Automated selection of one of a plurality of parking assistance functions in a motor vehicle

Abstract

The present invention relates to a motor vehicle (10) and a method for operating the motor vehicle (10) to perform a parking process, wherein the motor vehicle (10) has at least one first parking assistance function and at least one second parking assistance function, the first parking assistance function and the second parking assistance function being selectively selectable, and wherein the method comprises: - detecting a driver's gripping state of a steering handle (12) of the motor vehicle (10); - automatically selecting the first parking assistance function or the second parking assistance function according to the gripping state.

Description

Technical Field

[0001] The invention relates to a method for operating a motor vehicle and to a motor vehicle in which a selection can be made automatically between a plurality of parking assistance functions. The motor vehicle is preferably a passenger vehicle or a truck. Background Art

[0002] It is known to provide a vehicle driver with parking assistance functions in order to assist him with the parking process. The parking process may include a parking process and / or an unloading process. These parking processes may also include maneuvering processes, for example in confined spaces, on the way to a parking space (that is, when approaching a parking space) and / or with a trailer. Parking assistance functions may generally have the goal of relieving the driver of the often difficult task of driving the vehicle into the confines of a parking space or driving it out of the parking space again by selecting a suitable steering angle and / or impact point.

[0003] The parking assistance functions known to date are characterized by a varying degree of functional scope and, in particular, by a varying degree of actions that can be performed autonomously by the driver, that is to say automatically. Thus, DE 10 2006 052 575 A1 discloses a parking assistance function in the form of a so-called parking steering assistant, in which the vehicle can be automatically parked without steering intervention by the driver. In this case, in which the steering angle is set autonomously by the driver, it can be described as an automated lateral guidance of the vehicle.

[0004] Driver-initiated longitudinal guidance is also known, wherein the vehicle acceleration can also be selected in a driver-initiated manner, if necessary with a gear selection or a driving direction selection by the vehicle driver.

[0005] Further technical background is found in DE 10 2012 221 036 A1 and DE 10 2012 101 686 A1.

[0006] Depending on the personal preferences of the vehicle driver, in particular in view of the current parking situation, different degrees of assistance in the parking process may be desired. Therefore, the primary recognition of the present invention is that different types of parking assistance functions should be provided to the driver, between which the driver can select. These parking assistance functions can be designed according to any of the examples described above, i.e. characterized by different degrees of autonomously executable actions, in particular with regard to lateral guidance and / or longitudinal guidance.

[0007] Furthermore, any parking assistance function mentioned in this document may be used in at least one of the following environments or for at least one of the following purposes: assistance with the parking process when a driver is in the vehicle, in particular assistance (or assistance) with longitudinal and / or lateral guidance or taking over longitudinal and / or lateral guidance, in particular also assistance or taking over only lateral guidance; parking in a driver-autonomous manner when the driver is not in the vehicle (so-called Remote Park Assist); assistance with maneuvering processes (and / or driver-autonomous execution of maneuvering processes), for example in confined spaces, when turning, on a trained route, with a trailer or with a trailer attached.

[0008] In order to select from the correspondingly large number of existing parking assistance functions, the operator has previously had to make non-intuitive inputs via separate operating elements, for example by actuating buttons on the steering wheel and / or virtually faded-in operating elements or virtual selection options, for example on a central touch screen of the vehicle. From the driver's perspective, this is not very convenient, can be prone to errors and also presents a safety risk, since the driver then, for example, in the course of road traffic, after finding a suitable parking space, must search for input paths for selecting the parking assistance function currently preferred by the driver. As a result, the driver can be distracted from traffic. Summary of the invention

[0009] The present invention therefore addresses the object of improving the selection of a suitable parking assistance function, in particular with regard to operating comfort and / or operational safety of a motor vehicle.

[0010] This object is achieved by the subject matter according to the invention. Advantageous further developments are described in the following description. Unless otherwise indicated or apparent, all of the above explanations and definitions may also apply to the features of the present solution or are valid for these features.

[0011] In general, the solution disclosed herein provides for an automated selection between at least two available parking assistance functions. The selection can be an initial selection in order to be able to carry out the desired parking process. However, the selection can also be a selection during an ongoing parking process, in particular when a change is to be made from the initially activated parking assistance function to another parking assistance function.

