Device and method for automated, semi-automated or assisted maneuvering of a motor vehicle

Abstract

Device (10) for automated, semi-automated or assisted maneuvering of a motor vehicle from a standpoint (SP) to a 3D target position (ZP), comprising a mono camera (11) and an evaluation and control unit (12), wherein the evaluation and control unit (12) has at least one Structure from Motion algorithm, wherein the evaluation and control unit (12) is configured to calculate a maneuvering trajectory (R), wherein the maneuvering trajectory (R) is configured such that the mono camera (11) captures the target position (ZP) from at least two different viewing directions, wherein the viewing directions are selected such that the 3D determination of the Structure from Motion algorithm is optimized, wherein the maneuvering trajectory (R) is composed of three sub-trajectories (1-3), wherein a first sub-trajectory (1) leads from the starting point (SP) to a first intermediate point (ZP1),a second partial trajectory (2) leads from the first intermediate point (ZP1) to a second intermediate point (ZP2) and the third partial trajectory (3) leads from the second intermediate point (ZP2) to the target point (ZP), wherein at least the first partial trajectory (1) or at least the second partial trajectory (2) is configured such that the mono camera (11) captures the target position (ZP) from at least two different viewing directions, wherein the viewing directions are chosen such that the 3D determination of the Structure from Motion algorithm is optimized, characterized in that the first intermediate point (ZP1) is the target position (ZP).

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