System for parking a vehicle

Abstract

System (1) for parking a vehicle (10), in particular a passenger car, comprising: - a mobile terminal (20), comprising: ◯ at least a first image acquisition device (21) for acquiring first image data (24); ◯ a first processing unit (22) configured to: ▪ receive the first image data (24) from the first image acquisition device (21); ▪ generate information (25) indicating a parking position (2) based on the first image data (24); ◯ a transmission device (23) for transmitting the information (25); - the vehicle (10), comprising: ◯ a receiving device (14) configured to receive the information (25); ◯ a second image acquisition device (18) for acquiring second image data (19); ◯ a second processing unit (15) configured to: ▪ determine a relative position of the mobile terminal (20) based on the second image data (19) to determine the vehicle, whereby this relative position is part of the information (25);▪ to determine a parking strategy (16) based on the information (25); characterized in that the vehicle (10) comprises a parking device (13) which is designed to park the vehicle (10) at the parking position (2) taking into account the parking strategy (16).

Description

[0001] The invention relates to a system for parking a vehicle, in particular a motor vehicle, using a mobile terminal.

[0002] Maneuvering a vehicle regularly causes minor and major damage to a vehicle. Due to its complexity, the parking process in particular repeatedly leads to bodywork damage to a parked vehicle and / or to adjacent obstacles. On the one hand, this can be due to the fact that the driver cannot fully perceive the surroundings of the vehicle due to limited visibility, or it can be due to the driver being inattentive and overlooking obstacles. It is therefore necessary to relieve the driver when parking and to ensure that all available environmental information is included in the parking process.

[0003] In order to relieve the driver when parking, it is known that vehicles are able to park autonomously in parking spaces and to maneuver out of them. This generally presupposes that the driver of the vehicle is sitting in the vehicle and driving up to a specific parking space. If the vehicle has recognized the parking space, this is signaled to the driver and the driver can initiate the parking process. If the vehicle cannot identify the parking space as a parking space, for example if the view is obstructed by an obstacle such as a pillar or wall, the driver must maneuver the vehicle into a position where the parking space is recognized. In addition, when parking is carried out autonomously, it can happen that other obstacles only become visible in a late phase of parking, so that the vehicle has to adapt its parking strategy, i.e. usually has to carry out a large number of steering or forward and backward movements. This can lead to significantly longer parking and, in the worst case, the parking process cannot be continued.

[0004] It is therefore an object of the present invention to provide a system for parking a vehicle, which allows improved (autonomous) parking of a vehicle, preferably a motor vehicle. Furthermore, the system should be designed in such a way that a man-machine interface is improved.

[0005] This object is solved by a system according to claim 1, a method according to claim 8 and a computer-readable storage medium according to claim 12.

[0006] In particular, the object is achieved by a system for parking a vehicle, in particular a motor vehicle. The system includes a mobile terminal, in particular a smart device, in particular a smartphone, a smart glass or a smart watch. The mobile terminal in turn comprises at least one first image capture device for capturing first image data, a first processing unit, which is designed to receive the first image data from the first image capture device and to generate information indicating a parking position on the basis of the first image data, and a transmission device for transmitting the information. The vehicle also includes a receiving device that is designed to receive the information, and a second processing unit that is designed to determine a parking strategy based on the information, wherein the vehicle includes a parking device that is designed to take into account the parking strategy to park the vehicle in the parking position.

[0007] A particular advantage of the system described is that a mobile terminal, independently of the vehicle, captures image data that is used to generate information that indicates a parking position. This information is provided to the vehicle accordingly after a transmission. Based on this information, the vehicle can determine a parking strategy that is used to park the vehicle in a parking position. The vehicle is therefore not only dependent on its own sensors installed in the vehicle. In situations in which the vehicle cannot completely “see” a parking space from its current position, i.e. using a lidar scanner, RGB cameras, radar systems or similar sensors, safe parking is still possible with the system according to the invention. Furthermore, the system makes it possible to confirm a parking space that has already been detected on the vehicle. In this way, damage to the vehicle that can be attributed to insufficient detection of a parking space can be prevented.

