Method for recognizing a parking area for a vehicle by separately recognizing elements of a parking space marking, computing device and driver assistance system

Abstract

Method for detecting a parking area (9) for a vehicle (1) in a surrounding area (8) of the vehicle (1), wherein at least one image of the surrounding area (8) is received by a camera (4) of the vehicle (1), the at least one image describing a parking space marking (10) of the parking area (9), in which at least one image elements describing the parking space marking (10) are detected, and for detecting the parking area (9) the detected elements are entered as a representation into a digital environment map, the digital environment map describing the surrounding area (8), characterized in that the elements are at least a corner element (14) describing at least a line segment (15, 16) of the parking space marking (10) in a corner (12) of the parking space marking (10), and at least one line element (20) describing a connecting line (13) of the parking space marking (10) adjacent to a corner (12).are recognized and the at least one recognized corner element (14) and the at least one recognized line element (20) are entered as separate representations into the digital environment map, wherein a base point (23) is determined to determine the at least one line element (20), wherein a spatial uncertainty for the base point (23) and / or an uncertainty regarding an orientation of the line element (20) at the base point (23) is determined.

Description

[0001] The present invention relates to a method for detecting a parking area for a vehicle within the vehicle's surroundings. In this method, at least one image of the surroundings is received from a camera of the vehicle, wherein the at least one image depicts a parking space marking of the parking area. Elements describing the parking space marking are detected in the at least one image, and to detect the parking area, the detected elements are entered as representations into a digital map of the surroundings, wherein the digital map describes the surroundings. Furthermore, the present invention relates to a computing device and a driver assistance system for a vehicle. Finally, the present invention relates to a computer program and a computer-readable medium.

[0002] The focus here is on driver assistance systems that support a driver or vehicle user when parking in a parking space. Prior art includes driver assistance systems that use appropriate environmental sensors to detect the vehicle's surroundings and identify available parking spaces. These systems can also measure the size of the available parking spaces using the data from the environmental sensors. Parking spaces can be identified based on objects, such as parked vehicles, that define the space. Alternatively, prior art methods exist for detecting or recording the parking space markings that define the space. In these cases, relevant elements or features of the parking space markings can be identified and integrated into a digital map of the surroundings.Based on the representations of the parking space markings stored in the digital environment map, a driver assistance system can then recognize the parking space and park the vehicle accordingly.

[0003] DE 10 2015 209 147 A1 describes a method for parking space detection. In this method, an image capture device, which generates image data of the surroundings, is used to detect a parking space, whereby at least one or more markings of a parking space are recognized and evaluated using the image data.

[0004] Furthermore, DE 10 2012 222 497 A1 discloses a method for detecting parking space line markings, which is executed by a processor in a controller installed in a vehicle. The method comprises a corner detection process designed to detect an angled corner in an image containing the parking space line markings. The method also includes a cross detection process designed to detect an intersection point by combining adjacent corners among the detected corners. Additionally, the method includes a space detection process designed to detect a space, which is an end periphery of the parking space line markings, by combining the detected intersection points. Finally, a type selection process is provided, designed to select a type of parking space line marking from the detected space.Furthermore, the procedure includes a final selection process, which is designed to select a final room based on the chosen type.

[0005] The object of the present invention is to provide a solution for how a parking area for a vehicle can be more reliably identified based on parking space markings.

[0006] This problem is solved according to the invention by a method, a computing device, a driver assistance system, a computer program product, and a computer-readable medium with the features according to the independent claims. Advantageous embodiments of the present invention are specified in the dependent claims.

[0007] A method according to the invention serves to detect a parking area for a vehicle within the vehicle's surroundings. At least one image of the surroundings is received from a camera on the vehicle. This image depicts a parking space marking of the parking area. Elements describing the parking space marking are detected in this image. To detect the parking area, the detected elements are entered as a representation into a digital map of the surroundings, which describes the surroundings. The elements detected include at least one corner element, which describes at least one line segment of the parking space marking at a corner of the marking, and at least one line element, which describes a connecting line of the parking space marking adjacent to a corner.Furthermore, the at least one detected corner element and the at least one detected line element are entered as separate representations into the digital environment map.