[0012] The selection is made by the vehicle driver (hereinafter sometimes also referred to as driver) taking into account the operating state of the motor vehicle. In particular, the operating state may be the gripping state of the steering handle of the motor vehicle, i.e., in particular, whether the driver is currently gripping the steering handle. This can be achieved with the aid of a so-called hands-off detection (or also referred to as hands-off driving detection), as is currently installed in vehicles. The hands-off detection may be based on the capacitive sensor principle, for example.

[0013] That is, depending on whether the driver holds the steering wheel, one of the parking assistance functions can be automatically selected and / or a change can be automatically made between the available parking assistance functions. Preferably, no additional measures are required on the part of the driver to achieve this selection and / or this change. In particular, it may not be necessary for the driver to operate a separate (real or virtual) operating element of the type described above.

[0014] In other words, the driver can automatically activate the preferred parking assistance function by holding or releasing the steering wheel, or else cause a corresponding automatic selection between these parking assistance functions (intentionally or unintentionally from the driver's perspective). This ensures a convenient, intuitive and reliable selection of a suitable parking assistance function, wherein the driver can still continue to focus on the surrounding traffic.

[0015] Preferably, provision is made for at least one first parking assistance function and at least one second parking assistance function to be provided, which are characterized by different degrees of autonomy (or also levels or grades of autonomy). For example, the first parking assistance function can generate a torque which is only temporarily effective in the manner described below or generally only signal suitable steering maneuvers, but cannot carry out these steering maneuvers completely autonomously. In contrast, the second parking assistance function with a correspondingly higher level of autonomy can carry out a driver-autonomous lateral and / or longitudinal guidance of the type described at the outset. If the driver does not hold the steering handle, the parking assistance function with the higher level of autonomy can be selected. If the driver holds the steering handle, the parking assistance function with the lower level of autonomy can be selected.

[0016] That is, by determining the grip state of the steering handle, it can be reliably determined and / or intuitively specified by the driver: the degree to which the driver wants to maintain control of the vehicle (grip) or the degree to which he wants autonomous assistance through the assistance function (no grip).

[0017] In particular, a method for operating a motor vehicle to carry out a parking maneuver is proposed, wherein the motor vehicle has at least one parking assistance function and at least one second parking assistance function (or can be operated as a first parking assistance function and a second parking assistance function). The parking assistance functions are preferably different from one another, can be selectively selected and / or can be selectively activated, and the method comprises:

[0018] - Detecting the driver's grip on the steering handle of the motor vehicle;

[0019] - Depending on the holding state, the first parking assistance function or the second parking assistance function is automatically selected.

[0020] These parking assistance functions can be provided by at least one control device and / or can be software functions that can be implemented by at least one control device of the motor vehicle. These parking assistance functions can control other components of the motor vehicle in a manner known per se and / or obtain information, in particular sensor signals, from these other components.

[0021] The steering handle may be a steering wheel. The holding state may be not holding the steering handle or holding the steering handle. Intermediate stages may also be detectable, such as holding with only one hand or only point-touching with individual fingers. Optionally, these intermediate stages may be classified as holding the steering wheel or not holding the steering wheel. Alternatively, such intermediate stages may also be assigned auxiliary functions. For example, at least one third auxiliary function may be assigned to a detectable intermediate stage. Generally, for safety reasons, it is preferred that only a two-handed holding of the steering handle may be classified and detected as an actual holding.

[0022] The gripping state can be detected by means of known and above-mentioned sensor devices, which are based on the capacitive sensor principle, for example. Alternatively, optical detection, for example by an interior camera, is conceivable.

[0023] The selection of the first or second parking assistance function can be performed automatically and thus in a driver-independent manner. For example, the selection can be performed when the start of a parking process is detected and / or when a change in the grip state is detected during an ongoing parking process. Examples of two of these variants are also described herein.

[0024] In principle, the method can also include a preliminary step of identifying a parking process (e.g., starting or to be performed). For example, the driver may have activated a parking space search with the aid of the surrounding sensor system of the motor vehicle and / or may have been able to find a parking space automatically by the motor vehicle. In particular, if the driver then parks the vehicle (near the identified parking space), it can be inferred that a parking process is to be initiated or performed. The gripping state of the steering handle can then be detected and a parking assistance function can be automatically selected.

[0025] However, it is also possible to initially select a parking assistance function without taking into account the gripping state, as will be described further below. Then, even in the case of a gripping state-based selection, an automatic change to another parking assistance function can be made during the ongoing parking process based on the gripping state detected and, in particular, a change in the gripping state. This also increases operating comfort and operational safety, since the driver can then automatically initiate the selection of a suitable (ie, situation-appropriate) parking assistance function by simply gripping or releasing the steering handle.