[0008] Furthermore, the system according to the invention makes it possible to improve a parking strategy determined by the vehicle, since further information is provided which cannot be determined by the vehicle alone due to the different positions of the vehicle and the mobile terminal device.

[0009] In one embodiment, the information indicating a parking position may include a direction and a distance from the parking position relative to the mobile device.

[0010] The information can therefore be present in a vectorial representation, with the spatial dimensions forming the dimensions of the vector. If the information includes the direction and the distance from the parking position relative to the mobile terminal, it is possible for the vehicle to determine the position of the mobile terminal if the vehicle itself is able to determine the parking position. Furthermore, it is also possible according to the invention for the vehicle, based on the information, to drive into a position from which it can better detect the parking position described by the information using the built-in sensors. Furthermore, the parking position can be more accurately detected using the direction and distance from the parking position relative to the mobile terminal.

[0011] In addition, the first computing unit can be designed to determine the relative position and / or orientation of the vehicle to the mobile terminal on the basis of the first image data.

[0012] The mobile terminal can be designed to recognize the vehicle in the first image data. Since the vehicle geometry is known, the distance of the mobile terminal device relative to the vehicle can be determined very precisely on the basis of the proportions in the first image data. In addition, it is also possible to determine the alignment of the vehicle in the first image data on the basis of the known vehicle geometry. In this way, the position of the mobile terminal device relative to the vehicle can be determined. Furthermore, if the relative position of the vehicle is part of the information indicating a parking position, then the relative position of the vehicle to the mobile terminal can be transmitted to the vehicle. This is advantageous since the dimensions of the vehicle in the first image data are usually very large. Thus, edges of the vehicle can be easily recognized. Furthermore, vehicles usually have a single color or at least a few colors and can thus be easily distinguished from the background.

[0013] In a further embodiment, the mobile terminal device can include an acceleration sensor, which is designed to detect a movement of the mobile terminal device and to generate the information that specifies a parking position on the basis of the movement of the mobile terminal device.

[0014] If the mobile terminal comprises an acceleration sensor, then it is possible to detect a movement of the mobile terminal. In particular, this makes it possible to detect a walking action by the user of the mobile terminal device. For example, walking can be detected using a classifier such as a support vector machine (SVM). A movement of the user operating the mobile terminal can therefore be compensated for when generating the information that indicates a parking position.

[0015] Furthermore, the vehicle can include at least one second image capturing device for capturing second image data, wherein the second processing unit can be designed to determine a relative position of the mobile terminal device to the vehicle on the basis of the second image data.

[0016] If the vehicle includes a second image capturing device, the vehicle can then use image processing to identify the mobile terminal in the image data generated therefrom and initially determine the direction from the vehicle to the mobile terminal. Taking into account that the mobile terminal device is usually held by a driver at a certain height, for example 1.5 m, in particular 1.3 m, it is also possible to estimate the distance from the vehicle to the mobile terminal device. This could be done, for example, via triangulation, in which the ground surface is recognized using known methods, such as using a Random Sample Consensus, RANSAC for short, algorithm, and then a vertical height to the mobile device that is orthogonal to the ground surface is assumed . Alternatively, a position sensor can be used to determine the floor area.

[0017] In a further embodiment, the vehicle can move while the vehicle captures the mobile terminal device via the second image capturing device.

[0018] Through methods such as "Simultaneous Localization and Mapping" (SLAM), the vehicle can determine and / or estimate the position of the mobile device during a movement of the vehicle. Additional vehicle information, such as the current speed or the steering angle, can also be combined to further improve the determination of the position of the mobile device.

[0019] Furthermore, the first processing unit, the second processing unit and / or a third processing unit of a server can be designed to recognize a parking space for the vehicle on the basis of the information which specifies a parking position.

[0020] A parking space can be characterized by a variety of features. For example, a parking space can be an area between two vehicles that is wide enough to accommodate another vehicle. Furthermore, a parking space can be indicated by a marking on the ground. Another possibility is that a parking space is the area between two cars parked one behind the other, provided that there is enough space for the vehicle in question. Various other options for features that characterize a parking space are of course also conceivable.

