Method for operating parking assistance system of motor vehicle, parking assistance system, motor vehicle having parking assistance system, and computer program

Abstract

The invention relates to a method for operating a parking assistance system (12) of a vehicle (10). Wherein, during the trained parking maneuver, the parking assistance system (12) moves the vehicle (10) into the trained parking space (24) along the trained parking trajectory (22). During the trained parking maneuver, the parking assist system (12) monitors movement of the vehicle (10) and determines a deviation of an actual trajectory (28) from the trained parking trajectory (22), the actual trajectory (28) being determined by the movement of the vehicle (10). If it is determined that the deviation exceeds a predetermined threshold value, a correction measure is activated by the parking assistance system (12). The corrective action includes an option to abort the trained parking maneuver and to enable or provide an auxiliary parking maneuver with a real-time planned path toward the final parking destination.

Description

Technical Field

[0001] This invention relates to a method for operating a parking assistance system for a motor vehicle, wherein the parking assistance system moves the vehicle toward a final parking position at least partially automatically based on a pre-trained parking trajectory. During the trained parking maneuver, the parking assistance system can monitor the vehicle's movement along the trained parking trajectory, wherein, based on the monitoring, it determines the deviation of the vehicle's movement from the trained parking trajectory. If the deviation is determined to exceed a predetermined threshold, the parking assistance system activates corrective measures.

[0002] Another aspect of the invention relates to such a parking assistance system. Further aspects of the invention relate to a motor vehicle having such a parking assistance system and a computer program having instructions that, when executed, cause the parking assistance system to perform the method according to the invention. Another aspect of the invention relates to a computer-readable storage medium having the computer program of the invention stored thereon. Background Technology

[0003] Known parking assistance systems can operate in different modes, including a training mode, in which the parking trajectory of a motor vehicle equipped with such an assistance system can be trained. Typically, during training parking or in training mode, the driver must manually park the vehicle once to allow the assistance system's sensors (e.g., camera sensors) to capture feature data describing features or objects along the parking trajectory. This feature data is then transmitted to a computing unit, where the parking trajectory is calculated based on the feature data. The parking trajectory can then be stored in the assistance system's storage unit, such as a circular buffer, which can cover a specific driving distance. The trained parking trajectory can then be used for subsequent automatic parking executions.

[0004] A parking assistance system is known that operates a vehicle based on a previously trained parking trajectory. As explained, this trained parking trajectory includes multiple waypoints, including a start point and an end point, which may be located, for example, in a parking space within a public or private parking area. Along the trained parking trajectory, vehicle driving parameters, such as the vehicle's steering angle and / or speed, are stored at each waypoint. When the vehicle approaches the start point of the trained parking trajectory, the parking assistance system or trained parking function may automatically or semi-automatically activate the trained parking maneuver or reproduce the trajectory.

[0005] In some cases, the trained parking trajectory cannot be followed. In other words, deviations occur between the recorded path and the vehicle's current position, which can be determined during replay using the trained parking function. Deviations may be due to objects or obstacles that could obstruct the trained parking trajectory.

[0006] For example, as known from DE 10 2021 110 279 A1, parking assistance systems are provided with automatic avoidance procedures or routines, which enable the parking assistance system to move, guide, steer, or maneuver the vehicle around an object. If the avoidance route results in a deviation from the originally trained parking trajectory exceeding a predetermined threshold, the entire process is aborted. Sometimes, due to other factors, such as a sharp steering operation, the trained parking maneuver may also be canceled or aborted.

[0007] Without trained parking maneuvers, drivers of motor vehicles may have to continue parking manually. This can be inconvenient for drivers and often leads to a decreased driving experience and reduced acceptance of driver assistance systems. Summary of the Invention

[0008] The objective of this invention is to provide an improved method for a parking assistance system for operating a motor vehicle, particularly when a previously trained parking trajectory cannot be followed for some reason.

[0009] This objective is achieved through the subject matter of the independent claims. Advantageous embodiments of the invention are described by the dependent claims, the following description, and the accompanying drawings.