[0026] One embodiment provides that the first parking assistance function and the second parking assistance function are each configured to generate forces and / or torques in a steering system of the motor vehicle in a driver-independent manner. With the aid of these forces and / or torques, a lateral guidance of the vehicle can be performed in a driver-independent manner and / or a preferred steering direction and / or steering point can be signaled to the driver. In the latter case, the complete lateral guidance cannot be performed in a driver-independent manner, but the driver can be stimulated to set the steering angle appropriately by only temporarily generating a torque.

[0027] In both cases, these parking assistance functions can access at least one actuator (especially an electric motor) in the steering system of the motor vehicle and / or control the actuator to generate a corresponding force or torque. In the case of an electromechanical steering system with a mechanical connection between the steering handle and the steering gear, the actuator can be an actuator acting on the steering gear (for example an actuator acting on the rack). In the case of a steer-by-wire steering system without a corresponding mechanical connection, the actuator can be a reaction force actuator connected to the steering handle.

[0028] One further development provides that the first parking assistance function is configured to generate an at least temporarily effective torque on the steering handle as a steering instruction to the driver. The torque can be generated, for example, in the form of a ruck in order to induce the driver to steer more. However, the torque can also be an additional steering torque, with which the steering resistance in at least one direction can be reduced. This can also be perceived by the driver as a steering instruction.

[0029] Preferably, the steering torque of the first parking assistance function is smaller than the steering torque of the second parking assistance function. The steering torque of the first parking assistance function may not be sufficient to guide the vehicle laterally completely autonomously.

[0030] This parking assistance function can assist the parking process, but cannot automatically carry out the parking process without manual intervention. Instead of at least temporarily generating torque, the first parking assistance function can output, for example, visual and / or audible turn instructions.

[0031] According to a preferred variant, the second parking assistance function can be configured to generate the steering torque required for parking the vehicle in a driver-independent manner and preferably completely in a driver-independent manner. In other words, the second parking assistance function can perform and / or cause a driver-independent lateral guidance of the vehicle. Additionally or alternatively, a driver-independent longitudinal guidance can also be provided according to conventional variants.

[0032] As mentioned, when the holding state changes, a switch to the corresponding other parking function of the first and second parking functions can be made. That is, after the first and second parking assistance functions have been automatically selected, the holding state can be continuously monitored and then a switch can be made between the first and second parking functions, possibly also multiple times in the case of repeated changes.

[0033] In this respect, it can be provided in particular that a change from the first parking assistance function to the second parking assistance function occurs when the gripping state indicates that the driver is not gripping (e.g., has released) the steering handle. This variant is particularly advantageous when the first parking assistance function only provides a turn signal in the manner described above. The driver is then to independently or manually implement the given turn signal. However, if the driver does not grip the steering handle or releases it, it is advantageous to automatically change to another (especially second) parking assistance function, with which a higher level of autonomy can be achieved and / or in which less intervention by the driver is required. The parking assistance functions thus preferably differ in whether the driver himself actuates the steering device (and optionally the accelerator and brake) or whether the vehicle performs this automatically in a driver-monitored manner (second parking assistance function).

[0034] Additionally or alternatively, it can be provided that a change from the second parking assistance function to the first parking assistance function occurs when the grip state indicates that the driver is gripping the steering handle. This can signal that the driver wants to take over the lateral guidance himself, so that the generation of steering torque in a driver-independent manner should be advantageously limited.

[0035] As mentioned, however, an initial parking assistance function can also be selected and activated by means of the detected gripping state. When the driver, for example, initially grips the steering handle, the first parking assistance function can be activated. If the driver does not initially grip the steering handle, the second parking assistance function can be activated. However, as mentioned, this can be changed as soon as the gripping state of the steering handle changes during the ongoing parking process.

[0036] Correspondingly, one embodiment provides that the method includes initially selecting one of the first and second parking assistance functions. This is preferably carried out based on at least one configuration specification. Furthermore, the method then preferably also includes selecting and thereby switching to a corresponding other parking assistance function of the first and second parking assistance functions based on the detected holding state. This can occur at least if the holding state indicates another preferred parking assistance function or is associated with such a parking assistance function. As long as the initial function corresponds to the holding state (for example is assigned to it), this initial function can be retained.