[0021] There is therefore a large number of visual features which can be recognized in image data with the aid of image recognition or image processing methods. A possible method to recognize the features in image data is e.g. scale-invariant feature transformation (SIFT). This method uses feature descriptions that are within certain limits invariant to scaling, rotation and translation and are therefore particularly suitable for locating objects, such as parking spaces, in the field of vehicle navigation.

[0022] One advantage is that not only a parking position is recognized, but a parking space itself. This can be particularly important in order to display the possible parking positions to the driver in an appealing manner. Furthermore, a computing unit of a server can carry out the calculations in which the parking space is identified. This has the advantage that the resources of the vehicle and / or the mobile terminal device are not used unnecessarily. Furthermore, a server can have dedicated or special hardware that can carry out the calculation in a particularly fast manner.

[0023] The mobile terminal can also be designed to provide a simulation of the parking process based on vehicle data and the information that indicates a parking position.

[0024] It is therefore possible to show the driver of the vehicle, even before the parking process, on a mobile device, such as a smartphone, how the vehicle would be after the parking process. In particular, vehicle data can be used, which can include, for example, the height, width and / or length of the vehicle. A simulation can therefore be carried out using realistic data. In addition, it is possible to provide the results of the simulation to the driver of the vehicle. This provision can take the form of a moving animation.

[0025] It is further possible that the information indicating a parking position includes the absolute position of the parking space.

[0026] The mobile terminal can, for example, include a GPS receiver, with which the mobile terminal can determine its absolute position. With the help of this data it is possible to determine the absolute position of the parking position. This has the advantage that the vehicle does not have to perform any further calculations to determine the absolute position of the parking space. In the case in which the vehicle itself includes a GPS receiver, ie can determine its absolute position, it is easily possible for the vehicle to reach the parking space autonomously. In such a case, resources can be saved.

[0027] Furthermore, the mobile terminal device can include an inertial sensor for delivering inertial data, and the first computing unit can be designed to determine the position and orientation of the mobile terminal device on the basis of the inertial data.

[0028] If the mobile terminal includes an inertial sensor for delivering inertial data, then the determination of the parking position or the parking space can be improved. If the location and alignment of the mobile terminal device is known, then the distance from the mobile terminal device to the parking space or parking position can be determined very precisely using image processing means, as already described above.

[0029] The object is further achieved by a method for parking a vehicle, in particular using the systems described above, the method comprising the following steps: • Capture of first image data by a first image capture device of a mobile terminal; • detecting a parking position based on the first image data; • transmitting information indicative of a parking position to a vehicle; • determining a parking strategy based on the information; • Parking the vehicle using the parking strategy at the parking position.

[0030] In one embodiment, the information indicating the parking position may include a direction and a distance relative to the mobile device.

[0031] Furthermore, the information indicative of a parking space may include the absolute position of the parking space. In another embodiment, the method may further include: • Capturing of second image data by at least one second image capturing device of the vehicle; • Determining the relative position of the mobile terminal based on the second image data.

[0032] In one embodiment, the method can further include determining a relative position of the vehicle to the mobile device and / or an orientation of the vehicle relative to the mobile device on the basis of the first image data, the relative position and / or the relative orientation of the vehicle being part of information is. There are advantages similar to those given for the system described above.

[0033] The object is further achieved with a computer-readable storage medium that contains instructions that cause a processor to implement the described method when the instructions are executed by the processor.

[0034] Further advantageous embodiments result from the dependent claims.

[0035] The invention is described below using several exemplary embodiments, which are explained with reference to figures. Here show:

[0036] figure 1 a vehicle comprising a plurality of image capturing devices;

[0037] figure 2 shows a schematic representation of a mobile terminal device;

[0038] figure 3 shows a schematic representation of the system in a first embodiment;

[0039] figure 4 shows a schematic representation of the system in a second embodiment;

[0040] figure 5 shows a schematic representation of the system in a third embodiment;

[0041] figure 6 shows the geometric relationship between the system components and a parking position;

[0042] figure 7 shows an exemplary parking situation in a first state;

[0043] figure 8 shows an exemplary parking situation in a second state;

[0044] figure 9 shows a first representation of a parking process on a mobile terminal device;

[0045] figure 10 shows a second representation of a parking process on a mobile terminal device.