[0010] This invention provides a method for operating a parking assistance system for a motor vehicle. According to the method of the invention, a trained parking trajectory is provided for performing trained parking maneuvers of the motor vehicle. In other words, a previously stored parking trajectory is provided to the parking assistance system. The previously stored parking trajectory may include a plurality of waypoints and a set of driving parameters for each waypoint, wherein the endpoint of the trajectory can mark the final parking position of the vehicle within a trained parking space. The trained parking space can have any orientation. For example, a parking space can be one in a row of parallel parking spaces or one in a row of herringbone parking spaces. A parking space can also be a single parking space, for example, in a private parking area.

[0011] In trained parking maneuvers, a vehicle can be moved by a parking assistance system towards the end of a trained parking trajectory based on the trained parking trajectory. In other words, the parking assistance system can control the vehicle's lateral and / or longitudinal guidance systems based on information provided by the trained parking trajectory to guide the vehicle into a trained parking space at the end of the trained trajectory.

[0012] During trained parking maneuvers, the parking assistance system can monitor the movement of a motor vehicle along a trained parking trajectory. In other words, the parking assistance system can receive data describing the vehicle's movement during trained parking maneuvers. This data can be collected or captured by one or more sensors of the vehicle's sensor system and transmitted to the parking assistance system or its computing unit. For this purpose, the sensor system may include environmental sensors, such as camera sensors and / or lidar sensors and / or radar sensors and / or ultrasonic sensors, designed to sense or detect the vehicle's position relative to known objects in its surrounding environment. Alternatively or additionally, the sensor system may include steering wheel sensors and / or wheel sensors, wherein the computing unit of the parking assistance system can be designed to calculate the vehicle's current position based on steering wheel data and / or wheel data, i.e., based on a given rotation angle of one or more wheels of the vehicle. Alternatively or additionally, the sensor system may include sensors capable of determining the vehicle's absolute current position based on GPS data (Global Positioning System).

[0013] According to the method of the invention, deviation from a trained parking trajectory is determined, wherein the deviation can be a current deviation, i.e., a real-time deviation, or a future deviation, i.e., an expected deviation. Preferably, the parking assistance system can determine the deviation by comparing the monitored movement of the vehicle with the trained parking trajectory. In other words, the trained parking function can determine the deviation during reproduction as a comparison between the recorded path (trained trajectory) and the actual position of the vehicle.

[0014] If the deviation is determined to exceed a predetermined threshold, the parking assist system initiates corrective measures. The predetermined threshold can be on the order of 1 to 1.5 meters on either side of the trained parking trajectory. Deviation can also be expressed in degrees, where the azimuth angle of the vehicle's longitudinal axis may deviate from the azimuth stored for each waypoint of the trajectory by 10 to 20 degrees. Here and below, deviations exceeding the predetermined threshold are also referred to as critical deviations.

[0015] According to the method of the invention, the corrective measures include suspending the trained parking maneuver and enabling or providing the option of assisted parking maneuvering with a real-time planned path toward the final parking destination.

[0016] In other words, according to the method of the present invention, in the event of a critical deviation from the trained parking trajectory detected, the trained parking maneuver is not simply canceled or aborted, but rather an option to provide further assistance to the vehicle driver is provided.

[0017] The advantage of the proposed method is that, in situations where the driver cannot follow the trained trajectory, the assistance system does not leave the driver to handle the situation alone. Instead, the corrective measures according to the invention can help avoid troublesome situations and thus lead to an overall increase in road safety and driving experience.

[0018] The invention also includes embodiments that provide additional advantages.

[0019] According to one embodiment, assisted parking maneuver includes detecting the vehicle's surrounding environment in real time using at least one sensor from the vehicle's sensor system. Preferably, the assisted parking maneuver also includes parking the vehicle at the final parking destination based on the real-time detection of the surrounding environment.

[0020] According to one embodiment, the corrective measures alternatively or additionally include (i) continuing the trained parking maneuver, or (ii) suspending the trained parking maneuver and instead enabling manual parking maneuver, wherein the manual parking maneuver includes manual steering of the motor vehicle by the driver of the motor vehicle.

