the process again, i.e. first to move the towing vehicle 2 back to the stop position P1 and then to determine and complete the route F again. If necessary, the target position P2 can also be determined again.

The computer-aided determination of the route F and the completion of the determined route F preferably take place in two phases (not shown). In a first phase, a first section of the route F from the stop position P1 to an intermediate position in which the towing vehicle 2 and trailer 3 are centered and arranged at a distance from one another is determined and completed, and in the second phase a second section of the route is determined F determined and completed from the intermediate position to target position 2.

For this purpose, a parking assistance system can also be used, for example by using sensors from the parking assistance system. The first phase can correspond to a single-stage parking in a parallel parking space, with the towing vehicle 2 at a certain distance, e.g. B. 1 m, is parked to the coupling counterpart 4. In contrast to a usual parking process using a parking assistance system, two additional conditions can be provided. On the one hand, only a backward movement can be provided without further corrective movements and, on the other hand, a larger safety distance can be set so that the towing vehicle 2 is parked at the specific distance from the coupling counterpart 4.

At the beginning of the second phase, the towing vehicle 2 is centered on the trailer 3 and is at a certain distance, e.g. B. 1 m, from the coupling counterpart 4. The second section of the route F is now determined so that only minor steering maneuvers are permitted. The second section can also be completed at a slower speed than the first section. For example, for the second section the speed can be limited to less than 1 km/h and/or a steering angle of a maximum of ± 1° can be permitted. In addition, it can be provided that the towing vehicle 2 may only move backwards. Different sensors, setpoint specifications and error deviations can be used for the first and second phases.

After reaching the stop position, the trailer coupling 1 can be coupled to the coupling counterpart 4. This can be carried out, for example, by the vehicle driver or another person, possibly using a remote control unit, or the towing vehicle 2 and/or the trailer 3. After completing the coupling process, a confirmation message can be issued.

Finally, e.g. after the confirmation message has been issued, the process is terminated and the towing vehicle 2 can be switched off. To do this, the gear lever can be set to the park position, the handbrake can be switched on, the engine can be switched off and the doors can be locked. A further confirmation message can be issued to confirm that the towing vehicle 2 has been switched off, e.g. to the driver or an external monitoring device.

Optionally, the vehicle environment can be monitored using sensors while completing the route F. If an unexpected obstacle is detected, the process can be interrupted or aborted.

2 shows a schematic representation of the method for positioning the trailer hitch 1 of the towing vehicle 2 with respect to the coupling counterpart 4 arranged on the drawbar of the trailer 3, the trailer 3 being aligned perpendicular to the towing vehicle 2, that is, for example, parked in a transverse parking space.

The differences to this are explained below 1 described procedure (parallel alignment of towing vehicle and trailer).

Since the trailer 3 is in a transverse parking space, the presence of a gap next to the trailer 3, e.g. B. as indicated by the dashed position in 2 shown, not absolutely necessary for carrying out the procedure. To detect the trailer 3, for example, an identification step can be provided, that is, obstacles are first detected and the association of the trailer 3 with a specific obstacle can then be made, for example, by means of a trailer recognition algorithm based on special properties of the trailer 3 or by an input from the vehicle driver or an external automated system using an audio or video user interface or using a V2X (vehicle-to-everything) communication system.

In one embodiment, however, the trailer 3 and the coupling counterpart 4 can also be detected using a parking assistance system, provided there is a parking space next to the trailer 3. It can be assumed that the first obstacle is a parking space (see 2 , shown in dashed lines) or in front of which there is a parking space (not shown), which is the trailer 3.

After the computer-aided determination of the orientation of the detected trailer 3 and the position of the detected coupling counterpart 4, the stop position P1 is determined. For example, the same position that would be selected when parking in the gap of the trailer 3 can be selected as the stop position P1. A parking assistance system can therefore advantageously be used to determine the stop position P1.

To reach the stop position P1, in contrast to moving to 1 (Longitudinal alignment) a lateral correction of the position of the towing vehicle 2 may be required (see lateral displacement of the towing vehicle 2 in the stop position P1 compared to the starting position on the right).

The target position P2 is used in the case of a procedure according to 2 a position is set directly in front of the trailer 3. Furthermore, please refer to the explanations regarding 1 referred.