[0046] In the following description, the same reference numerals are used for the same parts and parts with the same effect.

[0047] figure 1 shows a vehicle 10 , comprising four image acquisition devices 11 , 11' , 11'' , 11''' , a parking device 13 , a receiving device 14 , and a unit of account 15 . The image capture devices 11 , 11' , 11'' , 11''' are in the first embodiment of the vehicle 10 RGB cameras for capturing image areas 12 , 12' , 12'' , 12''' . In further embodiments, it is entirely conceivable that the image acquisition devices 11 , 11' , 11'' , 11''' Radar units, LIDAR scanners, depth cameras, ultrasonic sensors or any other form of sensor technology capable of detecting the surroundings of the vehicle. The parking device 13 is designed to drive the vehicle 10 park autonomously in a recognized parking space. For this purpose, the parking device generates 13 Control signals to a control device, not shown, of the vehicle 10 be sent, so these the vehicle 10 caused to initiate appropriate steering and acceleration or braking processes. The data of the image acquisition device 11 , 11' , 11'' , 11''' of the vehicle 10 are sent to the processing unit 15 forwarded for processing. The unit of account 15 is an onboard computer in the first embodiment. The receiving facility 14 is trained to provide information 25 , which specify a parking space, to be received wirelessly. This information 25 are from a mobile device 20 provided.

[0048] figure 2 shows such a mobile terminal 20 in a greatly simplified representation. The mobile device 20 includes an image capture device 21 , a unit of account 22 and a transmission device 23 . The image capture device 21 of the mobile device 20 is in a first

[0049] Embodiment of the mobile terminal 20 an RGB camera. The mobile device 20 is a smartphone in the first embodiment. The captured image data 24 the image capture device 21 of the mobile device 20 are sent to the processing unit for further processing 22 of the mobile device 20 forwarded. After processing, the information 25 to the transmission facility 23 passed on the information 25 to the vehicle 10 transmits. On the one hand, this can be a one-time transmission, on the other hand, it is also possible for the transmission device to continuously send data to the vehicle 10 sends. Such a continuous transmission of data has the advantage that the mobile device 20 has to carry out a few arithmetic operations himself. The unit of account 22 of the mobile device 20 can therefore be very weakly dimensioned, which affects the battery life of the mobile device 20 benefits. So it is that the unit of account 22 of the mobile device 20 either the captured data of the image capturing device 21 processed and / or to the transmission facility 23 forwards.

[0050] figure 3 shows the system 1 to park a vehicle 10 in a first embodiment. In the first embodiment, an image capturing device captures 21 of the mobile device 20 image data 24 , connected to a unit of account 22 of the mobile device 20 be sent. From the image data 24 determines the unit of account 22 information 25 , indicating a parking position. In the first embodiment, the computing unit detects 22 a parking space in the image data 24 .

[0051] In the embodiment of figure 3, uses the arithmetic unit 22 a Harris detector for detecting features that determine a parking space. In particular, the Harris detector can be used to determine the lines on a ground plane previously extracted using the RANSAC algorithm. By arranging the features in the image, a system trained in a training phase can find a parking position 2 identify.

[0052] In further embodiments, the parking position 2 be additionally validated. This means that a check is carried out as to whether the vehicle 10 finds enough space in the parking position. In particular, metadata about the vehicle can be used for this purpose 10 are used, such as the height, width and length of the vehicle 10 . Based on the validation result, the parking position 2 continue to be used. If the validation is negative, the process can be restarted with another possible position.

[0053] The information 25 are now sent to a transmission facility 23 of the mobile device 20 sent to thereupon by the transmission facility 23 to the vehicle 10 to be sent. In the first embodiment, this transmission takes place with the help of a wireless network, e.g. according to the IEEE 802.11 standard. In other embodiments, however, e.g. Bluetooth, infrared or any other form of wireless transmission are also possible. Of course, a wired transmission can also take place.