[0008] The method is designed to detect parking space markings and, based on these markings, determine the parking area for the vehicle. Parking space markings are road markings that regulate the arrangement of parking spaces and their separation from flowing traffic. These markings are lines applied to the surface of the roadway and / or a designated parking area. The method can be performed using a suitable computing device, such as a vehicle control unit, processor, computer, or similar component. This computing device is connected to at least one camera on the vehicle for data transmission. The camera captures images of the surrounding area, including the parking space markings.At least one image of the surrounding area can be transmitted from the camera to the processing unit. It is also possible to capture a sequence or multiple images and transmit them to the processing unit. Furthermore, images from different cameras on the vehicle can be received. The respective parking space markings, or parts thereof, can then be recognized in the at least one image by the processing unit. A suitable object recognition algorithm or similar can be used for this purpose. The parking space markings can be recognized, for example, by their predetermined color. These parking space markings typically differ significantly from the surface, such as asphalt, on which they are applied.Based on the detected parking space markings, representations can be determined and entered into the digital environment map. This digital environment map describes the area surrounding the vehicle. The representations of the parking space markings, or the individual elements that define them, can be entered into this map. The digital environment map can also describe the position of each element or representation. Furthermore, the spatial dimensions of each element or representation can be stored in the digital environment map. The current position of the vehicle can also be stored in the digital environment map. Based on the representations stored in the digital environment map, the parking area for the vehicle can be identified.Following this, the vehicle can be maneuvered into the parking area using a driver assistance system. This method is also known as line parking.

[0009] According to a key aspect of the present invention, it is provided that, based on at least one image, at least one corner element and at least one line element of the parking space marking are recognized. A corner element describes at least one line segment of the parking space marking at a corner of the parking space marking. A parking space marking delimits one or more parking areas, the respective parking areas typically being rectangular. Parking space markings in the shape of a parallelogram are also known. These parking space markings are formed by corresponding lines. The corner elements describe those line segments that are located at a corner or at the boundaries of the parking space marking. For example, the parking area can be delimited by four corner elements of the parking space marking.For example, the parking area might be bounded by two corner elements and by another object, such as a curb, a wall, or something similar. The corner element can have at least one line segment. However, it usually has two line segments, which may form a right angle or another angle with each other. In addition to the corner elements, line elements are also detected in the image. These line elements describe the connecting lines that link the corner elements together. These line elements are therefore adjacent to the corner elements. The respective line elements can be solid lines, broken lines, double lines, or similar.Based on at least one image provided by the camera, the corner elements and line elements are recognized independently and then entered as their respective representations into the digital environment map. Thus, different elements are extracted from the parking space markings in the image and stored in the digital environment map for parking area recognition. In this way, parking area recognition can be carried out more reliably.

[0010] Preferably, the parking area is identified based on at least one detected corner element and at least one detected line element in the digital environment map. The information from the corner elements and the information from the line elements can be fused in the digital environment map to identify the parking area for the vehicle. For example, a probability can be determined based on the respective corner elements, indicating that they describe a parking space marking or define a parking area. Similarly, a corresponding probability can be determined for the line elements. Thus, statements can be made independently based on the corner elements and the line elements as to whether a parking space marking is present in the surrounding area. This increases the reliability of parking area detection.