[0021] According to one embodiment, the parking assistance system selects alternative or additional steps of corrective action based on the driver's preferences. In other words, the driver can provide his or her preferences to the parking assistance system, and the parking assistance system can select corrective action steps based on the driver's preferences. Preferably, the preferences are stored in the parking assistance system's storage unit before the trained parking maneuver begins. Alternatively, the driver can be asked to provide his or her preferences in the current situation where the trained parking maneuver is aborted due to a critical deviation from the trained parking trajectory. A selection menu can be presented to the driver, for example, displayed on a display device on the vehicle's dashboard, such as a screen. The driver can select his or her preferred option by touch gestures on the touch-sensitive surface of the screen. Providing the driver with the opportunity to select one of the options can further improve the driving experience and / or the acceptability of the parking assistance system.

[0022] According to another embodiment, the trained endpoint of the trained parking trajectory is used as the final parking destination. In other words, the trained endpoint is used as the final parking destination in assisted parking maneuvers. Typically, parking according to known assisted parking maneuvers requires information about the parking space in which the vehicle should be parked. To obtain this information, the vehicle must typically drive past the destination parking space at least once. During the drive-by maneuver, sensors from the vehicle's sensor system can scan the parking space and provide this data to the parking assistance system. According to the described embodiment, the drive-by maneuver is no longer needed because the parking assistance system already has information about the target parking space from previous training. Therefore, assisted parking maneuvers can be accelerated and become more convenient for the driver. During assisted parking maneuvers, the parking assistance system can use environmental data from the sensor system to make minor adjustments and / or avoid obstacles during parking.

[0023] According to another embodiment, the final parking destination includes the preferred orientation or position of the vehicle within the parking space. In other words, the final parking destination includes not only information about the location of the desired parking space, but also the orientation of the vehicle within the parking space, such as whether the vehicle is to be parked forward or backward within the parking space.

[0024] Preferably, when selecting an option for assisted parking maneuver, the preferred orientation is determined based on user input from the vehicle driver. In other words, the driver can choose the orientation of the vehicle within the parking space and select continue parking maneuver as an assisted parking maneuver. This further increases the set of options available to the driver when canceling a trained parking maneuver.

[0025] According to another embodiment, the corrective measures include generating a warning signal and displaying it to the driver of the vehicle. In other words, the parking assist system can generate a warning signal when a critical deviation from a trained trajectory is detected. The warning signal may include visual and / or tactile and / or auditory warnings to the driver to raise his or her awareness of the critical deviation and encourage him or her to choose how to proceed with the parking maneuvers.

[0026] According to another embodiment, during a trained parking maneuver, the parking assistance system receives object data from a sensor system, wherein the object data describes at least one object in the environment surrounding the vehicle, and wherein the parking assistance system determines a deviation based on the object data. In other words, the object data is used to determine the deviation from the trained parking trajectory. For example, if an object obstructing a large portion (e.g., two-thirds) of the trained parking trajectory is detected, the parking assistance system can anticipate or anticipate a critical deviation before the vehicle reaches or partially moves around the object. Therefore, situations where the trained parking maneuver must be aborted when the vehicle is already in a position that is difficult to move away from by manual or automatic steering can be avoided. The trained parking maneuver can be immediately canceled, and the driver can manually park the vehicle in the parking space or even select another parking space.

[0027] According to another embodiment, during a trained parking maneuver, the parking assistance system receives steering data from a sensor system, wherein the steering data describes the steering action performed by the vehicle driver during the trained parking maneuver, and wherein a deviation is determined based on the steering data. In other words, the parking assistance system receives data describing the current steering wheel angle and / or current angular velocity. Based on this data, the parking assistance system or its computing unit can determine whether the driver has performed a sharp or abrupt steering action. Based on predetermined thresholds for the steering wheel angle and / or the steering wheel angular velocity, the parking assistance system can determine a critical deviation and activate corrective measures.

[0028] According to another embodiment, during assisted parking maneuvers, waypoints are stored, wherein, based on the waypoints, new trained parking trajectories for trained parking spaces are generated and stored for future trained parking maneuvers. In other words, assisted parking maneuvers can be used as another training session to train new parking trajectories to reach the trained parking spaces. If a critical deviation causing the parking maneuver to continue as an assisted parking maneuver according to the invention is caused by an object or obstacle along the original trained parking trajectory, and that object or obstacle is a newly installed permanent object, then the new trained parking trajectory can be used for future trained parking maneuvers in that area. Permanent objects can be infrastructure components, such as street bollards.

