Method for assisting a motor vehicle in a parking maneuver, electronic parking aid system and motor vehicle

Abstract

Method for assisting a motor vehicle (4) in parking a perpendicular parking space (1) and / or an angled parking space (6), comprising the steps of: - generating a virtual map of a parking space (2, 7) containing a current parking space occupancy and several adjacent perpendicular parking spaces (1) and / or angled parking spaces (6) by means of an electronic parking assistance system (9, 14); - determining by means of the electronic parking assistance system (9, 14) whether the virtual map contains at least one free perpendicular parking space (1) and / or angled parking space (6), and - if the virtual map contains a free perpendicular parking space (1) and / or angled parking space (6), by means of the electronic parking assistance system (9, 14)14) a possible parking position of the motor vehicle (4) in the perpendicular parking space (1) and / or angled parking space (6) is determined taking into account the detected parking positions of at least two vehicles (5) parked in adjacent and at least one vehicle (5) not directly adjacent to the perpendicular parking space (1) and / or angled parking space (6), - a parking angle of the possible parking position of the motor vehicle (4) is determined by means of the electronic parking aid system (9, 14) taking into account the detected parking angles of the parking positions of the parked vehicles (5), and - at least one lateral line (12) to each parked vehicle (5) is determined from the current parking space occupancy by means of the electronic parking aid system (9, 14) and the parking angle of the parking position of the respective parked vehicle (5) is determined taking into account the determined lateral line (12), characterized in that,that by means of the electronic parking aid system (9, 14) the parking angles of the parked vehicles (5) are compared with each other and an angle mean value is determined from those parking angles which lie within a determined angle range and is set as the parking angle of the possible parking position of the motor vehicle (4).

Description

[0001] The invention relates to a method for assisting a motor vehicle in parking a perpendicular parking space and / or an angled parking space, comprising the steps of: generating a virtual map of a parking space containing a current parking space occupancy and several adjacent perpendicular parking spaces and / or angled parking spaces by means of an electronic parking assistance system; and determining by means of the electronic parking assistance system whether at least one free perpendicular parking space and / or angled parking space is contained in the virtual map.

[0002] Furthermore, the invention relates to an electronic parking assistance system for a motor vehicle, comprising: at least one detection device that can be arranged on the motor vehicle for capturing object information about the environment of the motor vehicle; and at least one evaluation electronics unit connected to the detection device, which is configured to generate a virtual map containing the current occupancy of a parking space with several adjacent perpendicular parking spaces and / or angled parking spaces from the object information captured by the detection device and to determine whether at least one free perpendicular parking space and / or angled parking space is contained in the virtual map.

[0003] Furthermore, the invention relates to a motor vehicle with an electronic parking aid system.

[0004] Motor vehicles are increasingly being equipped with driver assistance systems in the form of electronic parking aids to assist the driver during parking maneuvers. Some parking aids take over the steering of the vehicle while it is parked, while the driver still controls the vehicle's longitudinal movements. Others completely automate the parking process, handling steering, braking, acceleration, and gear shifting. In these cases, the driver monitors the parking maneuver by holding down a button or similar control. Releasing the button immediately stops the vehicle. These parking aids can also be controlled remotely, for example, via a smartphone with the appropriate app.Here too, the driver, who is outside the vehicle, activates a button (possibly virtual) or similar device during the parking maneuver, whereby the vehicle is stopped immediately if the driver releases the remote control button or does not touch it.

[0005] When a driver uses an electronic parking assistance system, they expect the vehicle to automatically assume a final parking position adapted to the orientation of the parking space. However, if the parking assistance system is not equipped with a camera, it cannot detect lines on the ground that define the parking space. Furthermore, in some cases, such lines are not present. To still be able to assist with parking, electronic parking assistance systems are available that determine the final parking position in a perpendicular or angled parking space by taking into account the two vehicles parked adjacent to the space. However, in some cases, only one vehicle is parked on one side of the perpendicular or angled parking space, in which case the parking position of that vehicle is used to determine the final parking position of the vehicle.

[0006] If an electronic parking assistance system only considers the parking positions of vehicles parked immediately adjacent to a perpendicular or angled parking space to determine the final parking position of the vehicle, the vehicle may not be optimally parked within the space, especially if the immediately adjacent vehicles are parked at an angle. In such cases, the vehicle may end up parked on the edge of the space or partially outside of it.

[0007] US 9,400,897 B2 relates to a method for classifying parking scenarios for a motor vehicle's parking assistance system, wherein a predetermined number of parking scenarios are defined and each parking scenario is described by a predetermined number of parking scenario-specific criteria. The criteria are based at least on parking space-specific parameters. The method comprises the following steps: determining data from the motor vehicle's surroundings using the motor vehicle's environmental sensors, determining parking space-specific parameters from the environmental data, verifying the criteria of each parking scenario against the parking space-specific parameters, and classifying each parking scenario based on the verified criteria.