[0011] In one embodiment, the at least one corner element is defined as the at least one line segment with an L-shape, a T-shape, an X-shape, and / or an I-shape. Furthermore, the at least one corner element preferably describes the shape of the at least one line segment. The corner element can have two line segments arranged perpendicular to each other. In this case, the corner element has an L-shape or a T-shape. It can also be provided that, in the case of a T-shape, the two line segments do not have a right angle to each other. This results, for example, in angled parking areas or parking areas designed for angled parking. Furthermore, the two line segments can have any angle to each other or have an X-shape. It is also possible that the corner element is formed by only one line element.In this case, the line segment has an I-shape. Here, the end of the line segment describes the end or corner of the parking space marking. These different types of corner elements or line segments of the parking space marking can be recorded. If the corner element is stored as a representation in the digital environment map, the shape of the line segments or the type of the corner element can also be included in the representation. In other words, the corner element can describe whether the at least two line segments have an L-shape, a T-shape, an X-shape, or an I-shape. Thus, the corner elements can be precisely described in the digital environment map.

[0012] In a further embodiment, the orientation of at least one line segment of the parking space marking is determined relative to a coordinate system of the vehicle. The vehicle's coordinate system can be determined, for example, such that its origin corresponds to the center point of the vehicle's rear axle. An x-direction of the coordinate system can extend along a longitudinal direction of the vehicle, and a y-direction can extend along a transverse direction of the vehicle. With respect to the line segments of the corner element, a specific orientation relative to the vehicle's coordinate system can be determined. For example, a primary orientation relative to a first line segment and a secondary orientation relative to a second line segment of the corner element can be determined.The corner element or representation entered into the digital environment map can include additional information describing the orientation of at least one line segment with respect to the vehicle coordinate system. This allows the orientation and / or relative position of the parking space marking or parking area relative to the vehicle to be determined.

[0013] According to a further embodiment, a spatial uncertainty and / or a probability of existence are determined for the at least one corner element. The respective corner element can describe the position of the at least one line segment in a coordinate system, in particular the vehicle coordinate system. For a corner element with two line segments, i.e., an L-shape, a T-shape, or an X-shape, the position can be assigned to the intersection of the two line segments. For an I-shape, the position can be determined with respect to the midpoint of the line segment. A spatial uncertainty can be defined with respect to this position. Spatial uncertainties can also be determined for the respective line segments of the corner element. This spatial uncertainty can relate to the position of the corner element or the line segments.Furthermore, the spatial uncertainty for an angle of at least one line segment can be specified. In addition, a spatial uncertainty can be defined, for example, regarding the dimensions of the line segments. This spatial uncertainty can be defined, for instance, as a function of the distance between the camera and the detected corner of the parking space marking. Here, it can be taken into account, for example, that parking space markings or corners of the parking space marking that are close to the camera can be detected more reliably or with higher positional accuracy. Alternatively or additionally, a probability of existence for the detected corner elements can be determined.This probability of existence can, for example, indicate the probability that the feature extracted from the image is actually a corner element or a corner of a parking space marking. This information can be stored in the corner element or representation that is entered into the digital environment map. Thus, additional information regarding the recorded parking space marking can be stored in the digital environment map.

[0014] In a further embodiment, at least one corner element can be identified as a line segment of the parking space marking, which is assigned to a boundary of at least one image. The image may also contain additional line segments that are cut off at the boundary or at the end of the image. These line segments at the end of the image or at the edge of the camera's detection range can also be detected as corner elements. These corner elements can then be defined as improper corner elements. In other words, these line segments can be assigned the type "improper" or "incorrect." This type describes the fact that the corner element or line segment defines the end of the image or a region of interest within the image. For example, the camera cannot detect an area behind this corner element.Therefore, this corner element may represent an end or an actual corner of the line. However, it is also possible that the line extends or continues beyond the image or the detection area. Thus, line segments at the edge of the image can also be taken into account.

[0015] Furthermore, it is advantageous to define at least one line element by specifying a corner element as the starting point and another corner element as the endpoint. The description provided by the starting and ending points represents a minimum for defining the line element. For defining the line elements, the respective corner elements or corners of the parking space markings can be used as the starting and ending points. This allows the line elements to be easily defined as representations in the digital environment map.