[0029] Preferably, the new trained parking maneuver is performed based on the new trained parking trajectory. Preferably, the driver can choose whether the new trained parking trajectory or the original trained parking trajectory should be used for the new trained parking maneuver.

[0030] Another aspect of the present invention relates to a method for operating a parking assistance system for a motor vehicle, wherein the method includes the following steps:

[0031] - Provides trained parking trajectories for performing trained parking maneuvers on motor vehicles.

[0032] - Monitor the movement of motor vehicles along trained parking tracks,

[0033] - Determine the deviation of the actual position of the motor vehicle, as determined by its movement, from the trained parking trajectory.

[0034] If a deviation exceeding a predetermined threshold is detected, the parking assistance system will activate corrective measures.

[0035] Its features are,

[0036] Corrective measures include continuing trained parking maneuvers.

[0037] Another aspect of the present invention relates to a method for operating a parking assistance system for a motor vehicle, wherein the method includes the following steps:

[0038] - Provides trained parking trajectories for performing trained parking maneuvers on motor vehicles.

[0039] - Monitor the movement of motor vehicles along trained parking tracks,

[0040] - Determine the deviation of the vehicle's actual position from a trained parking trajectory, the actual position being determined by the vehicle's movement.

[0041] If the deviation is determined to exceed a predetermined threshold, the parking assistance system will activate corrective measures.

[0042] Its features are,

[0043] Corrective measures include discontinuing trained parking maneuvers and activating manual parking maneuvers, which include manual steering of the vehicle by the driver.

[0044] Another aspect of the invention relates to a parking assistance system for a motor vehicle, wherein the parking assistance system is designed to operate according to the method of the invention.

[0045] Other aspects of the invention relate to a motor vehicle including a parking assistance system according to an embodiment of the invention, a computer program including instructions for causing the parking assistance system to perform steps of the method of the invention, and a computer-readable storage medium having the computer program stored thereon. In other words, the computer-readable storage medium includes instructions that, when executed by a computer or computer network, cause a computer to perform an embodiment of the method according to the invention.

[0046] The storage medium may be configured, for example, at least partially as a non-volatile data storage device (e.g., as flash memory and / or as an SSD - solid-state drive) and / or at least partially as a volatile data storage device (e.g., as RAM - random access memory). However, the storage medium may also operate, for example, as a so-called app store server on the Internet. The computer or computer network may provide processor circuitry having at least one microprocessor. Instructions may be provided as binary code or source code in an assembler and / or a programming language (e.g., C).

[0047] For use cases or situations that may occur in this method but are not explicitly described herein, it may be specified that, according to this method, error messages and / or requests for user feedback and / or setting default settings and / or predetermined initial states are output.

[0048] The present invention also includes a control device for a motor vehicle. The control device may include a data processing device or a processor device adapted to perform embodiments of the method according to the invention. For this purpose, the processor device may include at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). Furthermore, the processor device may include program code arranged to perform embodiments of the method according to the invention when executed by the processor device. The program code may be stored in the data memory of the processor device. The processor circuitry of the processor device may include, for example, at least one circuit board and / or at least one SoC (System-on-Chip).

[0049] The present invention also includes other embodiments of the parking assistance system and / or motor vehicle according to the invention, which have features already described in conjunction with other embodiments of the method according to the invention. For this reason, corresponding further embodiments of the parking assistance system and / or motor vehicle according to the invention will not be described herein.

[0050] The motor vehicle according to the invention is preferably designed as a motor vehicle, particularly as a passenger car or truck, or as a bus or motorcycle.

[0051] The invention also includes combinations of features from the described embodiments. Therefore, the invention also covers implementations having combinations of features from more than one of the described embodiments, provided that these embodiments are not described as mutually exclusive.

