Method for operating an assistance system of a vehicle and assistance system

Abstract

The invention relates to a method for operating an assistance system (50) of a vehicle (10), comprising the following steps: sensing an environment (U) of the vehicle (10), generating an environment map (2) which is divided into a plurality of cells (3), wherein each cell (3) is assigned a predetermined value based on the presence of an object (4) at a location of the environment (U) corresponding to the cell (3), and neutralizing a cell (3) based on one or more of the following parameters: a time that has elapsed since the assignment of the cell (3), a distance (5) between the cell (3) and a current location of the vehicle (10), and a track curvature (60) of a track (6) traveled since the assignment of the cell (3). The invention also relates to an assistance system of a vehicle.

Description

Technical Field

[0001] The present invention relates to a method for an auxiliary system for operating a vehicle and an auxiliary system for a vehicle. Background Technology

[0002] A known system assists in generating a vehicle's surrounding environment map, known as an "occupancy grid map." This type of map maps objects within the vehicle's surrounding environment. Typically, the surrounding environment map is generated using environmental data sensed by the vehicle's environmental sensors. However, due to errors in the environmental data and motion information, discrepancies can arise between the depiction in the surrounding environment map and reality. Summary of the Invention

[0003] In contrast, the objective of the method of the present invention is to provide a map of the surrounding environment with particularly accurate and reliable information. This is achieved through a method for an auxiliary system for operating a vehicle, the method comprising the following steps: - Sensing, especially by means of the vehicle's environmental sensors, to sense the vehicle's surrounding environment; - Generate a surrounding environment map, specifically an image of the surrounding environment, and divide the surrounding environment map into multiple cells, wherein, based on the presence of an object at a location corresponding to a cell in the surrounding environment, each cell is assigned a predetermined value, and - Neutralize cells based on one or more of the following parameters: - Time has elapsed since the cell was assigned. - The distance between the cell and the vehicle's instantaneous location, and - The trajectory of the path taken from the assignment of the cell is curved.

[0004] In other words, this method generates a surrounding environment map, which can also be referred to as an "occupancy grid map," based on the sensed surrounding environment. This surrounding environment map is divided into multiple cells, each assigned a predetermined value. Here, values ​​are assigned to these cells based on whether an object exists at a location in the surrounding environment corresponding to the determined cell location. Therefore, it is possible to determine, in a simple way, which areas of the surrounding environment are freely passable and which are not, from the surrounding environment map. In particular, this also allows for vehicle localization, preferably relative to an object. For example, numerical values ​​can be assigned to cells, preferably indicating either the presence or absence of an object.

[0005] Here, cells are neutralized based on one or more specific parameters. Neutralization is defined as "resetting the cell's value to a standard value, especially a standard value that existed before assignment." In particular, neutralization is defined as "resetting the cell so that its represented state is 'no object'." Alternatively, neutralization can also set the cell to a state of "occupied," i.e., it can mark the cell as an object. As a criterion for cell neutralization, the elapsed time since the cell was assigned a predetermined value can be used as a parameter. Therefore, the elapsed time is equivalent to the duration during which the corresponding cell remains unchanged or unobserved. In cases where the elapsed time is long, for example, due to the aging of information related to the cell, bias may occur. Preferably, by regularly and periodically neutralizing all cells, relatively real-time data is always present in the surrounding environment map. This allows for optimization of the accuracy of the surrounding environment map in a particularly simple manner.

[0006] Instead of or appending to elapsed time, the distance between the cell and the instantaneous location of the vehicle can be used as a criterion for neutralizing the cell. Preferably, the minimum distance between the observed cell and the instantaneous location of the vehicle is considered as the distance. Alternatively, the length of the trajectory traversed since the cell was assigned can be calculated and used as the distance to neutralize, for example, cell values ​​recorded before a longer travel distance.

[0007] Alternatively or additionally, it is possible to analyze the trajectory curvature of the vehicle's path since the cell assignment and to neutralize the cell based on this trajectory curvature. Preferably, cells are neutralized if they are located in areas of the surrounding environment map where there is strong trajectory curvature, such as trajectory curvature with a small turning radius. For example, cells traversed by strongly curved trajectories and / or adjacent to such cells can be neutralized. During travel along a defined trajectory, areas with strong trajectory curvature, such as during cornering, can cause particularly high deviations, especially in vehicle ranging methods. Therefore, by taking appropriate consideration during cell neutralization, areas of the surrounding environment map that are particularly prone to error can be excluded.