[0016] In a further embodiment, a base point is determined to define the at least one line element, whereby a spatial uncertainty for the base point and / or an uncertainty regarding the orientation of the line element at the base point is determined. The base point can also be used to define the line element. The line element can be rotated around this base point. This base point thus represents a point around which the line element can be rotated. In principle, the position of the base point can be chosen arbitrarily. For example, the base point can be defined on the line element. It can also be provided that the base point is not chosen between the start point and the end point. In particular, it is provided that the base point is determined such that it is as close as possible to the camera.In this way, a spatial uncertainty regarding the orientation or angle of the line element can be defined. As previously explained in connection with the positions of the corner elements, a spatial uncertainty can also be defined for the base point itself. Likewise, spatial uncertainty can be specified for the start point and the end point. Thus, a spatial uncertainty regarding the length of the line element can be defined. It is also possible to define a probability of existence for the line element. This allows for a precise description of the line element as a representation in the digital environment map.

[0017] According to a further embodiment, at least one additional corner element is defined as an intermediate point to determine the at least one line element. One or more intermediate points can be defined between the start point and the end point to describe the line element. Corner elements can also be used as the respective intermediate points. Thus, multiple support points can be defined to describe the line element. This enables a precise representation of the respective connecting lines of the detected parking space marking.

[0018] In a further embodiment, the dimensions of at least one line element in the digital environment map are adjusted and / or at least two detected line elements are connected. The previously described definition of the line elements based on the start and end points, and optionally intermediate points, makes it possible to adjust the spatial dimensions of the line element in the digital environment map. For example, the length of the line element can be adjusted. Furthermore, several detected line elements can be connected in the digital environment map. This can occur, for example, if two line elements have a predetermined minimum distance from each other and / or if the orientation of the respective line elements is essentially the same. It is also possible to split a line element into two or more line elements.For example, the digital environment map, or more specifically the line and corner elements within it, can be continuously updated. This update can be based on sequentially acquired images and the corner and / or line elements detected within them.

[0019] A computing device according to the invention for a driver assistance system of a vehicle is designed to carry out a method according to the invention and its advantageous embodiments. The computing device can be provided by an electronic control unit, a digital signal processor, a computer, or the like.

[0020] A driver assistance system according to the invention comprises a computing device according to the invention and at least one camera. Preferably, the driver assistance system can have a plurality of cameras distributed around the vehicle. The cameras can, for example, be arranged at the front, rear, and sides of the vehicle. Based on the corner and line elements stored in the environment map, the driver assistance system or the computing device can then detect a parking area for the vehicle. Furthermore, the driver assistance system can be configured to maneuver the vehicle at least semi-autonomously to the parking area. In particular, it is provided that the driver assistance system can provide longitudinal and lateral guidance for the vehicle.

[0021] A vehicle according to the invention comprises a driver assistance system according to the invention. The vehicle is preferably designed as a passenger car. It can also be designed as a commercial vehicle.

[0022] The invention also includes a computer program product with program code means which are stored in a computer-readable medium in order to carry out the method according to the invention and the advantageous embodiments thereof when the computer program product is executed on a processor of an electronic computing device.

[0023] Another aspect of the invention relates to a computer-readable medium, in particular in the form of a computer-readable floppy disk, CD, DVD, memory card, USB storage device, or similar, in which program code means are stored in order to carry out the method according to the invention and the advantageous embodiments thereof, when the program code means are loaded into a memory of an electronic computing device and processed on a processor of the electronic computing device.

[0024] The preferred embodiments and their advantages presented with reference to the method according to the invention apply accordingly to the computing device according to the invention, to the driver assistance system according to the invention, to the vehicle according to the invention, to the computer program product according to the invention, and to the computer-readable medium according to the invention.

[0025] Further features of the invention are evident from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as those subsequently mentioned in the description of the figures and / or shown in the figures alone, are not only usable in the combinations specified but also in other combinations without departing from the scope of the invention. Thus, embodiments that are not explicitly shown and explained in the figures but can be derived and generated from the explained embodiments by separate combinations of features are also to be considered as encompassed and disclosed by the invention. Embodiments and combinations of features that do not exhibit all the features of an originally formulated independent claim are also to be considered disclosed.Furthermore, embodiments and combinations of features, in particular those set out above, are to be considered disclosed which go beyond or deviate from the combinations of features set out in the cross-references of the claims.