Modifications of the methods described can be made for trailers parked at an angle or trailers parked in a garage.

To uncouple the trailer 3 from the towing vehicle 2, the method not according to the invention for removing the trailer coupling 1 of the towing vehicle 2 from the coupling counterpart 4 arranged on a drawbar of the trailer 3 can be carried out.

For this purpose, it can first be determined in an initialization phase that the requirements necessary for detaching the trailer coupling 1 are met. For example, it can be checked whether a trailer 3 is attached to the towing vehicle 2, whether the towing vehicle 2 is in a switched-on state and/or whether the towing vehicle 2 is stationary.

The trailer coupling 1 can then be unhooked from the coupling counterpart 4, for example by the vehicle driver or another person or automatically by the towing vehicle 2 and/or the trailer 3. After unhooking, a confirmation message can be sent by the vehicle driver or an external system, e.g. B. by means of a radio signal.

Furthermore, a target position for the towing vehicle 2 is determined using a computer. This target position of the uncoupling process can, for example, correspond to the stop position P1 of a corresponding coupling process.

Subsequently, a route for the towing vehicle 2 to the target position is determined with computer assistance and the determined route is completed. The travel path of the uncoupling process can correspond to the travel path of the coupling process.

Here too, it is possible to determine and complete the route in two stages. In a first phase, a short movement can be carried out up to an intermediate position for which the same parameters, e.g. B. setpoints and error tolerances, and sensors such as can be used for the second phase of a corresponding coupling process. For example, in the first phase the towing vehicle can travel a short distance, e.g. B. 1 m, can be moved straight forward. The second phase can be carried out in accordance with a parking maneuver, in which e.g. B. the towing vehicle 2 can only be moved forward. The second phase of the uncoupling process can correspond to the first phase of the coupling process. The route can be completed, for example, by a command from the vehicle driver or another person, e.g. B. by means of a remote control device or a gesture, or a command from an external system, e.g. B. a central monitoring device.

By means of the method and the arrangement, the positioning of a towing vehicle 2 with respect to a trailer 3, possibly including the actual coupling or uncoupling process, can be carried out automatically. The coordination of the individual phases of the procedure can be taken over by the arrangement itself and the vehicle driver or an external automated system replacing him are instructed by the arrangement. The arrangement can take over the lateral and longitudinal control of the towing vehicle 2 and move the towing vehicle 2 without the need for a driver to be present in the towing vehicle 2. In other words, the movement can be carried out autonomously. A user interface can advantageously be provided to enable remote control of the arrangement, e.g. B. using a mobile means of communication. The monitoring of the process can be carried out by the vehicle driver, an external system with appropriate software, a drone, another vehicle or other suitable infrastructure.

The method and the arrangement can advantageously be integrated into a parking assistance system, e.g. in the form of a software extension. For example, the positioning of the towing vehicle 2 for coupling the trailer 3 can be viewed as a parking process in a parallel parking space which is limited by a rear obstacle, namely the trailer 3, wherein the distance to the obstacle or trailer 3 is adapted to the coupling process.

Although the invention has been illustrated and described in detail by the preferred embodiments, the invention is not limited by the examples disclosed and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention.

The figures are not necessarily detailed or to scale and may be shown enlarged or reduced in size for clarity of illustration. Therefore, functional details disclosed herein are not to be interpreted in a limiting sense, but merely as an illustrative basis for providing guidance to one skilled in the art to variously employ the present invention.

As used herein, the term “and/or,” when used in a series of two or more items, means that any of the listed items may be used alone, or any combination of two or more of the listed items may be used. For example, if a composition is described as containing components A, B and/or C, the composition A alone; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B, and C in combination.

