Method for automatically parking a motor vehicle in a parking space restricted by a passable obstacle, parking assistance system and motor vehicle

Abstract

The invention relates to a method (100) for automatically parking a motor vehicle having a parking assistance system in a transverse parking space which is at least partially restricted by a passable obstacle, comprising detecting (102) a transverse parking space suitable for parking the motor vehicle by means of a parking assistance system of the motor vehicle and performing (103) an automatic parking maneuver by means of the parking assistance system of the motor vehicle, the automatic parking maneuver being interrupted (105) when an obstacle is detected in a movement path of the motor vehicle. It can be provided that during the execution (103) of the automatic parking maneuver, a monitoring (106) of an engine torque and a speed of the motor vehicle is carried out, and a detection (107) of a passable obstacle is carried out as the torque exceeds a limit value without an increase in speed. A motor vehicle (201) having a suitable parking assistance system (210) implementing the method will also be provided.

Description

technical field [0001] The invention relates to a method for automatically parking a motor vehicle with a parking assistance system in a transverse parking space at least partially delimited by a passable obstacle. Furthermore, the invention relates to a suitable parking assistance system for carrying out the method and to a motor vehicle having such a parking assistance system. Background technique [0002] Parking assistance systems are designed to assist the driver of a motor vehicle when parking in a parking space by automatically steering the vehicle into the parking space with a parking maneuver, accelerating and braking the vehicle if necessary, and changing the direction of travel. Parking assistance systems also include systems for automatic parking of autonomous vehicles. [0003] A parking space is a suitable free parking space for parking a motor vehicle, which parking space is for example marked by color and / or delimited by adjacent parked vehicles or other obs...

AI Technical Summary

Problems solved by technology

Ultrasonic sensors are generally inaccurate at detecting nearby low-height obstacles

Additionally, the field of view of the environmental sensors is limited so that areas under the floor and possibly very close to the vehicle are not monitored

If a low obstacle is not detected, it may be driven over during an automated parking maneuver, so that the final parking position may not be satisfactory to the driver or occupants of the vehicle, or may even result in damage to the vehicle, e.g. depending on Ground conditions in the area behind an obstacle or, for example, if the area behind an obstacle being driven over is significantly lower than the parking space in front of the obstacle

On the other hand, identifying low obstacles and completely avoiding even partially moving the vehicle over the obstacle without it intersecting the wheels can also be detrimental, as the space for maneuvering may be unnecessarily unused, making parking maneuvers less efficient. longer or more complex or the final parking position is not deep enough in the parking space

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