[0026] The invention will now be explained in more detail with reference to preferred embodiments and the accompanying drawings. These show: Fig. 1 a vehicle with a driver assistance system which has multiple cameras; Fig. 2 a schematic flowchart of a procedure for parking the vehicle in a detected parking area; Fig. 3 the vehicle according to Fig. 1, wherein there are a plurality of differently designed parking space markings in an area surrounding the vehicle; Fig. 4 a corner element of a parking space marking with a T-shape; Fig. 5 a corner element of a parking space marking with an L-shape; Fig. 6 a corner element of a parking space marking with a T-shape according to a further embodiment; Fig. 7 a corner element of a parking space marking with an X shape; Fig. 8 the vehicle in whose vicinity there are parking space markings as well as detected corner elements of the parking space markings and detection areas of the cameras; Fig. 9 a captured corner element, which is defined with a spatial uncertainty; and Fig. 10 a captured line element which is defined with a start point, an end point and a base point.

[0027] In the figures, identical or functionally equivalent elements are given the same reference symbols.

[0028] Fig. 1 shows a vehicle 1, which in this case is designed as a passenger car, in a top view. The vehicle 1 includes a driver assistance system 2 , which is designed to identify a driver or user of the vehicle 1 while driving the vehicle 1 to provide support. In particular, the driver assistance system serves to... 2 to assist a driver or user when parking the vehicle 1 in a parking area 9 to support.

[0029] The driver assistance system 2 an electronic computing device 3 which, for example, is caused by an electronic control unit of the vehicle 1 can be formed. Furthermore, the driver assistance system includes 2 at least one camera 4 In the present embodiment, the driver assistance system comprises 2 four cameras 4 , which are distributed on the vehicle 1are arranged. In this case, one of the cameras is... 4 at a front area 7 , one of the cameras 4 at a rear area 5 and the other two cameras 4 in the respective side areas 6 of the vehicle 1 arranged. The number and arrangement of the cameras 4 of the driver assistance system 2 This is purely an example. The four cameras 4 are preferably designed to be identical in construction.

[0030] With the cameras 4 can an environmental area 8 of the vehicle 1 be captured. In particular, an image sequence or video data can be recorded by the cameras. 4 be provided which cover the surrounding area 8 describe. These image data or images can then be used by the respective cameras. 4 to the computer system 3 be transmitted. The cameras are used for this purpose. 4and the computing facility 3 connected for data transmission or image transfer. With the computer system 3 Relevant features can then be identified in the images. In this case, it is intended that the images will be used to create corresponding parking space markings. 10 be recognized.

[0031] Fig. Figure 2 shows a schematic flowchart of a procedure for maneuvering or parking the vehicle. 1 in a parking area 9 . This is exemplified by the camera 4 Appropriate images were provided, showing the surrounding area. 8 Describe. The parking space markings will then be shown in the images. 10 recognized. For this purpose, for example, a corresponding feature extraction can be performed (step S1 Following this, in one step S2a digital map of the surrounding area was provided, showing the surrounding area 8 describes. In one step S3 Can the vehicle then proceed to the parking area? 9 can be maneuvered, guided by the recognized parking space markings 10 The area is limited. This can also be referred to as line parking.

[0032] Fig. 3 shows the vehicle 1 , in whose surrounding area 8 a number of parking areas 9 This illustration serves to clarify different known parking space markings. 10 . In the parking areas 9 Each vehicle is an example. 11 parked. The respective parking areas are included. 9 different parking space markings 10 assigned. The respective parking space markings. 10 Each corners 12 on, which forms a boundary of the respective parking space markings10 represent. Furthermore, the parking space markings indicate 10 Connecting lines 13 up, which are at the corners 12 adjacent. It can be seen that the parking space markings 10 in the corner area 12 They can be I-shaped, T-shaped, L-shaped, or X-shaped. The respective connecting lines 13 Parking space markings can be formed as a solid line, a broken line, or a double line. These different types of parking space markings 10 They should now be identified.