[0052] The embodiments of the first independent aspect are considered to be embodiments of other independent aspects of the invention. Attached Figure Description

[0053] The features and combinations of features mentioned above in the specification, as well as those mentioned below in the description of the drawings and / or shown only in the drawings, can be used not only in their respective specified combinations, but also in other combinations, without departing from the scope of the invention. Therefore, embodiments are also considered to be covered and disclosed by the invention, which are not explicitly shown and explained in the drawings, but are derived from and can be produced by separate combinations of features from the explained embodiments or examples. Embodiments and combinations of features are also considered to be disclosed and therefore do not include all features of the original independent claims. Furthermore, embodiments and combinations of features should be considered to be disclosed, particularly by means of the embodiments set forth above, extending beyond or departing from the combinations of features set forth in the relationships of the claims.

[0054] Other features of the invention will be apparent from the claims, the accompanying drawings, and the accompanying description. The drawings illustrate:

[0055] Figure 1 This is a schematic diagram of a motor vehicle equipped with a parking assistance system;

[0056] Figure 2 A diagram illustrating an exemplary parking situation;

[0057] Figure 3 A diagram illustrating another exemplary parking situation;

[0058] Figure 4 A diagram illustrating another exemplary parking situation;

[0059] Figure 5A schematic diagram of a method for operating a parking assistance system.

[0060] The embodiments explained below are preferred embodiments of the invention. In the embodiments, the components described in the embodiments each represent various features of the invention to be considered independently of each other, and these features also independently further form the invention in each case. Therefore, this disclosure is intended to include combinations of features of the embodiments other than those shown. Furthermore, the described embodiments may also be supplemented by other features of the invention already described.

[0061] In the accompanying drawings, the same reference numerals denote elements that have the same function in each case. Detailed Implementation

[0062] Figure 1 A schematic side view of a motor vehicle 10 equipped with a parking assistance system 12 is shown. The parking assistance system 12 may include a computing unit 14, a storage unit 16, and a user interface 18, wherein the user interface 18 may be implemented as a touch-sensitive display screen inside the vehicle 10. The parking assistance system 12 may also include a sensor system with multiple sensors 20. The sensors 20 may include camera sensors, radar sensors, lidar sensors, etc. The sensors 20 may be arranged in different parts of the vehicle 10, preferably in the front and / or rear bumpers, side bumpers, roof, and / or integrated into the side mirrors of the vehicle 10. Preferably, the sensors 20 are arranged on the vehicle 10 in a manner that allows a surround view of the current surrounding environment of the vehicle 10.

[0063] The parking assistance system 12 can be designed to train a parking trajectory 22 for the vehicle 10, wherein by performing parking maneuvers based on this trained trajectory 22, the vehicle 10 can automatically or semi-automatically park to reach a trained parking space 24 at the end of the trained trajectory 22. To train the parking trajectory 22, the parking assistance system 12 can operate in a training mode. In the training mode, at least one sensor 20 can capture feature data describing characteristics along the parking trajectory 22 and transmit the feature data to a computing unit 14. The computing unit 14 can calculate the parking trajectory 22 based on the feature data and store the parking trajectory 22 and the trained parking space 24 in a storage unit 16. The parking trajectory 22 can be loaded from the storage unit 16 at a later stage and used to perform parking maneuvers according to user requests and / or automatically, such as when the vehicle 10 approaches the coordinates of the trajectory 22 and / or the trained parking space 24.

[0064] Figure 2 A schematic diagram illustrating an exemplary parking situation in parking area 26 is shown. Parking area 26 can be a public or private parking area.

[0065] exist Figure 2 On the left side, vehicle 10 is shown at the starting point of the trained parking trajectory 22. At the ending point of the trained parking trajectory 22, the trained parking space 24 is represented by a dashed rectangle, where a virtual image of vehicle 10 is labeled as vehicle 10' in the trained parking space 24. (Note: The last sentence appears to be incomplete and possibly refers to a different image.) Figure 2 The parking assistance system 12 shown is about to begin trained parking maneuvers to move the vehicle 10 along the trained trajectory 22 toward the trained parking space 24.