Reference symbol list

1

Trailer coupling

2

towing vehicle

3

Trailer

4

Coupling counterpart

P1

Stop position

P2

Target position

F

Route

Claims (16)

Method for positioning a trailer coupling (1) of a towing vehicle (2) with respect to a coupling counterpart (4) arranged on a drawbar of a trailer (3), comprising: a) detecting the trailer (3) and the coupling counterpart (4), b) computer-aided determination of an orientation of the detected trailer (3) and a position of the detected coupling counterpart (4), c) computer-aided determination of a stop position (P1) for the towing vehicle (2) depending on the determined orientation of the trailer (3) and the determined position of the coupling counterpart (4), d) moving the towing vehicle (2) to the stop position (P1), e) computer-aided determination of a target position (P2) for the towing vehicle (2), upon reaching which the trailer coupling (1) is positioned in a target area of the coupling counterpart (4), f) computer-aided determination of a route (F) for the towing vehicle (2) from the stop position (P1) to the target position (P2) and g) Complete the determined route (F) to the target position (P2). Procedure according to Claim 1 , further comprising: - Coupling the trailer coupling (1) to the coupling counterpart (4). Method according to one of the preceding claims, wherein the computer-aided determination of the route (F) and the completion of the determined route (F) have a first and a second phase, wherein in the first phase a first section of the route (F) from the stop position (P1) to an intermediate position in which the towing vehicle ( 2) and trailer (3) are centered and arranged at a distance from each other, is determined and completed and in the second phase a second section of the route (F) from the intermediate position to the target position (P2) is determined and completed. Method according to one of the preceding claims, wherein the movement of the towing vehicle (2) to the stop position (P1), the completion of the determined route (F) and / or the coupling of the trailer coupling (1) to the coupling counterpart (4) are carried out autonomously or remotely . Method according to one of the preceding claims, further comprising: - Monitoring the surroundings of the towing vehicle (2) while completing the determined route (F). Method according to one of the preceding claims, further comprising: - Computer-aided determination of steering angles and/or speeds for the towing vehicle (2) to complete the determined route (F). Method according to one of the preceding claims, wherein a position aligned parallel or perpendicular to the trailer (3) is defined as the stop position (P1). Arrangement for positioning a trailer coupling (1) of a towing vehicle (2) with respect to a coupling counterpart (4) arranged on a drawbar of a trailer (3), comprising: - Sensors for detecting the trailer (3) and the coupling counterpart (4) and - a data processing system, set up and trained: i. for receiving input data from the sensors, ii. for determining an orientation of the trailer (3) and a position of the coupling counterpart (4) from the input data, iii. for determining a stop position (P1) for the towing vehicle (2) depending on the determined orientation of the trailer (3) and the determined position of the coupling counterpart (4), iv. for determining a target position (P2) for the towing vehicle (2), upon reaching which the trailer coupling (1) is positioned in a target area of the coupling counterpart (4), v. for determining a route (F) for the towing vehicle (2) from the stop position (P1) to the target position (P2), vi. for issuing instructions to move the towing vehicle (2) to the stop position (P1) and vii. to issue instructions for completing the determined route (F) to the target position (P2). Arrangement according to Claim 8 , wherein the data processing system is set up and designed to determine a first and a second phase for the route (F) for the towing vehicle (2) from the stop position (P1) to the target position (P2), with a first phase in the first phase Section of the route (F) from the stop position (P1) to an intermediate position in which the towing vehicle and trailer are centered and arranged at a distance from each other is determined and in the second phase a second section of the route (F) from the intermediate position to the Target position (P2) is determined. Arrangement according to Claim 8 or 9 , wherein the instructions for moving the towing vehicle (2) to the stop position (P1) and/or the instructions for completing the determined travel path (F) from the stop position (P1) to the target position (P2) are output as control signals to devices of the towing vehicle (2) for autonomously moving the towing vehicle (2). Arrangement according to one of the Claims 8 until 10 , further comprising: - Sensors for monitoring the surroundings of the towing vehicle (2). Arrangement according to one of the Claims 8 until 11 , wherein the data processing system is further designed and configured to determine and output steering angles and/or speeds for the towing vehicle (2) for completing the travel path (F). Arrangement according to one of the Claims 8 until 12 , wherein the data processing system is further designed and set up to issue instructions for coupling the trailer coupling (1) to the coupling counterpart (4). Arrangement according to one of the Claims 8 until 13 , further comprising: - a remote control unit for receiving signals from the data processing system and sending signals to the data processing system. Computer program product comprising instructions that cause the arrangement according to one of the Claims 8 until 14 the features a), b), c), e) and f) of the method Claim 1 executes. computer program product Claim 15 , further comprising commands that cause a towing vehicle (2) with an arrangement according to one of the Claims 8 until 14 moved to the stop position (P1) and/or the determined route (F) is completed by the towing vehicle (2) to the target position (P2).

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