[0037] The configuration specification can be a specification that can be configured by the vehicle manufacturer and / or the vehicle owner. For example, based on the state conditions and / or fixed or flexible criteria explained below, the configuration specification can specify in which cases the first parking assistance function or the second parking assistance function should be initially selected. This makes it possible to offer the driver a parking assistance function that is appropriate to the situation from the outset or to initially set the parking assistance function that is appropriate to the situation, preferably automatically. If this selection proves to be unsuitable from the driver's point of view, the driver can change to his preferred parking assistance function by changing the grip state. Subsequently, the parking assistance function that is more appropriate to the situation with respect to the changed grip state can be activated in a driver-independent manner.

[0038] In particular, the configuration specification may define at least one state condition that must be met for the initial selection of the first parking assistance function or the second parking assistance function. The state condition may, for example, describe a state of the driver, the vehicle and / or the vehicle surroundings, in particular a parking situation.

[0039] For example, a parking assistance function with a correspondingly high level of autonomy can be activated when the vehicle approaches a defined position at which, for example, parking processes occur more frequently and / or a fully automated parking process has previously been practiced within the scope of the parking assistance function. In this case, the state condition relates to the position of the vehicle or the vicinity of a position with a correspondingly practiced parking process. Furthermore, the presence or absence of a trailer can be detected as a state condition, and then, for example, a suitably adapted parking assistance function with a preferably high level of autonomy can be activated. Similarly, if the driver's seat belt buckle is or has been released, a trailer hitch assist can be activated as a parking assistance function, as described, for example, in DE 102017220459A1 of the applicant. Furthermore, in the event of a released seat belt buckle, a remote parking assistance of the type described above can be activated, in which the driver monitors the parking process of the vehicle while he is in the vicinity of the vehicle (but not in the vehicle).

[0040] As a further general aspect of the disclosure, provision may be made for the driver to confirm the parking assistance function that is correspondingly selected for activation before the parking assistance function is actually activated (that is to say, for example, actually implemented by the control device). For example, the driver may be informed of the correspondingly selected parking assistance function visually or by an audio output and may be asked to confirm and / or allow the actual activation or implementation of the parking assistance function. As described above, this variant is particularly advantageous during the initial selection of the parking assistance function in order to avoid an erroneous selection. Alternatively, however, any parking assistance function that is automatically selected in this context may also be directly automatically activated or automatically implemented (that is to say, in particular, the generation of forces / torques may be started in a driver-autonomous manner). This applies in particular to parking assistance functions that were selected during an already ongoing parking process, for example, due to a change in the grip state.

[0041] It can also be provided that when the grip state changes, all parking assistance functions are deactivated, i.e., there is no change to a correspondingly different assistance function. This applies in particular to the case in which the initial parking assistance function is selected based on the grip state. If the grip state then changes, this can also be interpreted as a signal from the driver that the driver does not want any assistance. This applies in particular when the driver holds the steering wheel after having last released or not held the steering wheel. This can be recognized and interpreted as a desire to gain full control of the vehicle, and then, for example, activation of the parking assistance function can also be omitted to generate a turn signal of the type described herein.

[0042] A preferred embodiment provides that the behavior of the vehicle or of a control device of the vehicle can be configured in response to a changed grip state. In particular, the driver can configure, preferably flexibly and / or reversibly, whether he wishes to automatically change to another parking assistance function when the grip state changes and / or whether all parking assistance functions should then be terminated. The driver can also define conditions or states of the type described above, according to which a change between the then preferably specified parking assistance functions should only be carried out in the case of a specific change in the grip state.

[0043] The state condition for defining the initially selected parking assistance function can also be configured by the driver. To this end, the driver can in particular specify logical associations that describe the state condition and the action to be performed when the state condition exists. In addition, an alternative can also be specified, which defines the pending action to be performed when the state condition is not met. Such a logical association can be called a conditional judgment (WENN-DANN-SONST) relationship or association.

[0044] In addition to or as an alternative to monitoring changes in the grip state, at least one other interaction of the driver with the vehicle can also be monitored and / or detected during the ongoing parking process. In particular, manipulation of the accelerator pedal, brake pedal, clutch pedal or gearshift can be detected. This can be interpreted as the driver's intention to change from a parking assistance function with a high level of autonomy (in particular the second parking assistance function) to a parking assistance function with a low level of autonomy (in particular the first parking assistance function). Alternatively, when a corresponding manipulation is detected, the currently selected parking assistance function can be deactivated and other parking assistance functions cannot be activated, that is, the driver can regain full manual control of the vehicle.