[0008] US 8,374,749 B2 discloses a parking assistance system that assists in maneuvering a vehicle into a reverse starting position and then moves the vehicle in the opposite direction to a predetermined parking position. A parking target setting section determines a parking target position according to the predetermined parking position based on a parking reference acquired from image data of the vehicle's surroundings. A parking path calculation section sequentially calculates a parking path from the vehicle's instantaneous position to the parking target position as it moves forward along a forward path. A parking path determination section determines whether an effective parking path has been determined based on the result of the calculation by the parking path calculation section.

[0009] The publication “Parking Slot Markings Recognition for Automatic Parking Assist System”, Ho Gi Jung et al., Intelligent Vehicles Symposium 2006, June 13-15, 2006, Tokyo, Japan, pages 106-113, discloses a monocular, vision-based parking space marking recognition algorithm used for the automated selection of a final parking position by means of an electronic parking assistance system.

[0010] WO 2016 / 166086 A1 concerns a method for signaling information to the operator of a remote control for a remotely controlled parking assistance system for automated parking of the vehicle into a parking space. The vehicle determines environmental information regarding its surroundings using sensors integrated into the vehicle. Based on this environmental information, the vehicle detects a parking space. Information about the detection of a parking space is transmitted from the vehicle to the remote control via a wireless communication link. The remote control receives this information and, based on the received information, signals the presence of a detected parking space to the remote control operator.

[0011] DE 10 2016 206 757 A1 relates to a method for supporting a parking maneuver of a motor vehicle, wherein a parking space suitable for parking the motor vehicle is determined by sensor-based means and wherein this parking space is defined by a first boundary and a second boundary. The first boundary and / or the second boundary is determined as a virtual boundary not formed by a real existing object. The determination of the virtual boundary not formed by a real existing object is based on an assessment of the distance traveled by the motor vehicle, along which no real existing object is detected by the sensor.

[0012] The publication “Vacant Parking Slot Detection and Tracking - Sensor Fusion”, Revathi; B. et al., Gates Institute of Technology, Gooty, Ananthapur, AP, India, December 2015, pages 208-211, discloses a system for detecting parking space floor markings that can monitor the orientation and occupancy of various parking space floor markings in real time.

[0013] One object of the invention is to improve the parking process of a motor vehicle supported by an electronic parking assistance system.

[0014] This problem is solved by the independent patent claims. Advantageous embodiments are described in the following description, the dependent patent claims, and the figures, whereby these embodiments, either individually or in various combinations of at least two of them, can represent a further development, in particular a preferred or advantageous, aspect of the invention. Embodiments of the method can correspond to embodiments of the electronic parking aid system, and vice versa, even if this is not explicitly mentioned in the following.

[0015] An inventive method for supporting a parking maneuver of a motor vehicle into a perpendicular parking space and / or an angled parking space comprises the steps of: generating a virtual map of a parking space containing a current parking space occupancy and several adjacent perpendicular parking spaces and / or angled parking spaces by means of an electronic parking assistance system; and determining by means of the electronic parking assistance system whether at least one free perpendicular parking space and / or angled parking space is contained in the virtual map.If the virtual map contains a free perpendicular parking space and / or angled parking space, the electronic parking assistance system determines a possible parking position of the motor vehicle in the perpendicular parking space and / or angled parking space, taking into account recorded parking positions of at least three vehicles parked in perpendicular parking spaces and / or angled parking spaces adjacent to the perpendicular parking space and / or angled parking space.

[0016] According to the invention, when determining the possible parking position of the motor vehicle, at least three parking positions of vehicles parked adjacent to the available perpendicular and / or angled parking space are taken into account. This means that not only the parking positions of vehicles parked directly adjacent to the available perpendicular and / or angled parking space, but also the parking position of at least one vehicle not parked directly adjacent to the available perpendicular and / or angled parking space, are considered when determining the possible parking position of the motor vehicle. This prevents the possible parking position of the motor vehicle from being determined by considering an incorrect parking position or...a less than optimal parking position of a vehicle parked directly adjacent to the free perpendicular and / or angled parking space is determined, which could lead to a less than optimal possible parking position of the motor vehicle, in which the motor vehicle is parked, for example, on a boundary line of the free perpendicular and / or angled parking space or partially outside the free perpendicular and / or angled parking space, which should be avoided.According to the invention, in the case of a vehicle that is not optimally parked in an immediately adjacent perpendicular parking space and / or angled parking space, the parking position of at least one vehicle not parked immediately adjacent to the free perpendicular parking space and / or angled parking space can also be taken into account in order to determine, for example, an average parking position of the vehicles parked in the vicinity of the perpendicular parking space and / or angled parking space and to use this to determine the possible parking position of the motor vehicle.