[0008] Therefore, the method offers the advantage of removing outdated and / or geographically distant and / or particularly error-prone areas from the surrounding environment map. Specifically, areas of the map that exhibit a high probability of small errors during recording are preserved. Thus, a particularly high-precision surrounding environment map can be provided, allowing, for example, the highest possible accuracy in vehicle positioning within the surrounding environment map.

[0009] The preferred embodiments described herein are preferred extensions of the present invention.

[0010] Preferably, a neutralization index is calculated for each cell, wherein the cell is neutralized when the corresponding neutralization index reaches or exceeds a predetermined value. Here, the neutralization index is calculated based on elapsed time and / or distance and / or trajectory curvature. Preferably, the neutralization index increases with increasing elapsed time. When considering distance, it is preferable that the neutralization index increases with increasing distance. Alternatively or additionally, the neutralization index increases in cases of strong trajectory curvature and / or prolonged trajectory curvature. Therefore, it is particularly preferable that the neutralization index is calculated using a defined algorithm in the method, which provides conclusions about the "possible error criteria of the cell." If, for example, the neutralization index continues to increase until it reaches or exceeds a predetermined value, the corresponding cell is neutralized. Thus, the surrounding environment map can be optimized in a particularly simple and accurate manner to adapt to multiple different error sources.

[0011] Preferably, the neutralization index is determined based on each of these parameters, that is, not only based on elapsed time but also on distance and trajectory curvature. Here, these parameters are weighted differently. This means that a common neutralization index is obtained based on three different parameters, wherein preferably, the algorithm for obtaining the index is constructed such that these parameters are weighted with different strengths. This means that changes in the first parameter have a stronger or weaker impact on the neutralization index than those of the other parameters. Thus, neutralization can be achieved particularly accurately and simply, i.e., regions with high error probabilities can be excluded.

[0012] Preferably, trajectory curvature is weighted most strongly. This means that the share determined by trajectory curvature and included in the neutralization index is weighted particularly strongly compared to the shares of other parameters. Therefore, the neutralization index is increased more strongly for cells in areas with strong trajectory curvature, such as cells in the surrounding environment map area where vehicles pass through corners with small turning radii. Consequently, cells in areas with high trajectory curvature can be preferentially excluded to provide a surrounding environment map with particularly accurate and reliable data.

[0013] Preferably, the parameter "time elapsed since cell assignment" is weighted the least. This means that, compared to other parameters, elapsed time contributes the least to the neutralization index. In particular, this prioritizes parameters related to vehicle ranging, namely distance and trajectory curvature, thereby allowing for the earlier elimination of these particularly error-prone shares.

[0014] Preferably, each cell is neutralized if at least 60 seconds, preferably at least 30 seconds, and especially at least 10 seconds have elapsed since its assignment. This means that the cell is deleted when the maximum age is reached. Therefore, it is possible to regularly update outdated cells in a particularly simple way.

[0015] More preferably, each cell is neutralized if, in the case of the cell, the distance between the cell and the instantaneous location of the vehicle is at least 50m, preferably at least 20m, and particularly at least 7m. Therefore, all cells at least a predefined distance from the vehicle are neutralized, so that only cells on the surrounding environment map that are close to the vehicle's location are used. This preferentially considers areas on the surrounding environment map that are close to the vehicle, as these areas can be determined with relatively high accuracy.

[0016] Preferably, the distance between the cell and the vehicle's instantaneous location is determined by the minimum gap or length of the trajectory traveled by the vehicle since the cell was assigned. This means that either the minimum gap between the cell and the vehicle, such as the straight-line distance (Luftlinie), can be determined, thus enabling a particularly simple determination. Alternatively, the length of the trajectory traveled, i.e., the distance the vehicle has traveled between the cell and the instantaneous location, can be determined as the distance, so that travel with multiple turns, such as frequent changes of direction, can also be considered when neutralizing the cell.

[0017] Preferably, all cells are neutralized if they are located within the trajectory area along the vehicle's path, where the trajectory curves with a turning radius of at most 50m, preferably at most 30m, and preferably at most 15m. Alternatively or additionally, all cells can be neutralized if they are located in front of the trajectory area along the vehicle's path. Here, the area including the trajectory is considered the trajectory area. Preferably, the trajectory area includes the cells through which the trajectory extends, as well as the adjacent cells. Preferably, the trajectory area corresponds to the area immediately adjacent to the trajectory by at most 2m. In other words, all cells are neutralized if they are located in and / or in front of areas where the trajectory curves very sharply. This allows for the simple and reliable exclusion of areas that may exhibit particularly high errors, especially when sensing using vehicle-based ranging methods, resulting in a particularly accurate and reliable map of the surrounding environment.