[0066] exist Figure 2 In the center panel, the actual trajectory 28 along which the vehicle moves toward the trained parking space 24 is shown as a solid line. It can be seen from the center panel that the vehicle 10 does not follow the trained trajectory 22, but deviates from it. This deviation may be due to a deflection or avoidance maneuver caused by an object (not shown) that obstructs the trained trajectory 22. Alternatively or additionally, the deviation, or at least a portion thereof, may be caused by steering maneuvers by the driver of the vehicle 10.

[0067] Because the parking assist system 12 monitors the movement of the vehicle 10 during the trained parking maneuver, deviations will be detected. Once a deviation is detected or determined to exceed a predetermined threshold, the parking assist system will activate corrective measures, which may include suspending or canceling the trained parking maneuver and activating assisted parking maneuvers.

[0068] exist Figure 2 On the right side, a schematic diagram of this assisted parking maneuver is provided. The assisted parking maneuver involves detecting the surrounding environment of the vehicle 10 in real time through at least one sensor 20 of the vehicle 10's sensor system, and parking the vehicle 10 in a trained parking space 24 based on the real-time detection of the surrounding environment.

[0069] exist Figure 2 In the example, the driver has selected to back the vehicle 10 into the trained parking space 24. This selection determines the different parking movements that must be performed by the parking assistance system 12 during the assisted parking maneuver.

[0070] Figure 3 It shows the relationship with Figure 2 A similar situation. With Figure 2 The situation shown is the opposite of what was described above. Figure 3 The right panel shows the different parking movements that the parking assistance system 12 must perform to move the vehicle 10 forward into the trained parking space 24.

[0071] Figure 4 A schematic diagram of another exemplary parking scenario is shown, in which parking maneuvers are performed in private parking area 26. Figure 4 On the left side, a trained parking trajectory 22 is displayed, along which the parking assistance system 12 will move the vehicle 10 if the driver does not interfere.

[0072] However, according to Figure 4 As shown in the example, the driver of vehicle 10 can decide, upon entering a private parking area 26, whether he or she wants vehicle 10 to park automatically according to a trained parking trajectory 22 or according to assisted parking maneuvers or conventional parking maneuvers.

[0073] If the driver decides that vehicle 10 should be parked according to the assisted parking maneuver, it will follow the following... Figure 4 The actual trajectory 28 is shown in the middle panel. However, if the driver decides that the trained parking trajectory 22 should be used to park the vehicle 10 in the trained parking space 24, the actual trajectory 28 will correspond to the trained trajectory 22 (right side).

[0074] Figure 5 A schematic diagram of a method for operating a parking assistance system 12 is shown. In step S1, a trained parking trajectory 22 is provided for performing a trained parking maneuver of the vehicle 10. In the trained parking maneuver, the vehicle 10 is moved by the parking assistance system 12 towards the endpoint of the trained parking trajectory 22 based on the trained parking trajectory 22, wherein the endpoint marks the final parking position of the vehicle 10 within the trained parking space 24.

[0075] In step S2, the parking assist system 12 monitors the movement of the vehicle 10 along the trained parking trajectory 22, wherein the parking assist system 12 determines the deviation from the trained parking trajectory 22.

[0076] In step S3, the parking assist system 12 determines the deviation of the actual trajectory 28 of the vehicle 10 from the trained parking trajectory 22, which is determined by the movement of the vehicle 10. Furthermore, if the determined deviation exceeds a predetermined threshold, the parking assist system 12 activates corrective measures (step S4).

[0077] Corrective measures include a) continuing the trained parking maneuver, or b) suspending the trained parking maneuver and activating manual parking maneuver, wherein manual parking maneuver includes manual steering of the vehicle 10 by the vehicle driver, or c) suspending the trained parking maneuver and activating assisted parking maneuver, wherein assisted parking maneuver includes real-time detection of the surrounding environment of the vehicle 10 by at least one sensor 20 of the vehicle 10's sensor system, and parking the vehicle 10 at the final parking destination based on the real-time detection of the surrounding environment.

[0078] This invention relates to a comprehensive system for training parking. During training parking, a trained trajectory is typically used, which leads to a target location or a final parking destination. The reproduction of the trained trajectory can be interrupted during the training parking maneuver. This interruption or cancellation may be due to a significant deviation between the actual trajectory and the trained trajectory or due to large turns during training. In the case of cancellation, for conventional automatic parking (or assisted parking), the target location can be used as the final location. In this case, a trajectory toward the final location can be provided to the driver. When or before providing a proposal via assisted parking, the parking space or parking spot at the final location must preferably be detected by the vehicle's sensors. Overlaying the trained trajectory and the provided parking spot in an HMI (Human-Machine Interface) can be considered.