[0017] When a vehicle enters a parking space with perpendicular and / or angled parking spaces, the electronic parking assistance system scans the vehicle's surroundings. For this purpose, the parking assistance system may include at least one detection device, such as a camera, radar, or similar device, which is connected to the system's evaluation electronics. The evaluation electronics can use the environmental information captured by the detection device to generate a virtual map of the parking space, showing the current parking space occupancy. The parking assistance system can then determine the distances between parked vehicles. Based on the map and its current parking space occupancy, the evaluation electronics can determine whether at least one free perpendicular and / or angled parking space is present on the virtual map.If this is the case, the evaluation electronics can determine a possible parking position of the vehicle in the available perpendicular and / or angled parking space, taking into account the recorded parking positions of at least three vehicles parked in adjacent perpendicular and / or angled parking spaces. This determination of the possible parking position of the vehicle can also consider the parking positions of four or more adjacent vehicles. For example, the parking positions of at least two vehicles parked on each side of the perpendicular and / or angled parking space can be considered.

[0018] The electronic parking assistance system used to carry out the procedure can be a system that, during a supported parking maneuver, only takes over the steering of the vehicle, or it can additionally also handle braking, acceleration, and gear shifting. The electronic parking assistance system can be controlled, activated, and deactivated via a control unit inside the vehicle or via a remote control, such as a smartphone, from outside the vehicle.

[0019] According to an advantageous embodiment, the electronic parking aid system determines the parking angle of the possible parking position of the motor vehicle by taking into account the detected parking angles of the parked vehicles. Thus, the orientation of the parked vehicles relative to each other and / or relative to the orientation of the perpendicular or angled parking spaces is considered when determining the parking angle of the possible parking position of the motor vehicle.

[0020] Another advantageous embodiment provides that, using the electronic parking aid system, at least one lateral line for each parked vehicle is determined from the current parking space occupancy, and the parking angle of the respective parked vehicle is calculated based on this determined lateral line. The lateral lines can, for example, be determined from the distances between parked vehicles as measured by the evaluation electronics of the parking aid system. Alternatively, both lateral lines for each parked vehicle can be determined, in which case an averaged alignment line or center line along a longitudinal axis of the respective vehicle can be calculated from the two lateral lines. This averaged alignment line or center line is then used to determine the parking angle of the possible parking position of the vehicle.

[0021] In a further advantageous embodiment, the electronic parking aid system compares the parking angles of parked vehicles. From those angles that fall within a defined range, an average angle is calculated and set as the parking angle for the vehicle's potential parking position. Parking angles outside this range are not considered when determining the vehicle's potential parking position. This ensures that outliers are not included; only the parking angles of vehicles parked in specific ways are considered. The angle range can be determined by identifying outliers and calculating a suitable range for the respective parking scenario from the remaining recorded angles.

[0022] According to a further advantageous embodiment, the electronic parking aid system determines the longitudinal position of the vehicle in the possible parking position by taking into account the detected longitudinal positions of the parked vehicles. This allows the longitudinal positions of the parked vehicles to be additionally or alternatively considered when determining the longitudinal position, i.e., the parking depth, of the vehicle, in order to prevent the vehicle from being parked too deep or not deep enough in the perpendicular or angled parking space.

[0023] Advantageously, the electronic parking assistance system compares the longitudinal positions of parked vehicles and calculates an average from those positions within a defined range. This average is then defined as the longitudinal position of the vehicle's potential parking position. Longitudinal positions of parked vehicles outside this range are not considered when determining the vehicle's potential parking position. This ensures that outliers are not included, focusing only on the longitudinal positions of vehicles parked in specific ways. The target range can be determined by identifying outliers and calculating a suitable range for the respective parking scenario from the remaining recorded longitudinal positions.

[0024] In a further advantageous embodiment, the electronic parking aid system determines whether a predetermined safety distance is maintained between the vehicle and adjacent parked vehicles when it is in the potential parking position. Preferably, the parking aid system determines whether the required safety distance is maintained on all sides of the vehicle when it is in the potential parking position. This reduces the risk of collision with adjacent parked vehicles during parking or unparking maneuvers. If the safety distance is maintained on all sides of the vehicle when it is in the potential parking position, the parking maneuver can be carried out to bring the vehicle into the potential parking position.

[0025] Another advantageous embodiment provides that, if a predetermined safety distance between the vehicle and adjacent parked vehicles is not maintained in the possible parking position, the electronic parking assistance system determines a final parking position by varying the possible parking positions while taking the predetermined safety distance into account. The system then varies the possible parking positions, considering the required safety distances on all sides of the vehicle, to determine the final parking position. Once the final parking position has been determined, the parking maneuver can be carried out to bring the vehicle into this position.