[0045] Additionally or alternatively, provision can be made that, in particular when a parking assistance function with autonomous longitudinal guidance is selected, at least one activation condition is checked before the parking assistance function is actually activated or implemented. This can include, for example, a check, for example by means of a seat sensor, whether the driver is sitting in his seat. Additionally or alternatively, a check of the driver's attention can be carried out, for example by detecting the angle of view, in order to ensure that the driver is monitoring the parking process and can reliably intervene in the parking process. As an activation criterion, a certain actuation by the driver, for example a brake actuation, can also be requested, thereby at least indirectly signaling to the driver that the parking process can be monitored.

[0046] The invention also relates to a motor vehicle having:

[0047] - Steering handle;

[0048] - a sensing device for determining the gripping state of the steering handle by the vehicle driver;

[0049] A control device which is designed to select between a first parking assistance function and a second parking assistance function as a function of the determined holding state.

[0050] In general, the motor vehicle and in particular the control device can be set up to implement the method according to any aspect described herein. In principle, the motor vehicle and in particular the control device can include any other features and / or any other functions in order to provide all the measures, interactions and effects according to the method described herein. All explanations and extensions of the method features can also apply to the same features of the motor vehicle and in particular the control device or be provided in the case of the motor vehicle and in particular the control device.

[0051] The control device may have at least one processor device and / or at least one memory device. Program instructions may be stored on the memory device, which, when executed by the processor device, cause the control device to execute all measures and in particular method steps described herein. The control device may be connected to the sensor device in a data transmission manner, for example via a communication bus. When the parking assistance functions are activated according to a corresponding selection (or automatically activated by the selection), the parking assistance functions may be implemented by the control device. For this purpose, the control device may control the actuator of the steering system and preferably the actuator connected to the steering handle in a manner known per se. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Embodiments of the present invention are explained below with reference to the attached schematic drawings. In the drawings, the same reference numerals may be used for the same effects or features of the same type.

[0053] Figure 1 A motor vehicle according to an exemplary embodiment of the present invention is shown, which is configured to carry out the method according to the present invention.

[0054] Figure 2 It shows that Figure 1 Flowchart of a method according to a first embodiment implemented in a vehicle in FIG.

[0055] Figure 3 It shows that Figure 1 Flowchart of a method according to a second embodiment implemented in a vehicle in FIG. DETAILED DESCRIPTION

[0056] exist Figure 1 , a motor vehicle 10 is shown in a very simplified form. This view corresponds to a side view, wherein however the doors are omitted and individual components of the motor vehicle 10 which are not visible from the outside are depicted for reasons of presentation.

[0057] The motor vehicle 10 is a passenger vehicle. The motor vehicle comprises a steering handle in the form of a steering wheel 12. The steering wheel is connected to a steering system 16 via a steering rod 14. The steering system 16 comprises a steering gear 18, which is mechanically connected to a front wheel 20. The steering gear 18 is depicted in a very simplified manner. A steering actuator 22 is also connected to the steering gear 18. The steering actuator can act in a known manner, in particular on a rack, and thus deflect the steering gear 18 or the front wheel 20 connected to the steering gear in a driver-independent manner. However, since the steering handle 12 is connected to the steering gear 18 via the steering rod 14, a torque is also transmitted to the steering handle 12 via this. In other words, the actuator 22 can also generate an effective torque on the steering wheel 12, but at the same time can also deflect the front wheel 20 in a driver-independent manner.

[0058] A sensor device 24 is arranged on the steering handle 12. The sensor device is a hands-free driving sensor device known per se or also a hands-free recognition device. The sensor device is set up to detect whether the driver holds or does not hold the steering handle 12.

[0059] The motor vehicle 10 further comprises a control device 26. As indicated by the dashed data connection, the control device is connected to the sensor device 24. That is, the control device can obtain information from the sensor device 24 about what kind of gripping state (gripping or not gripping) of the steering handle 12 currently exists, or can obtain information from the sensor device 24 in order to determine this information accordingly.