[0018] Preferably, the limit values ​​of the parameters described in the preceding paragraphs can be considered as absolute limits that are valid at all times, wherein the corresponding cell is neutralized when these limit values ​​are reached or exceeded. Furthermore, it should be noted that when using these absolute limits, the criterion for cell neutralization may also be met if none of these limits have been reached or exceeded. This means that the neutralization index may reach or exceed a predetermined value before any of the absolute limits described for time and / or distance and / or trajectory curvature have been reached, at which point the cell is neutralized. In particular, the corresponding algorithm for determining the neutralization index can be designed such that the probability of error in calculating the value of the corresponding cell based on all three parameters simultaneously can be considered. If this probability is higher than a predetermined value, the corresponding cell can be neutralized.

[0019] Particularly preferred is generating multiple ambient maps at different time points. The method further includes the step of comparing at least two ambient maps. This comparison can also be referred to as "matching." Preferably, the comparison is performed after neutralizing some cells in the two ambient maps. By neutralizing the cells—which specifically removes areas with a high probability of error—a highly accurate ambient map is left. Thus, the comparison can be carried out reliably and with high accuracy in a particularly simple manner, for example, using sensed objects still present in the ambient maps.

[0020] Preferably, the method further includes the step of locating the vehicle in at least one of the at least two surrounding environment maps based on a comparison of these maps. Preferably, a first sensing of the first surrounding environment map is performed for this purpose as a so-called "training," for example, by means of driving the vehicle manually controlled by the driver. Here, determining the vehicle's position and orientation within the surrounding environment map is considered localization. For example, the object is plotted into the first surrounding environment map using vehicle ranging and environmental sensing devices. Later, a second surrounding environment map can be generated by means of a second sensing through a second drive in the same area of ​​the surrounding environment and compared with the first surrounding environment map. Therefore, based on this comparison, the position of the vehicle, especially relative to the object or similar object plotted in the surrounding environment map, can be estimated. Preferably, cell neutralization based on one or more of the described parameters can be implemented using the first and / or the second surrounding environment map. Since this neutralizes those cells with a high probability of error, particularly accurate and reliable vehicle localization can be achieved.

[0021] Preferably, the method further includes the step of prioritizing cells located at a small distance from the instantaneous location of the vehicle. Specifically, cells located at a maximum distance of 10m, preferably a maximum of 3m, from the instantaneous location of the vehicle are prioritized. This prioritization can be seen, for example, when analyzing and evaluating the surrounding environment map. Particularly preferred is the ability to assign a weight factor to all cells in the surrounding environment map, which is, for example, multiplied by the cell value. This prioritization can include increasing the weight factor, making the values ​​of cells closer to the vehicle more important, for example, when locating the vehicle, thereby achieving higher accuracy in the surrounding environment map.

[0022] Particularly preferred, the method further includes the step of prioritizing cells reflecting static objects in the surrounding environment. Here, immovable obstacles are considered static objects, such as buildings, walls, or the like. For example, the static nature of the objects sensed by the environmental sensing device can be identified by classifying the vehicle's surrounding environment. This classification can identify, for example, whether the sensed objects are vehicles or pedestrians, buildings or walls, and whether they are movable, or whether they always remain in the same location. This prioritization of static objects also improves the accuracy of the surrounding environment map.

[0023] Furthermore, the present invention proposes a vehicle assistance system. This assistance system includes an environmental sensing device configured to sense the vehicle's surrounding environment and a control device configured to implement the described method. In particular, the environmental sensing device is also configured to sense the vehicle's ranging data. This allows the assistance system to be provided with particularly low and cost-effective hardware, enabling the vehicle to operate with high comfort and high accuracy for the driver.