[0026] Furthermore, it is advantageous if the vehicle's speed is detected and the virtual map is generated by the electronic parking assistance system when the vehicle's speed is below a predefined speed limit. In this case, the parking assistance system can infer that a parking maneuver is imminent or about to be carried out when the vehicle's speed is below the speed limit. Alternatively or additionally, the parking assistance system can generate the virtual map after activation of a human-machine interface located inside or outside the vehicle.

[0027] An electronic parking aid system according to the invention for a motor vehicle comprises: at least one detection device that can be arranged on the motor vehicle for capturing object information about the environment of the motor vehicle; and at least one evaluation electronics unit connected to the detection device, which is configured to generate a virtual map containing the current occupancy of a parking space with several adjacent perpendicular parking spaces and / or angled parking spaces from the object information captured by the detection device and to determine whether at least one free perpendicular parking space and / or angled parking space is contained in the virtual map.The evaluation electronics are set up to determine a possible parking position of the motor vehicle in the perpendicular parking space and / or angled parking space when a free perpendicular parking space and / or angled parking space is contained in the virtual map, taking into account recorded parking positions of at least three vehicles parked in perpendicular parking spaces and / or angled parking spaces adjacent to the perpendicular parking space and / or angled parking space.

[0028] The electronic parking assistance system offers the same advantages as described above with regard to the procedure. In particular, the electronic parking assistance system can be used to carry out the procedure according to one of the aforementioned configurations or any combination of at least two of these configurations. The detection device can, for example, include at least one camera and / or at least one radar device. The object information captured by the detection device includes information about objects located in the parking space, especially stationary ones, such as parked vehicles or other fixed objects. The parking assistance system can include sensors for detecting the distance of the motor vehicle to objects in its vicinity.

[0029] According to an advantageous embodiment, the evaluation electronics are configured to determine the parking angle of the possible parking position of the motor vehicle, taking into account the recorded parking angles of the parked vehicles. This embodiment offers the advantages mentioned above with reference to the corresponding embodiment of the method.

[0030] Another advantageous embodiment provides that the evaluation electronics are configured to determine at least one lateral line to each parked vehicle from the current parking space occupancy and, taking this lateral line into account, to determine the parking angle of the respective parked vehicle. This embodiment offers the same advantages as those mentioned above with reference to the corresponding embodiment of the method.

[0031] In a further advantageous embodiment, the evaluation electronics are configured to compare the parking angles of the parked vehicles and to determine an average angle from those parking angles that lie within a defined range. This average angle is then defined as the possible parking position of the vehicle. This embodiment offers the same advantages as the corresponding embodiment of the method mentioned above. The angle range can be determined by identifying outlier parking angles and calculating a suitable range for the respective parking scenario from the remaining recorded parking angles.

[0032] According to a further advantageous embodiment, the evaluation electronics are configured to determine the longitudinal position of the motor vehicle in its possible parking position, taking into account the longitudinal positions of parked vehicles that have been recorded. This embodiment offers the advantages mentioned above with reference to the corresponding embodiment of the method.

[0033] Advantageously, the evaluation electronics are configured to compare the longitudinal positions of the parked vehicles and to calculate an average value from those longitudinal positions that fall within a defined range. This average value is then defined as the possible parking position of the vehicle. This configuration offers the same advantages as the corresponding configuration of the method mentioned above. The range can be determined by identifying outliers in the longitudinal position and calculating a suitable range for the respective parking scenario from the remaining recorded longitudinal positions.

[0034] In a further advantageous embodiment, the evaluation electronics are configured to determine whether, in the possible parking position, a predetermined safety distance exists between the motor vehicle and vehicles parked immediately adjacent to it. This embodiment offers the advantages mentioned above with reference to the corresponding embodiment of the procedure.

[0035] According to a further advantageous embodiment, the evaluation electronics are configured to determine a final parking position of the vehicle if a predetermined safety distance to vehicles parked immediately adjacent to it is not maintained in the possible parking position, by varying the possible parking position while taking the predetermined safety distance into account. This embodiment offers the same advantages as the corresponding embodiment of the method mentioned above.

[0036] Furthermore, it is advantageous if the evaluation electronics are configured to detect the vehicle's speed and generate the virtual map when the vehicle's speed is below a predefined speed limit. This configuration offers the same advantages as those mentioned above with regard to the corresponding configuration of the procedure.

[0037] A motor vehicle according to the invention comprises an electronic parking aid system which is designed according to one of the aforementioned embodiments or any combination of at least two of these embodiments.

[0038] The advantages mentioned above with regard to the electronic parking assistance system or the procedure are correspondingly associated with the motor vehicle.