[0060] The control device 26 is also connected to the actuator 22. The control device 26 is thereby configured to control the actuator 22 so that the actuator introduces a torque into the steering gear 18 or transmits a torque to the steering gear. In this way, on the one hand, the wheel steering angle effective for steering can be set in a driver-independent manner (that is, via the actuator 22), that is, the vehicle 10 can be steered autonomously and more precisely guided laterally. On the other hand, a feedback torque that can be felt on the steering handle 12 can thereby be generated based on the depicted mechanical connection to the steering handle 12.

[0061] It should be pointed out that in the case of a steer-by-wire system, the torque is preferably generated at the steering handle 12 via a separate actuator, which can also be coupled to the control device 26 .

[0062] Furthermore, control device 26 is connected to only two, by way of example, and preferably significantly more, environment sensors 30. Environmental information can be detected by these environment sensors and, for example, parking spaces can be automatically identified in a known manner.

[0063] Control device 26 also includes the processor device 32 and memory device 34 shown. Various parking assistance functions in the form of programs, software modules or software applications are stored on memory device 34. When executed by processor device 32, control device 26 can operate vehicle 10 according to these parking assistance functions and, for example, actuate actuator 22 according to these parking assistance functions.

[0064] In the present case, only one of the parking assistance functions can be implemented at a given time, i.e., the parking assistance function that intervenes in the lateral guidance (i.e., only one assistance function can intervene in the lateral guidance at a given time). Therefore, it is not possible to simultaneously control actuator 22 by / with different parking assistance functions to intervene in the lateral guidance.

[0065] In the example shown, the first parking assistance function is provided for mainly manual parking, and the control device 26 generates only temporarily a torque that can be felt on the steering handle 12 as a turning instruction by means of the actuator 22. As a result, the lateral guidance of the vehicle 10 is not carried out completely in a driver-independent manner. In particular, no clear lateral guidance occurs, which makes it possible to park or drive out. Instead, for example, when the driver has reached a turning point suitable for driving into a recognized parking space, the turning instruction is only output to the driver by the torque generated on the steering handle 12.

[0066] A second parking assistance function is also provided, by means of which the motor vehicle 10 is guided laterally and optionally also longitudinally in a driver-independent manner. The driver then preferably does not generate any torques effective for steering during the parking process, but rather these torques are preferably generated only in a driver-independent manner.

[0067] The control device 26 is configured to implement the following Figure 2 and Figure 3 Methods of the type described are exemplified.

[0068] according to Figure 2 In the exemplary method of FIG. 1 , in step S1, the driver's intention to park is first detected. This can be achieved in the following way: the driver activates an automated search for a parking space and / or generally completes a corresponding input via an operating element or operating path (e.g., via a voice command) that is not shown separately. The motor vehicle then detects the vehicle environment with the aid of an environment sensor 30 in a manner known per se and attempts to identify a parking space.

[0069] In step S2, it is ascertained that a parking process is actually to be carried out or is about to take place. This may be the case, for example, if a parking space is identified, this is signaled to the driver (e.g. by outputting visual information or by an audio output), and the driver then stops the vehicle. In step S3, control device 36 determines the current grip state by accessing sensor system 24. If this grip state corresponds to a grip of steering handle 12 ( Figure 2 ), then in step S4 the first parking assistance function depicted is automatically selected and automatically activated as at least the initial parking assistance function (i.e., implemented by control device 20). By gripping steering handle 12, the driver signals that he wishes to at least partially retain control of the parking process. If, however, in step S3 the steering handle 12 is not gripped as a gripping state (see Figure 2 ), then the second parking assistance function is selected and activated. Optionally, the change in the holding state can then be continuously monitored in step S6 independently of the activated parking assistance function. If a change is detected (i.e., from initially holding to not holding or vice versa), a switch can be made to a correspondingly different, initially non-selected parking assistance function.

[0070] Alternatively, instead of a change, the current parking assistance function can be deactivated and no new other parking assistance function can be activated, ie, parking assistance can be completely blocked.

[0071] exist Figure 3 The method flow according to an alternative embodiment is shown in FIG. In step S1, similarly to Figure 2 In addition, in step S2, similarly to Figure 2 In a variant of the above, it is determined that a parking process is about to take place. Then, in step S3, which can also be carried out in principle before or in parallel with step S2, configuration specifications that are predetermined and stored, for example, in memory device 34 are checked for selecting an initial parking assistance function. In particular, it is checked whether a parking assistance function is currently (at least initially) to be selected according to these configuration specifications or which parking assistance function is currently (at least initially) to be selected according to these configuration specifications. For this purpose, state conditions of the type explained in the general description can be detected and / or checked. These state conditions can also be independent of the grip state of steering handle 12.