[0024] Preferably, the environmental sensing device has radar sensors and / or lidar sensors and / or ultrasonic systems and / or cameras for sensing the surrounding environment. Preferably, a map of the surrounding environment is generated based on the environmental data sensed by means of the environmental sensing device, and preferably, the vehicle is also located in the map of the surrounding environment. Attached Figure Description

[0025] The present invention will now be described with reference to embodiments and accompanying drawings. In the drawings, components with the same function are designated by the same reference numerals. The following are shown: Figure 1a and Figure 1b A schematic simplified diagram illustrating the operation of a vehicle with an auxiliary system according to a preferred embodiment of the present invention, and Figures 2a to 2c : Show Figure 1a and Figure 1bAnother schematic diagram illustrating the operation of the vehicle. Detailed Implementation

[0026] Figure 1a and Figure 1b , Figures 2a to 2c A simplified schematic diagram of a vehicle 10 with an assistance system 50 is shown. Here, several different simplified views of the method of operating the assistance system 50 for the vehicle 10 are shown.

[0027] The auxiliary system 50 includes an environmental sensing device 52 configured to sense the surrounding environment U of the vehicle 10. The environmental sensing device 52 includes a radar sensor, a lidar sensor, an ultrasonic system, and a camera. With the aid of the environmental sensing device 52, objects 4 in the surrounding environment U of the vehicle 10 can be sensed, such as… Figure 1a As shown in the diagram.

[0028] Additionally, the auxiliary system 50 includes a control device 51 configured to generate an environment map 2 based on the sensed surrounding environment U, the environment map being an image of the surrounding environment U, such as... Figure 1b As shown in the diagram.

[0029] The surrounding environment map 2 is divided into multiple cells 3. Here, the surrounding environment map 2 is two-dimensional and constructed on a plane such that the vehicle 10 can move within the surrounding environment U on this plane. These cells 3 are square and have a side length of 1m. The surrounding environment map 2 is also square and has ten cells 3 arranged side by side in both length and width, that is, the surrounding environment map reflects an area with a side length of 10m.

[0030] It should be noted that a three-dimensional surrounding environment map 2 can be used instead of a two-dimensional one. In this case, cell 3 is preferably cuboid, and particularly preferably cubic.

[0031] Based on the sensed object 4, a predetermined value is assigned to each cell 3 of the surrounding environment map 2 as follows: the cell is located at a location on the surrounding environment map corresponding to the location of object 4 in the surrounding environment U. For example, a value representing the status "occupied" is assigned to the corresponding cell 3a in the surrounding environment map 2 that represents a location where object 4 is present in the surrounding environment U (see [link to relevant documentation]). Figure 1b ).

[0032] The vehicle 10 in the surrounding environment can be located using the surrounding environment map 2. For this purpose, a second surrounding environment map is generated. Figure 2b And compare it with at least one other first surrounding environment Figure 2a Comparison. This is in Figures 2a to 2cIt is shown in a simplified form.

[0033] Here, firstly, during the initial training drive, for example, the vehicle 10 is driven by the driver manually over an area of ​​the surrounding environment U. During this training drive, a first ambient environment is generated. Figure 2a This is in Figure 2a As shown in the image.

[0034] When vehicle 10, for example, is relocated to the same area of ​​the surrounding environment U at a later point in time, it is possible to generate a second surrounding environment in the second step. Figure 2b ,like Figure 2b As shown in the diagram. Here, in both of these surrounding environments... Figure 2a , 2b Cell 3 is marked in each of the surrounding environment maps to indicate objects 4 or free areas in the surrounding environment U.

[0035] Next, in the third step, the two surrounding environments will be... Figure 2a , 2b Comparing them. This is in... Figure 2c This is illustrated schematically. Here, based on those cells 3 representing object 4, the two surrounding environments can be... Figure 2a , 2b The two layers are stacked on top of each other, thereby positioning the vehicle 10 in the surrounding environment U during the second drive.

[0036] In sensing the surrounding environment U and generating these surrounding environments Figure 2a , 2b At that time, due to errors, especially errors in the distance measurement method of vehicle 10, the surrounding environment is occupied. Figure 2a , 2b Deviations may occur during timing and / or during subsequent positioning.

[0037] In particular, if the first surrounding environment is generated Figure 2a Second surrounding environment Figure 2b If there are errors that cause deviations between them, this can result in particularly high inaccuracies in positioning. To avoid or reduce such errors, the methods described below are used to determine the location of the surrounding environment. Figure 2a , 2b Optimize.

[0038] In order to protect the surrounding environment Figure 2a , 2b Optimize to make the surrounding environment Figure 2a , 2b The specific cell 3 is neutralized, meaning it is reset to the value that existed before the cell 3 with that specific value was occupied. This value specifically indicates that the corresponding cell 3 was not occupied, i.e., object 4 does not exist.