[0039] The invention is explained below by way of example with reference to the accompanying figures and preferred embodiments, wherein the features mentioned below, both individually and in different combinations of at least two of these embodiments, can represent an advantageous or further developing aspect of the invention. The figures show: Fig. 1 a schematic representation of a parking situation in a parking lot with perpendicular parking spaces, obtained by means of a conventional parking assistance system; Fig. 2 a schematic representation of a parking situation in a parking lot with angled parking spaces, obtained by means of a conventional parking assistance system; Fig. 3 a schematic representation of a parking situation on a parking lot having perpendicular parking spaces, which is obtained by means of an embodiment of a parking aid system according to the invention; Fig. 4 a schematic representation of a parking situation in a parking lot with perpendicular parking spaces, which is obtained by means of a further embodiment of a parking aid system according to the invention; and Fig. 5 a flowchart of an exemplary embodiment of a method according to the invention.

[0040] In the figures, identical or functionally equivalent components are provided with the same reference symbols.

[0041] Fig. Figure 1 shows a schematic representation of a parking situation in a perpendicular parking space 1 parking space 2 , which is achieved using a conventional electronic parking assistance system (not shown). Every perpendicular parking space 1is with one the perpendicular parking space 1 surrounding floor marking 3 provided. In the middle perpendicular parking space 1 is a motor vehicle 4 parked, whose displayed parking position was determined using the conventional parking assistance system. To each side of the vehicle. 4 are three more vehicles 5 parked. The two immediately adjacent to the motor vehicle 4 parked vehicles 5 are parked diagonally in the respective perpendicular parking spaces 1 parked, while the other vehicles 5 especially in the respective perpendicular parking space 1 are parked.

[0042] The conventional parking assistance system generates a virtual map of the parking lot containing the current parking space occupancy. 2 Furthermore, the conventional parking assistance system determines whether there is at least one free perpendicular parking space on the virtual map. 1is included. If the virtual map shows a free perpendicular parking space 1 The conventional parking assistance system determines the displayed parking position of the vehicle. 4 in the perpendicular parking space 1 taking into account the recorded parking positions of the two shown on the space immediately adjacent to the free perpendicular parking space 1 parked vehicles 5 This is how the conventional parking assistance system determines the displayed parking position of the vehicle. 4 , in which the motor vehicle 4 disadvantageously, partially outside the parking space 1 is parked, as it is in Fig. 1 is shown and what to avoid.

[0043] Fig. Figure 2 shows a schematic representation of a parking situation in an angled parking space. 6 parking space 7, which is achieved using a conventional electronic parking assistance system (not shown). Every angled parking space 6 is with one the angled parking space 6 surrounding floor marking 8 provided. In the middle angled parking space 6 is a motor vehicle 4 parked, whose displayed parking position was determined using the conventional parking assistance system. To each side of the vehicle. 4 are three more vehicles 5 parked. The two immediately adjacent to the motor vehicle 4 parked vehicles 5 are parked at an angle in their respective angled parking spaces 6 parked, while the other vehicles 5 especially in the respective angled parking space 6 are parked.

[0044] The conventional parking assistance system generates a virtual map of the parking lot containing the current parking space occupancy. 7Furthermore, the conventional parking assistance system determines whether there is at least one free angled parking space on the virtual map. 6 is included. If the virtual map shows a free angled parking space 6 The conventional parking assistance system determines the displayed parking position of the vehicle. 4 in the angled parking space 6 taking into account the recorded parking positions of the two shown on the space immediately adjacent to the free angled parking space 6 parked vehicles 5 This is how the conventional parking assistance system determines the displayed parking position of the vehicle. 4 , in which the motor vehicle 4 disadvantageous on the floor marking 8 the angled parking space 6 is parked, as it is in Fig. 2 is shown and what to avoid.

[0045] Fig. Figure 3 shows a schematic representation of a parking situation in a perpendicular parking space1 parking space 2 , which are demonstrated by means of an embodiment of an electronic parking aid system according to the invention 9 is received, which is in the motor vehicle 4 is built-in.

[0046] The electronic parking aid system 9 includes one attached to the motor vehicle 4 arranged recording device 10 for capturing object information about the environment of the motor vehicle 4 Furthermore, the electronic parking assistance system includes 9 one with the recording device 10 connected evaluation electronics 11 , which is set up, from those connected to the recording device 10 The recorded object information is used to create a virtual map of the parking lot containing the current parking space occupancy shown. 2 to generate and determine whether at least one free perpendicular parking space is shown on the virtual map 1It is included. The evaluation electronics 11 is set up when the virtual map shows a free perpendicular parking space 1 includes a possible parking position of the motor vehicle. 4 in the perpendicular parking space 1 taking into account the recorded parking positions of the six adjacent to the perpendicular parking space 1 available perpendicular parking spaces 1 parked vehicles 5 to determine.