[0054] The vehicle 10 receives the information 25 by means of a receiving device 14 . The receiving facility 14 sends the information 25 then to a computing unit 15 of the vehicle 10 . The unit of account 15 processes the information 25 continue. Based on the information 25 determines the unit of account 15 a parking strategy 16 for the vehicle 10 .

[0055] With the parking strategy 16 is a vector V3 derived from the position of the vehicle in the first embodiment 10to the parking space 2 indicates. However, far more complex parking strategies are possible in further embodiments, such as a trajectory that was determined by a movement planner. A large number of well-known algorithms can be used to determine the trajectory, such as RRT (“Rapidly Exploring Random Tree”).

[0056] The parking strategy 16 is then sent to the parking device 13 transfer. The parking device 13 can then the vehicle 10 cause in the parking space 2 to park.

[0057] figure 4 shows the system 1 in a second embodiment. In the second embodiment, the mobile terminal further includes an inertial sensor 26 . The inertial sensor 26 is designed to provide inertial data 27 to the computing unit 22 of the mobile device 20 to deliver. The inertial data 27 include data showing the location and orientation of the mobile device 20 indicate. along with the image data 24 the image capture device 21 of the mobile device 20 , the unit of account can 22 information 25 provide a parking position 2 specify, with this information 25 a relative distance and direction of the parking position 2 from the mobile device 20 include. The information 25 are then sent by the transmission facility 23 of the mobile device 20 to the receiving device 14 of the vehicle 10 sent. The vehicle 10 comprises, in a second embodiment, an image acquisition device 18 , the image data 19 to the computing unit 15 of the vehicle 10 sends. The unit of account 15 thus receives the image data 19 as well as the information 25 who have a parking position 2 indicate. The unit of account 15 is designed to be in the image data 19 the mobile device 20 to recognize. It is therefore possible that the vehicle 10 the position of the mobile device 20 relative to the vehicle 10 determined. Using the information 25 who have a position 2 specify at which the vehicle 10 is parked, it is the processing unit 15 possible, the absolute position of the parking position 2 to determine. Such a determination can be made using simple means such as triangulation. Based on the determined relative position of the parking position 2 from the vehicle 10 , the unit of account can 15 a parking strategy 16 calculate. In the second embodiment, there is the parking strategy 16 on how the vehicle 10 to the parking position 2 should park. This includes a trajectory along which the vehicle 10 should drive. The parking device 13 , which is the parking strategy 16 from the computing unit 15 receives, initiates the vehicle 10 In addition, the trajectory used in the parking strategy 16 stated to follow.

[0058] figure 5 shows the system 1 in a third embodiment. In the third embodiment, the mobile terminal transmits 20 information 25 to a server 30 . Here, the information 25 as a continuous stream of data to the server 30 sent. In the third embodiment, the information includes 25 only recorded image data 24 of the mobile device 20 . The server 30 includes a third processing unit 31 who is trained to from the information 25 a parking position 2 to determine. The server 30 in the third embodiment is a web server that can be reached via the Internet. The transfer of information 25 can therefore use a wireless standard such as LTE or UMTS from the mobile device 20 done from. The unit of account 31 of the server 30 gives the parking position 2 to the vehicle 10away. The vehicle 10 can thus, as in the previous embodiments, a parking strategy 16 calculate.

[0059] figure 6 shows the geometric relationship of the vehicle 10 , the mobile device 20 and the parking position 2 in a simplified, two-dimensional representation. It can thus be seen that when the mobile terminal 20 the parking position 2 has recognized, a vector V1 can be calculated, which is the relative position of the parking position 2 to the mobile device 20 indicates. In the case where the vehicle 10 is designed to, the mobile terminal 20 in a captured image area 12 , 12' , 12'' , 12''' to localize, can the vehicle 10 determine a vector V2 representing the relative position of the mobile terminal 20 to the vehicle 10 indicates. With the help of vector addition, a vector V3 can thus be determined which is the parking position 2 relative to the position of the vehicle 10 indicates. Using the vector V3, the vehicle 10 the previously described parking strategy 16 detect. It is of course possible for the relative positions to be provided in three-dimensional space. This means that cases can also be recorded in which different parking positions are not on the same level.