[0033] For this purpose, it is planned that appropriate corner elements will first be installed. 14 It will be determined which corresponding line segments 15 , 16 the parking space markings 10 in the corner area 12 describe. In the Fig. 4 to Fig. There are 7 different corner elements 14shown, which represents a first line segment 15 as well as a second line section 16 exhibit. This describes Fig. 4 a corner element 14 with T-shaped line segments 15 , 16 and Fig. 5 shows a corner element 14 with L-shaped line segments 15 , 16 . Fig. 6 shows a corner element 14 with T-shaped line segments 15 , 16 according to a further embodiment. Here, the line segments 15 , 16 They form an angle to each other that is other than 90°. Such corner elements are used, for example, in parking areas designed for angled parking. Furthermore, it shows Fig. 7 a corner element 14 with X-shaped line segments 15 , 16 . On the one hand, it is intended that the corner elements 14 as a representation of the parking space markings 10be entered into the digital environment map.

[0034] For the corner elements 14 It can also provide orientation or corresponding angles α1 , α2 with respect to a coordinate system of the vehicle 1 to be determined. Here, a first angle describes α1 a rotation of the first line segment 15 to the vehicle's coordinate system 1 and the second angle α2 describes a rotation of the second line segment 16 to the vehicle's coordinate system 1 The vehicle's coordinate system 1 It comprises an x-axis and a y-axis. The origin of the coordinate system is, for example, the center point of a rear axle of the vehicle. 1 assigned. Furthermore, the x-axis runs along a longitudinal direction of the vehicle. 1 and the y-axis runs along a transverse direction of the vehicle 1 (see Fig. 1).

[0035] In addition to the orientation for the respective corner elements 14 A spatial uncertainty can be determined. This can involve a spatial uncertainty regarding the first line segment. 15 as well as the second section of the line 16 can be defined. Furthermore, spatial uncertainty regarding orientation or angles can be addressed. α1 , α2 can be defined. Furthermore, a spatial uncertainty regarding the position of the corner element can occur. 14 This spatial uncertainty can be defined by a corresponding error ellipse. 17 , as they are, for example, in Fig. 8 is shown, to be defined.

[0036] Fig. 9 shows the vehicle 1 and three cameras as examples 4 of the vehicle 1 Here are the relevant recording areas. 18 the respective cameras 4depicted. With the cameras 4 can corners 12 the parking space marking 10 Line segments can be identified that have a T-shape. Additionally, line segments can be... 19 will be recorded if they are located at a boundary or at an end of the respective recording area. 18 These line sections are also located here. 19 are used as respective corner elements 14 recorded.

[0037] Fig. 10 shows a line element 20 , which serves as a representation of the connecting lines 13 the parking space marking 10 is entered into the digital map. For the definition of the line element. 20 will be a starting point 21 as well as an endpoint 22 defined as the starting point 21 and as an endpoint 22 Can corresponding corner elements be used? 14 can be used. In addition, a base point is used. 23 used to create the line element20 to define. Regarding the base point. 23 Can there be spatial uncertainty regarding a first direction? 24 as well as a second direction 25 can be defined. A spatial uncertainty regarding an angle α can also be defined. In this case, an error ellipse can also be used to define the spatial uncertainty. Furthermore, the same applies to the starting point. 21 as well as the endpoint 22 A spatial uncertainty can be defined. In particular, a longitudinal spatial uncertainty can be taken into account. This is shown here by the arrows. 26 illustrated.