[0047] The evaluation electronics 11 is set up to determine the parking angle of the possible parking position of the motor vehicle. 4 taking into account the recorded parking angles of the parking positions of the parked vehicles 5 to determine this. For this purpose, the evaluation electronics are required. 11 set up, from the current parking space occupancy two side lines 12 to each parked vehicle 5 to determine and taking into account the determined sidelines 12the parking angle of the parking position of the respective parked vehicle 5 to determine this. The evaluation electronics are used for this purpose. 11 set up, from the sidelines 12 to a vehicle 5 one along the longitudinal axis of the vehicle 5 running center line 13 to determine and from this center line 13 the vehicle's parking angle 5 to derive. The evaluation electronics 11 The parking angles of the parked vehicles are set up. 5 to compare them with each other and to determine an average angle from those parking angles that lie within a determined angle range, and to use this as the parking angle of the possible parking position of the motor vehicle. 4 to define. The angle range can be determined by identifying outlier parking angles and calculating a suitable angle range for the respective parking scenario from the remaining recorded parking angles.

[0048] The evaluation electronics 11 It is also equipped to determine whether a specified safety distance of the vehicle is maintained in the possible parking position. 4 to immediately adjacent to the motor vehicle 4 parked vehicles 5 is given. The evaluation electronics are involved. 11 set up when a specified safety distance of the vehicle is maintained in the possible parking position 4 to immediately adjacent to the motor vehicle 4 parked vehicles 5 a final parking position of the motor vehicle is not given. 5 to determine by varying the possible parking position while taking into account the specified safety distance.

[0049] The evaluation electronics 11 It may also be set up to control the speed of the motor vehicle. 4to capture and generate the virtual map when the speed of the motor vehicle 4 below a predetermined speed limit.

[0050] Fig. Figure 4 shows a schematic representation of a parking situation in a perpendicular parking space. 1 parking space 2 , which, by means of a further embodiment of an electronic parking aid system according to the invention 14 is received, which is in the motor vehicle 4 is built-in.

[0051] The electronic parking aid system 14 includes one attached to the motor vehicle 4 arranged recording device 10 for capturing object information about the environment of the motor vehicle 4 Furthermore, the electronic parking assistance system includes 14 one with the recording device 10 connected evaluation electronics 15, which is set up, from those connected to the recording device 10 The recorded object information is used to create a virtual map of the parking lot containing the current parking space occupancy shown. 2 to generate and determine whether at least one free perpendicular parking space is shown on the virtual map 1 It is included. The evaluation electronics 15 is set up when the virtual map shows a free perpendicular parking space 1 includes a possible parking position of the motor vehicle. 4 in the perpendicular parking space 1 taking into account the recorded parking positions of the six adjacent to the perpendicular parking space 1 available perpendicular parking spaces 1 parked vehicles 5 to determine.

[0052] The evaluation electronics 15 is set up to position the motor vehicle longitudinally 4in the possible parking position, taking into account the recorded longitudinal positions of the parked vehicles. 5 to determine this. The evaluation electronics are used for this purpose. 15 set up, the longitudinal positions of the parked vehicles 5 to compare them with each other and to determine an average value from those longitudinal positions that lie within a determined range, and to use this as the longitudinal position of the possible parking position of the motor vehicle. 4 to define the area. The area can be determined by identifying outliers in longitudinal position and calculating a suitable area for the respective parking scenario from the remaining recorded longitudinal positions.

[0053] The in the Fig. 3 and Fig. 4 electronic parking assistance systems shown 9 and 14 can be combined to obtain an electronic parking assistance system (not shown) that has both functionalities.

[0054] Fig. Figure 5 shows a flowchart of an embodiment of a method according to the invention for supporting a parking maneuver of a motor vehicle in a perpendicular parking space and / or an angled parking space.

[0055] In process step 100 An electronic parking assistance system is used to record object information about objects in the vicinity of the motor vehicle, in particular parked vehicles, in a parking lot with several adjacent perpendicular and / or angled parking spaces.

[0056] In process step 110The electronic parking assistance system generates a virtual map of the parking space that shows the current occupancy of parking spaces. To do this, the vehicle's speed can be detected, and the virtual map is generated by the electronic parking assistance system if the vehicle's speed is below a predefined speed limit. The electronic parking assistance system also determines whether the virtual map contains at least one free perpendicular and / or angled parking space.

[0057] In process step 120 The electronic parking assistance system checks whether the available perpendicular and / or angled parking space is large enough and whether it has been selected by the driver, which can be detected, for example, via steering, braking and / or activation of the turn signal.

[0058] In process step 130If the virtual map contains a free perpendicular parking space and / or angled parking space, the electronic parking aid system determines a possible parking position of the motor vehicle in the perpendicular parking space and / or angled parking space, taking into account recorded parking positions of at least three vehicles parked in perpendicular parking spaces and / or angled parking spaces adjacent to the perpendicular parking space and / or angled parking space.