[0060] the figure 7 and figure 8 show an example scenario in which a driver of a vehicle 10 a parking process of the vehicle 10 initiated. figure 7 shows a mobile terminal 20 , which is outside of a vehicle 10 located. Two parked vehicles 3 , 3' limit a parking space 2 , in which the vehicle 10 can park. The driver sets up the mobile device 20 first on the vehicle 10 , so that this is in a captured image area 12 of the mobile device 20 located. The mobile device 20 can then its position relative to the vehicle 10 determine. Alternatively, the mobile device 20 also be designed to indicate a relative orientation and / or relative position of the vehicle 10 to the mobile device 20 to recieve.

[0061] The driver can then move the mobile device to the parking position by means of a pivoting movement 2 judge. This is in figure 8 shown.

[0062] The mobile device 20 captures the parked cars 3 , 3' who have a parking position 2 define, and can thus determine that it is a possible parking space for the vehicle 10 acts. Furthermore, the mobile terminal 20 using the estimated altitude of the mobile terminal as explained above, the distance and direction of the parking position 2 determine. The mobile device sends this information 20 in the following to the vehicle 10 , as already described in connection with the other figures.

[0063] Before actually parking the vehicle 10 , the mobile terminal can 20 the driver of the vehicle 10 provide a simulation of the planned parking process. figure 9 shows a mobile terminal 20 that has a display 28 has. in the in figure 9 simulation shown is the vehicle 10 so parked that the front 17 of the vehicle 10 , in the representation of figure 9, facing up. figure 10, on the other hand, shows a simulation in which the front side 17 of the vehicle 10 pointing down. The driver of the vehicle 10 has the option of making an entry on the mobile device 20 to determine in which way the vehicle 10 to the parking position 2 should drive. To do this, the driver can perform gestures on a touchscreen that symbolize a turning movement. This is particularly advantageous if the driver wants to have access to the trunk, for example to stow away purchases.

[0064] In further embodiments, the simulation can be presented to the driver on a display and / or a smart glass using augmented reality. In this case, the simulation is based on recorded images of the image acquisition device 21 of the mobile device 20 superimposed. The driver is thus provided with a very simple representation of the complex parking situation. The parking situation can change the parking position 2 and / or the objects surrounding the vehicle 10 or a parking space and / or the vehicle geometry and / or the geometry of vehicle components. The simulation can therefore also include a simulation of other vehicle components, such as the maximum opening position of the doors and trunk. The driver can thus see whether there is enough space to open the doors and this directly when assessing the parking position 2 consider.

[0065] Optionally, a check by the driver can take place using the simulation provided. If the driver finds that the parking position 2 is chosen unfavorably or even recognized incorrectly, he has the opportunity to correct it. In particular, the driver can by selecting another parking position 2 make a correction. In a further embodiment, the selection of a further parking position 2 automatically by the vehicle 10 and / or through the mobile device 20 and / or an external server 30 take place.

[0066] In addition, the driver's inputs to the vehicle 10 be transmitted. The vehicle 10 The transmitted inputs can then be used to determine the parking strategy 16 consider.

[0067] In the described embodiments, it is possible for the mobile terminal to be either a smartphone, a smartwatch that has an image capture device, or a smartglass. A smart glass in particular has the advantage that the driver can see the parking position with a mere glance 2 this can scan, and the vehicle 10 can cause in the parking position 2 to park. Thus, a very simple operation of the vehicle 10 given. Reference List 1 system 2 parking position 3, 3' parked vehicle 10 vehicle 11, 11', 11'', 11''' second image acquisition device 12, 12', 12'', 12''' captured image area 13 parking device 14 receiving device 15 second computing unit 16 parking strategy 17 front 18 second image acquisition device 19 second image data 20 mobile device 21 first image acquisition device 22 first computing unit 23 transmission facility 24 first image data 25 information 26 inertial sensor 27 inertial data 28 displays 30 servers 31 third computing unit V1, V2, V3 vector QUOTES INCLUDED IN DESCRIPTION

[0068] This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Non-patent Literature Cited

[0069] IEEE 802.11 standards

[0053]