[0039] Here, cell 3 is neutralized based on multiple parameters, and a neutralization index is calculated for each cell 3 according to these parameters. Specifically, this neutralization index is calculated based on the following parameters: - Time has elapsed since the assignment of cell 3. - The distance of 5 between cell 3 and the instantaneous location of vehicle 10, and - Starting from the assignment of cell 3, the trajectory of track 6 traversed by vehicle 10 curves by 60 degrees. Therefore, the elapsed time indicates the age of the value in cell 3. The more time elapsed, the older the value in cell 3, the higher the neutralization index is. In particular, cell 3 is neutralized regardless of whether the value exceeds the predefined age assigned to it (e.g., at least 60 seconds). This ensures, in a simple way, that only the surrounding context is considered. Figure 2a , 2b The real-time value in the data.

[0040] Here, the distance 5 between cell 3 and the instantaneous location of vehicle 10 can be considered, on the one hand, as the direct distance between the vehicle, especially the environmental sensing device 52 of vehicle 10, and object 4, i.e., the shortest distance, such as in, for example, Figure 1a and Figure 1b As indicated by the arrow. Alternatively, distance 5 can be considered as the length of trajectory 6 traversed since the assignment of cell 3. Therefore, in this case, the turning travel of vehicle 10 is also taken into account when calculating distance 5. Here, similar to how the value of cell 3 increases in age, the neutralization index is increased for cells 3 whose distance from vehicle 10 increases.

[0041] In particular, each cell is neutralized if the distance 5 between the cell and the instantaneous location of the vehicle is greater than or equal to a predefined distance 5 (e.g., at least 20m). This also ensures, in a simple way, that cells 3 located far from vehicle 10 are neutralized to reduce the impact on the surrounding environment. Figure 2a , 2b Errors in the ranging method of vehicle 10. In particular, when there are errors in the ranging method, these errors have a significant impact on the surrounding environment at longer distances. Figure 2a , 2b Deviations in this process have a particularly strong impact.

[0042] Additionally, it is necessary to obtain the assistance of vehicle 10 in the surrounding environment. Figure 2a , 2b The curvature of the trajectory 6 traversed within the reflected area, especially the turning radius (see...) Figure 2aAs a trajectory curvature 60, cell 3 through which trajectory 6 extends and where the curvature of trajectory 6 exists is also subject to an increased neutralization index. This applies not only to cell 3 through which trajectory 6 directly extends, but also to adjacent, directly connected cell 3 within the trajectory region 61. For cases where the trajectory curvature 60 is particularly strong, especially when the turning radius is 30m or less, the corresponding cell 3 is directly neutralized. Since particularly large errors may exist in distance measurement in areas with strong trajectory curvature 60, neutralizing the corresponding cell 3 can particularly effectively improve the accuracy of the surrounding environment. Figure 2a , 2b The accuracy.

[0043] In addition, not only are cells directly in the curved area of ​​trajectory 60 neutralized or their neutralization index increased, but also all cells in front of the curved trajectory area 61 and their corresponding adjacent cells, that is, those cells along trajectory 6 before the vehicle 10 passes through the trajectory area 61, are neutralized or their neutralization index is increased.

[0044] In other words, it is preferable to use the corresponding algorithm to calculate the contribution to the neutralization index for each cell 3 individually based on the mentioned parameters, namely, the elapsed time, distance 5, and trajectory curvature 60, and to neutralize cell 3 when the neutralization index reaches or exceeds a preset value.

[0045] For example, by using this method, in Figure 2a The surrounding environment shown in the picture Figure 2a Cells 3b at the lower edge are neutralized because these cells are located ahead of the trajectory region 61 with strong trajectory curvature 60 along the trajectory 6, far from the instantaneous location of vehicle 10, and have not been observed for a long time, i.e., a long time has elapsed since the assignment of the value.

[0046] For example, the contributions of different parameters to the neutralization index can be weighted equally. However, it is particularly advantageous that these contributions are weighted differently. Here, it is particularly advantageous that the trajectory curvature 60 is weighted most strongly, while the elapsed time is weighted least strongly. Thus, it is possible to adjust the neutralization index according to the surrounding environment. Figure 2a , 2b It optimizes the performance of cell 3 particularly well for small errors.

[0047] Here, neutralizing cell 3 offers the following advantages: it allows for the removal of the surrounding environment. Figure 2a , 2b This is a particularly error-prone area. Therefore, it is especially important to preserve the surrounding environment. Figure 2a , 2bThis allows for the identification of areas with a higher probability of small errors. Therefore, it enables the provision of information with exceptionally high accuracy regarding the surrounding environment. Figure 2a , 2b In order to make use of these surrounding environments Figure 2a , 2b It can achieve the highest possible positioning accuracy for vehicle 10.