[0059] The electronic parking assistance system can determine the parking angle of the vehicle's potential parking position by taking into account the recorded parking angles of other parked vehicles. Furthermore, the system can determine at least one lateral line to each parked vehicle from the current parking space occupancy and use this lateral line to calculate the parking angle of that vehicle. Finally, the system can compare the parking angles of parked vehicles and calculate an average angle from those within a defined range, which is then used to determine the potential parking angle of the vehicle.The angle range can be determined by identifying outlier parking angles and calculating a suitable angle range for the respective parking scenario from the remaining recorded parking angles.

[0060] Alternatively or additionally, the electronic parking assistance system can determine the longitudinal position of the vehicle in its potential parking position by taking into account the longitudinal positions of parked vehicles. Furthermore, the system can compare the longitudinal positions of parked vehicles and calculate an average from those positions within a defined range, which is then used to define the vehicle's potential parking position. This range can be determined by identifying outliers in the longitudinal position and calculating a suitable range for the specific parking scenario from the remaining recorded positions.

[0061] In process step 140The electronic parking aid system determines whether, in the possible parking position, a specified safety distance exists between the vehicle and vehicles parked immediately adjacent to it.

[0062] If this is the case, the next step in the procedure will be 150 The possible parking position of the vehicle is determined as the final parking position. If, in the possible parking position, a specified safety distance between the vehicle and vehicles parked immediately adjacent to it is not maintained, the following procedure step is performed. 160 The electronic parking assistance system determines a final parking position of the vehicle by varying the possible parking position while taking into account the specified safety distance.

[0063] In process step 170The vehicle is parked with the support of the electronic parking assistance system until it has reached its final parking position.

[0064] In process step 180 The parking process or the support of the parking process by the electronic parking assistance system is terminated. Reference symbol list 1 perpendicular parking space 2 parking spaces 3 Floor marking 4 Motor vehicle 5 vehicles 6 angled parking spaces 7 Parking spaces 8 Floor marking 9 electronic parking aid system 10 Recording device 11 Evaluation electronics 12 Sideline 13 Center line 14 electronic parking aid system 15 Evaluation electronics 100th process step 110 Procedure step 120th process step 130 Procedure step 140 Procedure step 150th process step 160 Process step 170 Procedure step 180 process step QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 9400897 B2

[0007] US 8374749 B2

[0008] WO 2016 / 166086 A1

[0010] DE 102016206757 A1

[0011] Cited non-patent literature

[0000] „Parking Slot Markings Recognition for Automatic Parking Assist System“, Ho Gi Jung et al., Intelligent Vehicles Symposium 2006, June 13-15, 2006, Tokyo, Japan, Seiten 106-113

[0009] „Vacant Parking Slot Detection and Tracking - Sensor Fusion“, Revathi; B. et al., Gates Institute of Technology, Gooty, Ananthapur, AP, India, Dezember 2015, Seiten 208-211

[0012]