Claims

[1] System ( 1 ) for parking a vehicle ( 10 ) comprehensive: – a mobile device ( 20 ) comprehensive: – at least an initial image capture device ( 21 ) to capture initial image data ( 24 ); – a first computing unit ( 22 ), who is trained to do so: – the first image data ( 24 ) from the first image acquisition device ( 21 to receive; – based on the first image data ( 24 ), information ( 25 ), which is a parking position ( 2 ) specify, to generate; – a transmission device ( 23 ) to transfer the information ( 25 ); – the vehicle ( 10 ), comprehensive: – a receiving facility ( 14 ), who is trained to process the information ( 25 to receive; – a second computing unit ( 15), which is trained to use the information ( 25 ) a parking strategy ( 16 ) to determine, characterized by that the vehicle ( 10 ) a parking device ( 13 ) includes, which is trained to park, taking into account the parking strategy ( 16 ), the vehicle ( 10 ) at the parking position ( 2 ) to park. [2] System according to any one of the preceding claims, characterized by that the information ( 25 ) a direction and a distance from the parking position ( 2 ) relative to the mobile device ( 20 ) include. [3] System according to any one of the preceding claims, characterized by that the first computing unit ( 22 ) is trained to determine the relative position and / or orientation of the vehicle ( 10 ) to the mobile device ( 20 ) based on the first image data ( 24 ) to determine. [4] System according to any one of the preceding claims, characterized by that the vehicle ( 10 ) at least a second image capture device ( 18 ) for capturing second image data ( 19 ) includes, and wherein the second computing unit ( 15 ) is trained to use the second image data ( 19 ) a relative position of the mobile device ( 20 ) to the vehicle ( 10 ) to determine. [5] System according to any one of the preceding claims, characterized by that the first computing unit ( 22 ), the second computing unit ( 15 ) and / or a third computing unit of a server is trained to process the information ( 25 ), a parking space for the vehicle ( 10 ) to recognize. [6] System according to any one of the preceding claims, characterized by that the mobile device ( 20 ) is trained to use vehicle data and information ( 25), to provide a simulation of the parking process. [7] System according to any one of the preceding claims, characterized by that the information ( 25 ) the absolute position of the parking space ( 2 ) include. [8] System according to any one of the preceding claims, characterized by that the mobile device ( 20 ) an inertial sensor ( 26 ) for the delivery of inertial data ( 27 ) includes, and the first computing unit ( 22 ) is trained to use inertial data ( 27 ) the position and orientation of the mobile device ( 20 ) to certain. [9] Methods for parking a vehicle ( 10 ), in particular using a system according to any one of claims 1–8, comprising: – Capturing initial image data ( 24 ) by an initial image capture device ( 21 ) of a mobile device ( 20 ); – Detecting a parking position (2 ) based on the first image data ( 24 ); – Transfer of information ( 25 ), which indicate a parking position, to a vehicle ( 10 ); – Determining a parking strategy ( 16 ) based on the information ( 25 ); – Parking the vehicle ( 10 ) using the parking strategy ( 16 ) at the parking position ( 2 ). [10] Method according to claim 9, characterized by that the information ( 25 ) a direction and a distance relative to the mobile device ( 20 ) include. [11] Method according to one of claims 9 or 10, characterized by that the information ( 25 ) the absolute position of the parking space ( 2 ) include. [12] Method according to any one of claims 9 to 11, characterized by that the procedure further includes: – Capture of secondary image data ( 19) by at least one second image capture device ( 11 , 11‘ , 11‘‘ , 11‘‘‘ ) of the vehicle ( 10 ); – Determining the relative position of the mobile device ( 20 ) based on the second image data ( 19 ). [13] Method according to any one of claims 9 to 12, characterized by that the procedure further includes: – Determining a relative position of the vehicle ( 10 ) to the mobile device ( 20 ) and / or an orientation of the vehicle ( 10 ) relative to the mobile device ( 20 ) based on the first image data ( 24 ), where the relative position and / or the relative orientation of the vehicle ( 10 ) Information ( 25 ) are. [14] Computer-readable storage medium containing instructions that cause a processor to implement a method according to any one of claims 9 to 13 when the instructions are executed by the processor.

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