[0072] In step S4, the initially selected parking assistance function is activated according to the configuration specification and the parking process is then started. In step S5, the holding state is monitored during the parking process. If the holding state changes, a change to another parking assistance function can be made according to arrows I, II. For example, according to arrow I, there can be a change from holding at the beginning to not holding, and then the second parking assistance function can be activated. According to arrow II, there can be a change from not holding to holding, and then the first parking assistance function can be activated. Figure 2 A similar subsequent continuous monitoring is also possible in step S6 in FIG. 1. It is also possible to deactivate any assistance or parking assistance function when the holding state changes again.

[0073] The exemplary embodiment shown can be expanded by all other variants of the general description and / or can be modified accordingly. For example, after selecting a parking assistance function, in addition to or instead of the grip state, other predetermined actuations by the driver, in particular actuation of the brake pedal, can also be checked. If this actuation is present, the parking assistance function can be changed or, in principle, all parking assistance functions can be deactivated. Furthermore, in the method described and in particular Figure 3 In the context of the method in , provision can be made for the driver to flexibly adapt or change the configuration specification in order to select the initially active parking assistance function. For this purpose, the driver can, for example, define situations in which he wants to initially activate one of the parking assistance functions, preferably automatically, and then be able to implement this accordingly in the future. However, preferably, the gripping state is then additionally evaluated or monitored within the scope of the parking process in order to be able to change the initially selected parking assistance function if necessary.

[0074] List of Reference Numerals

[0075] 10 Motor Vehicles

[0076] 12 Steering handle

[0077] 14 Steering shaft

[0078] 16 Steering system

[0079] 18 Steering transmission mechanism

[0080] 20 Front wheel

[0081] 22 Actuator

[0082] 24 Sensor device

[0083] 26 Control Equipment

[0084] 30 Environmental Sensors

[0085] 32 Processor Devices

[0086] 34 Memory device

Claims

1. A method for operating a motor vehicle (10) to perform a parking process, The motor vehicle (10) has at least one first parking assistance function and at least one second parking assistance function, the first parking assistance function and the second parking assistance function being selectively selectable, and the method comprising: - detecting the driver's gripping state of the steering handle (12) of the motor vehicle (10); - automatically selecting the first parking assistance function or the second parking assistance function according to the holding state, The first parking assistance function is configured to generate an at least temporarily effective torque on the steering handle (12) as a steering instruction to the driver, The second parking assistance function is designed to generate the steering torque required for parking in a driver-independent manner. The method also has: - initially selecting one of the first and second parking assistance functions based on at least one configuration specification, wherein the configuration specification specifies in which cases the first parking assistance function or the second parking assistance function should be initially selected; and - Based on the detected holding state, a corresponding other parking assistance function is selected and thereby switched to from the first to the second parking assistance function.

2. The method according to claim 1, It is characterized in that When the holding state changes, the vehicle switches to the corresponding other parking function of the first and second parking functions.

3. The method according to claim 1 or 2, It is characterized in that When the holding state indicates that the driver is not holding the steering handle (12), the first parking assist function is switched to the second parking assist function.

4. The method according to claim 1 or 2, It is characterized in that When the holding state indicates that the driver is holding the steering handle (12), the second parking assist function is switched to the first parking assist function.

5. The method according to claim 1 or 2, It is characterized in that The configuration specification defines at least one state condition which should be met for an initial selection of one of the first and / or second parking assistance functions.

6. A motor vehicle (10), comprising: - steering handle (12); - a sensor device (24) for determining the gripping state of the steering handle (12) by the vehicle driver; a control device (26) which is designed to select between a first parking assistance function and a second parking assistance function as a function of the determined holding state, The first parking assistance function is configured to generate an at least temporarily effective torque on the steering handle (12) as a steering instruction to the driver, The second parking assistance function is designed to generate the steering torque required for parking in a driver-independent manner. The control device (26) is further configured to: - initially selecting one of the first and second parking assistance functions based on at least one configuration specification, wherein the configuration specification specifies in which cases the first parking assistance function or the second parking assistance function should be initially selected; and - Based on the detected holding state, a corresponding other parking assistance function is selected and thereby switched to from the first to the second parking assistance function.

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