[0038] With reference to Fig. 9 can be the connecting line shown there 13 , which are parallel to the direction of travel of the vehicle 1 runs through the left T-shaped corner element 14 as a starting point 21 as well as the T-shaped corner element14 right as endpoint 22 be defined. The three T-shaped corner elements 14 between the starting point 21 and the endpoint 22 These can then serve as intermediate points for defining the line element. 20 be used.

[0039] The corner elements described above 14 as well as the line elements 20 can be entered into the digital environment map. Based on the corner elements 14 and the line elements 20 Can the parking area then be used? 9 for the vehicle 1 be recognized. Following this, the vehicle can then be... 1 at least semi-autonomously using the driver assistance system 2 to the identified parking area 9 be maneuvered. 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] DE 102015209147 A1

[0003] DE 102012222497 A1

[0004]

Claims

[1] Method for detecting a parking area (9) for a vehicle (1) in an area surrounding the vehicle (1), wherein at least one image of the area surrounding the vehicle (1) is received by a camera (4) of the vehicle (1), wherein the at least one image describes a parking space marking (10) of the parking area (10), in which at least one image elements describing the parking space marking (10) are detected, and for detecting the parking area (10) the detected elements are entered as a representation into a digital environment map, wherein the digital environment map describes the area surrounding the vehicle (10), characterized by, that the elements are at least one corner element (14) which describes at least one line segment (15, 16) of the parking space marking (10) in a corner (12) of the parking space marking (10), and at least one line element (20) which describes a connecting line (13) of the parking space marking (10) adjacent to a corner (12), and that the at least one recognized corner element (14) and the at least one recognized line element (20) are entered as separate representations into the digital environment map. [2] Method according to claim 1, characterized by , that the parking area (9) is recognized in the digital environment map based on at least one recognized corner element (14) and at least one recognized line element (20). [3] Method according to claim 1 or 2, characterized by, that the at least one corner element (14) is the at least one line segment (15, 16) with an L-shape, a T-shape, an X-shape and / or an I-shape, and that the at least one corner element (14) describes the shape of the at least one line segment (15, 16). [4] Method according to any one of the preceding claims, characterized by , that an orientation of at least one line segment (15, 16) of the parking space marking (10) is determined to a coordinate system of the vehicle (10). [5] Method according to any one of the preceding claims, characterized by , that for at least one corner element (14) a spatial uncertainty and / or an existence probability is determined. [6] Method according to any one of the preceding claims, characterized by , that at least one corner element (14) is recognized as a line segment (19) of the parking space marking (10), which is assigned to a boundary of the at least one image. [7] Method according to any one of the preceding claims, characterized by , that to determine at least one line element (20) a corner element (14) is determined as the starting point (21) of the line element (20) and another corner element (14) is determined as the end point (22) of the line element (20). [8] Method according to any one of the preceding claims, characterized by , that to determine at least one line element (20) a base point (23) is determined, wherein a spatial uncertainty for the base point (23) and / or an uncertainty regarding an orientation of the line element (20) at the base point (23) is determined. [9] Method according to claim 7 or 8, characterized by , that to determine at least one line element (20) at least one further corner element (14) is determined as an intermediate point. [10] Method according to any one of the preceding claims, characterized by, that in the digital environment map the dimensions of at least one line element (20) are adjusted and / or at least two detected line elements (20) are connected together. [11] Computing device (3) for a driver assistance system (2) of a vehicle (1), which is configured to carry out a method according to one of the preceding claims. [12] Driver assistance system (2) with a computing device (3) according to claim 11 and with at least one camera (4). [13] Computer program product comprising program code means stored in a computer-readable medium for carrying out a method according to any one of claims 1 to 10 when the computer program product is executed on a processor of an electronic computing device (3). [14] Computer-readable medium, in particular in the form of a computer-readable floppy disk, CD, DVD, memory card, USB storage device, or similar, in which program code means are stored for carrying out a method according to any one of claims 1 to 10, when the program code means are loaded into a memory of an electronic computing device (3) and executed on a processor of the electronic computing device (3).

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