Method And Driver Assistance System For Assisted Reversing With A Vehicle-Trailer Combination And Motor Vehicle

A driver assistance system configured to perform a method for assisted reversing with a trailer having a towing vehicle and a coupled trailer vehicle as well as a driver assistance system, wherein the trailer is initially driven forwards, the method comprising:

• storing a corresponding forward trajectory in the driver assistance system;
• detecting, using a sensor system of the towing vehicle, at least one object arranged laterally next to the forward trajectory;
• planning the following:
• a) a reversing trajectory, which deviates as little as possible from the driven forward trajectory;
• and
• b) for each vehicle of the trailer, a vehicle-specific reversing corridor corresponding to the planned reversing trajectory;
• classifying the detected at least one object as a collision object if the at least one corresponding object lies in one or in both of the planned reversing corridors;
• generating, if one or more of the at least one detected object has been classified as a collision object, a new reversing trajectory and, as a result, for each vehicle a new vehicle- specific reversing corridor, which deviates as little as possible from the reversing corridor planned, such that the collision object does not lie in either of the new vehicle-specific reversing corridors;
• reversing the trailer with the aid of the driver assistance system, wherein the driver assistance system intervenes in transverse guidance of the towing vehicle at least such that the trailer is driven along the reversing trajectory or the new reversing trajectory, respectively, and, as a result, through the vehicle-specific reversing corridors or the new vehicle-specific reversing corridors, respectively;
• determining a current deviation of an actual reversing trajectory of the trailer vehicle from the reversing trajectory or the new reversing trajectory, respectively, using the driver assistance system during assisted reversing;
• and
• when the current deviation is greater than a permissible limit deviation, selectively stopping the trailer completely using the driver assistance system and resuming the assisted reversing after a corrective action has been performed.