Claims

[1] Method for assisting a motor vehicle (4) in parking in a perpendicular parking space (1) and / or an angled parking space (6), comprising the steps: - Generating a virtual map of a parking space (2, 7) containing a current parking space occupancy with several adjacent perpendicular parking spaces (1) and / or angled parking spaces (6) using an electronic parking assistance system (9, 14); - Determine using the electronic parking aid system (9, 14) whether the virtual map contains at least one free perpendicular parking space (1) and / or angled parking space (6), characterized by , that - if the virtual map contains a free perpendicular parking space (1) and / or angled parking space (6), a possible parking position of the motor vehicle (4) in the perpendicular parking space (1) and / or angled parking space (6) is determined by means of the electronic parking assistance system (9, 14) taking into account recorded parking positions of at least three vehicles (5) parked in perpendicular parking spaces (1) and / or angled parking spaces (6) adjacent to the perpendicular parking space (1) and / or angled parking space (6). [2] Method according to claim 1, characterized by , that by means of the electronic parking aid system (9, 14) a parking angle of the possible parking position of the motor vehicle (4) is determined taking into account recorded parking angles of the parking positions of the parked vehicles (5). [3] Method according to claim 2, characterized by, that by means of the electronic parking aid system (9, 14) at least one side line (12) to each parked vehicle (5) is determined from the current parking space occupancy and taking into account the determined side line (12) the parking angle of the parking position of the respective parked vehicle (5) is determined. [4] Method according to claim 2 or 3, characterized by , that by means of the electronic parking aid system (9, 14) the parking angles of the parked vehicles (5) are compared with each other and from those parking angles which lie within a determined angle range an angle mean value is determined and is set as the parking angle of the possible parking position of the motor vehicle (4). [5] Method according to any one of claims 1 to 4, characterized by, that by means of the electronic parking aid system (9, 14) a longitudinal position of the motor vehicle (4) in the possible parking position is determined taking into account the recorded longitudinal positions of the parking positions of the parked vehicles (5). [6] Method according to claim 5, characterized by , that by means of the electronic parking aid system (9, 14) the longitudinal positions of the parked vehicles (5) are compared with each other and an average value is determined from those longitudinal positions which lie in a determined area and is set as the longitudinal position of the possible parking position of the motor vehicle (4). [7] Method according to any one of claims 1 to 6, characterized by , that by means of the electronic parking aid system (9, 14) it is determined whether in the possible parking position a specified safety distance of the motor vehicle (4) to vehicles (5) parked immediately adjacent to the motor vehicle (4) is given. [8] Method according to any one of claims 1 to 7, characterized by , that if, in the possible parking position, a specified safety distance of the motor vehicle (4) to vehicles (5) parked immediately adjacent to the motor vehicle (4) is not given, a final parking position of the motor vehicle (4) is determined by means of the electronic parking aid system (9, 14) by varying the possible parking position taking into account the specified safety distance. [9] Method according to any one of claims 1 to 8, characterized by , that the speed of the motor vehicle (4) is recorded and that the virtual map is generated by means of the electronic parking aid system (9, 14) when the speed of the motor vehicle (4) is below a specified speed limit. [10] Electronic parking aid system (9, 14) for a motor vehicle (4), comprising: - at least one recording device (10) that can be arranged on the motor vehicle (4) for recording object information about the environment of the motor vehicle (4); - at least one evaluation electronics unit (11, 15) connected to the recording device (10), which is configured to generate a virtual map containing the current occupancy of a parking space (2, 7) with several adjacent perpendicular parking spaces (1) and / or angled parking spaces (6) from the object information recorded by the recording device (10) and to determine whether the virtual map contains at least one free perpendicular parking space (1) and / or angled parking space (6), characterized by , that the evaluation electronics (11, 15) is set up when the virtual map contains a free perpendicular parking space (1) and / or angled parking space (6), to determine a possible parking position of the motor vehicle (4) in the perpendicular parking space (1) and / or angled parking space (6) taking into account recorded parking positions of at least three vehicles (5) parked in perpendicular parking spaces (1) and / or angled parking spaces (6) adjacent to the perpendicular parking space (1) and / or angled parking space (6). [11] Electronic parking aid system (9, 14) according to claim 10, characterized by , that the evaluation electronics (11, 15) is set up to determine a parking angle of the possible parking position of the motor vehicle (4) taking into account recorded parking angles of the parking positions of the parked vehicles (5). [12] Electronic parking aid system (9, 14) according to claim 11, characterized by, that the evaluation electronics (11, 15) is set up to determine at least one side line (12) to each parked vehicle from the current parking space occupancy and to determine the parking angle of the parking position of the respective parked vehicle (5) taking into account the determined side line (12). [13] Electronic parking aid system (9, 14) according to claim 11 or 12, characterized by , that the evaluation electronics (11, 15) are set up to compare the parking angles of the parked vehicles (5) with each other and to determine an angle mean value from those parking angles which lie within a determined angle range and to define it as the parking angle of the possible parking position of the motor vehicle (4). [14] Electronic parking aid system (9, 14) according to one of claims 10 to 13, characterized by, that the evaluation electronics (11, 15) is set up to determine a longitudinal position of the motor vehicle (4) in the possible parking position taking into account recorded longitudinal positions of the parking positions of the parked vehicles (5). [15] Electronic parking aid system (9, 14) according to claim 14, characterized by , that the evaluation electronics (11, 15) are set up to compare the longitudinal positions of the parked vehicles (5) with each other and to determine an average value from those longitudinal positions which lie within a determined range and to define it as the longitudinal position of the possible parking position of the motor vehicle (4). [16] Electronic parking aid system (9, 14) according to one of claims 10 to 15, characterized by, that the evaluation electronics (11, 15) are set up to determine whether, in the possible parking position, a specified safety distance of the motor vehicle (4) to vehicles (5) parked immediately adjacent to the motor vehicle (4) is given. [17] Electronic parking aid system (9, 14) according to one of claims 10 to 16, characterized by , that the evaluation electronics (11, 15) is set up to determine a final parking position of the motor vehicle (4) by varying the possible parking position taking into account the specified safety distance when a specified safety distance is not given in the possible parking position of the motor vehicle (4). [18] Electronic parking aid system (9, 14) according to one of claims 10 to 17, characterized by, that the evaluation electronics (11, 15) is set up to detect the speed of the motor vehicle (4) and to generate the virtual map when the speed of the motor vehicle (4) is below a predetermined speed limit. [19] Motor vehicle (4) with an electronic parking aid system (9, 14), characterized by , that the electronic parking aid system (9, 14) is designed according to one of claims 10 to 18.

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