# US 2025/0153733 A1 · Method for operating an assistance system, computer program product, and assistance system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0153733 A1 - Document ID: US20250153733A1 - Status: Published application - Kind: A1 - Application number: 18/838,558 - Filed: 2023-01-31 - Published: 2025-05-15 - Earliest claimed: 2022-02-15 - Assignees: Volkswagen Aktiengesellschaft - Applicants: Volkswagen Aktiengesellschaft - Inventors: Philipp Hüger; Markus Radimirsch - Web page: https://patentgrep.com/patent/US20250153733A1 ## CPC - B60W 60/001: {Planning or execution of driving tasks} - B62D 15/0285: {Parking performed automatically} - B60W 30/06: Automatic manoeuvring for parking - B60W 30/18036: {Reversing} - B60W 50/0097: {Predicting future conditions} - B60W 2520/22: Articulation angle, e.g. between tractor and trailer - B60W 2530/201: Dimensions of vehicle - B60W 2530/205: Dimensions of trailer - B60W 2540/18: Steering angle - B62D 13/06: for backing a normally drawn trailer - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract An assistance system for an at least partially autonomously operated motor vehicle includes a detection device configured to record a trajectory of the motor vehicle during forward movement from a starting point to an endpoint within the vehicle's environment. An electronic computing device within the system determines a further trajectory based on the recorded trajectory for a future reverse movement of the motor vehicle from the starting point to the endpoint. The assistance system utilizes the further trajectory for future autonomous driving. Additionally, the system includes a computer program product associated with the assistance system. ## Claims ### Claim at position 1 1-15. (canceled) ### Claim 16 A method for operating an assistance system of an at least semi-autonomously operated motor vehicle, the method comprising: recording a trajectory of the motor vehicle when the motor vehicle is driving forward from a starting point to an endpoint in surroundings of the motor vehicle using a detection device of the assistance system; and determining, based on the recorded trajectory, a further trajectory for a future backup maneuver of the motor vehicle from the starting point to the endpoint using an electronic processing device of the assistance system; and providing the further trajectory to the assistance system for autonomously following the further trajectory in the future. ### Claim 17 (depends on 16) The method of claim 16, wherein the trajectory is recorded when (i) a trailer is attached to the motor vehicle, or (ii) when the motor vehicle does not have a trailer attached. ### Claim 18 (depends on 16) The method of claim 16, further comprising autonomously following the further trajectory in the presence of a trailer attached to the motor vehicle. ### Claim 19 (depends on 16) The method of claim 16, further comprising considering at least one of the following factors when following the further trajectory: a length of the trailer; a length of the motor vehicle; a position of a trailer hitch relative to the motor vehicle and the trailer; a maximum steering angle of the motor vehicle; a number of axles of the trailer; a wheelbase of the motor vehicle; a wheelbase of the trailer; and a maximum steering angle of the trailer. ### Claim 20 (depends on 16) The method of claim 16, further comprising: detecting a plurality of trajectory points of the recorded trajectory; and determining a plurality of equidistant further trajectory points for the further trajectory based on the detected trajectory points. ### Claim 21 (depends on 16) The method of claim 16, further comprising determining another trajectory for reversing the motor vehicle with an attached trailer from the endpoint to the starting point during the backup maneuver. ### Claim 22 (depends on 16) The method of claim 16, wherein the further trajectory is at least semi-autonomously followed by providing longitudinal guidance and/or lateral guidance of the motor vehicle, with or without an attached trailer. ### Claim 24 (depends on 16) The method of claim 16, further comprising generating a driving path for the further trajectory, wherein the motor vehicle, with or without an attached trailer, follows the driving path during the backup maneuver. ### Claim 25 (depends on 24) The method of claim 24, further comprising one of: (i) maintaining the motor vehicle, with or without an attached trailer, within the generated driving path by performing miniature movements of the motor vehicle, or (ii) maintaining at least one rear axle point of the motor vehicle and/or a rear axle point of the trailer within the generated driving path. ### Claim 26 (depends on 16) The method of claim 16, further comprising determining an articulation angle during the backup maneuver when a trailer is attached to the motor vehicle. ### Claim 27 An assistance system for an at least semi-autonomously operated motor vehicle, the system comprising: at least one detection device configured to record a trajectory of the motor vehicle when the motor vehicle is driving forward from a starting point to an endpoint in surroundings of the motor vehicle; and an electronic processing device configured to: determine, based on the recorded trajectory, a further trajectory for a future backup maneuver of the motor vehicle from the starting point to the endpoint; and provide the further trajectory to the assistance system for autonomously following the further trajectory in the future. ### Claim 28 (depends on 27) The assistance system of claim 27, wherein the detection device is configured to record the trajectory when (i) a trailer is attached to the motor vehicle, or (ii) when the motor vehicle does not have a trailer attached. ### Claim 29 (depends on 27) The assistance system of claim 27, wherein the electronic processing device is further configured to autonomously follow the further trajectory in the presence of a trailer attached to the motor vehicle. ### Claim 30 (depends on 27) The assistance system of claim 27, wherein the electronic processing device is further configured to consider at least one of the following factors when following the further trajectory: a length of the trailer; a length of the motor vehicle; a position of a trailer hitch relative to the motor vehicle and the trailer; a maximum steering angle of the motor vehicle; a number of axles of the trailer; a wheelbase of the motor vehicle; a wheelbase of the trailer; and a maximum steering angle of the trailer. ### Claim 31 (depends on 27) The assistance system of claim 27, wherein the electronic processing device is further configured to: detect a plurality of trajectory points of the recorded trajectory; and determine a plurality of equidistant further trajectory points for the further trajectory based on the detected trajectory points. ### Claim 32 (depends on 27) The assistance system of claim 27, wherein the electronic processing device is further configured to determine another trajectory for reversing the motor vehicle with an attached trailer from the endpoint to the starting point during the backup maneuver. ### Claim 33 (depends on 27) The assistance system of claim 27, wherein the electronic processing device is configured to at least semi-autonomously follow the further trajectory by providing longitudinal guidance and/or lateral guidance of the motor vehicle, with or without an attached trailer. ### Claim 34 (depends on 27) The assistance system of claim 27, wherein the electronic processing device is further configured to generate a driving path for the further trajectory, wherein the motor vehicle, with or without an attached trailer, follows the driving path during the backup maneuver. ### Claim 35 A non-transitory computer-readable storage medium storing instructions that, when executed by an electronic processing device of an assistance system for an at least semi-autonomously operated motor vehicle, cause the electronic processing device to: record, using a detection device, a trajectory of the motor vehicle as the motor vehicle drives forward from a starting point to an endpoint in surroundings of the motor vehicle; determine, based on the recorded trajectory, a further trajectory for a future backup maneuver of the motor vehicle from the starting point to the endpoint; and provide the further trajectory to the assistance system for autonomous following of the further trajectory in the future.