[0079] In summary, these examples demonstrate how to provide an improved approach to parking assistance systems for operating motor vehicles, particularly when parking trajectories that cannot be followed after prior training.

Claims

1. A method for operating a parking assistance system (12) of a motor vehicle (10), the method comprising the steps of: - Provides a trained parking trajectory (22) for performing trained parking maneuvers of the motor vehicle (10), - Monitor the movement of the motor vehicle (10) along the trained parking trajectory (22), - Determine the deviation of the actual position (28) of the motor vehicle (10) from the trained parking trajectory (22), the actual position (28) being determined by the movement of the motor vehicle (10). If the deviation is determined to exceed a predetermined threshold, the parking assistance system (12) will activate corrective measures. Its features are, The corrective measures include suspending the trained parking maneuver and enabling or providing an option for assisted parking maneuver with a real-time planned path toward the final parking destination.

2. The method according to claim 1, wherein, The assisted parking maneuver includes detecting the surrounding environment of the motor vehicle (10) in real time using at least one sensor (20) of the sensor system of the motor vehicle (10), preferably, wherein the assisted parking maneuver also includes parking the motor vehicle (10) at the final parking destination based on the real-time detection of the surrounding environment.

3. The method according to any one of the preceding claims, wherein, The corrective measures may alternatively or additionally include: - Continue with the trained parking maneuver, or - Abort the trained parking maneuver and activate manual parking maneuver, wherein the manual parking maneuver includes the driver of the motor vehicle (10) manually steering the motor vehicle (10).

4. The method according to claim 3, wherein, The alternative or additional steps of the correction measures are selected by the parking assistance system (12) based on driver preferences.

5. The method according to any one of the preceding claims, wherein, In the trained parking maneuver, the parking assistance system (12) moves the motor vehicle (10) toward the end of the trained parking trajectory (22) based on the trained parking trajectory (22), wherein the end of the trained parking trajectory (22) is used as the final parking destination, preferably wherein the final parking destination includes the preferred orientation of the motor vehicle (10) within the trained parking space (24).

6. The method according to claim 5, wherein, The preferred orientation of the motor vehicle (10) within the trained parking space (24) is determined based on user input.

7. The method according to any one of the preceding claims, wherein, During the trained parking maneuver, the movement of the motor vehicle (10) along the trained parking trajectory (22) is monitored in real time.

8. The method according to any one of the preceding claims, wherein, The corrective measures include generating a warning signal and displaying the warning signal to the driver of the motor vehicle (10).

9. The method according to any one of the preceding claims, wherein, During the trained parking maneuver, the parking assistance system (12) receives object data from the sensor system of the motor vehicle (10), wherein the object data describes at least one object in the surrounding environment of the motor vehicle (10), and wherein the deviation is determined by the parking assistance system (12) based on the object data.

10. The method according to any one of the preceding claims, wherein, During the trained parking maneuver, the parking assistance system (12) receives steering data from the sensor system of the motor vehicle (10), wherein the steering data describes a steering action performed by the driver of the motor vehicle (10) during the trained parking maneuver, and wherein the deviation is determined based on the steering data.

11. The method according to any one of the preceding claims, wherein, Waypoints are stored during the assisted parking maneuver, wherein new trained parking trajectories (22) are generated and stored based on the waypoints for future trained parking maneuvers.

12. A parking assistance system (12) for a motor vehicle (10), wherein, The parking assistance system (12) is designed to operate according to the method described in any one of the preceding claims.

13. A motor vehicle (10) having a parking assistance system (12) according to claim 12.

14. A computer program comprising instructions which, when executed by a parking assistance system (12), preferably by a parking assistance system (12) according to claim 12, cause the parking assistance system (12) to perform the method according to any one of claims 1 to 11.

15. A computer-readable storage medium having a computer program stored thereon according to claim 14.

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