Claims

1. A method for operating an auxiliary system (50) of a vehicle (10), the method comprising the steps of: - Sensing the surrounding environment (U) of the vehicle (10). - Generate a surrounding environment map (2), which is divided into multiple cells (3), wherein, Based on the presence of object (4) at the location corresponding to cell (3) in the surrounding environment (U), assign a predetermined value to each cell (3), and - Neutralize cell (3) based on one or more of the following parameters: - Time has elapsed since the assignment of cell (3). - The distance (5) between the cell (3) and the instantaneous location of the vehicle (10), and - The trajectory (6) that has been traveled since the assignment of the cell (3) is curved (60). During the neutralization process, the value of the cell is reset to the standard value.

2. The method according to claim 1, wherein, Based on the elapsed time and / or the distance (5) and / or the trajectory curvature (60), a neutralization index is calculated for each cell (3), wherein the cell (3) is neutralized when the neutralization index reaches or exceeds a predetermined value.

3. The method according to claim 2, wherein, The neutralization index is based on each of the parameters, and the parameters are weighted differently.

4. The method according to claim 3, wherein, The trajectory curvature (60) is most strongly weighted.

5. The method according to claim 3 or 4, wherein, The time elapsed has been weighted in the weakest way.

6. The method according to any one of claims 1 to 4, wherein, Neutralize each of the following cells (3): in the case of the cell, the elapsed time since the assignment of the cell (3) is at least 60 seconds.

7. The method according to any one of claims 1 to 4, wherein, Neutralize each cell (3) as follows: in the case of the cell, the distance (5) between the cell (3) and the instantaneous location of the vehicle (10) is at least 50m.

8. The method according to any one of claims 1 to 4, wherein, The minimum distance or length of the trajectory (6) taken from the allocation of the cell (3) is taken as the distance (5) between the instantaneous location of the cell (3) and the vehicle (10).

9. The method according to any one of claims 1 to 4, wherein, Neutralize all cells (3) that are located inside and / or in front of the trajectory area (61) along the trajectory (6) traversed by the vehicle (10), where the trajectory curve (60) has a turning radius of up to 50 m.

10. The method according to any one of claims 1 to 4, wherein, Multiple surrounding environment maps (2a, 2b) are generated at different time points, and the method further includes the step of comparing at least two surrounding environment maps (2a, 2b) with each other.

11. The method according to claim 10, further comprising the step of locating the vehicle (10) in at least one of the surrounding environment maps (2a, 2b) based on a comparison of the at least two surrounding environment maps (2a, 2b).

12. The method according to any one of claims 1 to 4, the method further comprising the step of: giving preference to cells (3) arranged at a distance (5) of a maximum of 10 m from the instantaneous location of the vehicle (10).

13. The method according to any one of claims 1 to 4, the method further comprising the step of: giving preference to cells (3) that reflect static objects (4) in the surrounding environment (U).

14. The method according to claim 6, wherein, At least 30 seconds have elapsed since the assignment of cell (3).

15. The method according to claim 14, wherein, At least 10 seconds have elapsed since the assignment of cell (3).

16. The method according to claim 7, wherein, The distance (5) between the cell (3) and the instantaneous location of the vehicle (10) is at least 20m.

17. The method according to claim 16, wherein, The distance (5) between the cell (3) and the instantaneous location of the vehicle (10) is at least 7m.

18. The method according to claim 9, wherein, The trajectory curve (60) has a maximum turning radius of 30m.

19. The method according to claim 18, wherein, The trajectory curve (60) has a maximum turning radius of 15m.

20. The method according to claim 12, wherein, Cells (3) that are arranged at a maximum distance (5) of 3m from the instantaneous location of the vehicle (10) are given priority.

21. The method according to any one of claims 1 to 4, wherein, The standard value is a standard value that existed before the allocation.

22. An assistance system for a vehicle (10), said assistance system comprising: - An environmental sensing device (52) for sensing the surrounding environment (U) of the vehicle (10), and - A control device (51) configured to implement the method according to any one of the preceding claims.

23. The auxiliary system according to claim 22, wherein, The environmental sensing device (52) has a radar sensor and / or a lidar sensor and / or a camera and / or an ultrasonic system for sensing the surrounding environment.

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