Improving parking space utilization with a parked motor vehicle

Abstract

Method for the driverless operation of a driverless motor vehicle (1) parked in a parallel parking space (3) after completion of a parking operation, comprising the following procedural steps: a) Checking a trigger condition by a trigger condition check device (5) of the motor vehicle (1); b) Detecting a free area in front of the front (8) of the motor vehicle (1) or a free area behind the rear (7) of the motor vehicle (1) as a parking free area (11a, 11b) by an environment detection device (10) of the motor vehicle (1); and, c) if the triggering condition is met: driverless driving of the motor vehicle (1) into the parkable free area (11a, 11b), characterized in that the triggering condition includes the detection of an ultrasonic signal from another vehicle (15a), wherein the triggering condition is only considered to be met if the ultrasonic signal is a distance determination signal of a parking assistance system of the other vehicle (15a).

Description

[0001] The invention relates to a method and a device for the driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of an initial parking operation.

[0002] A variety of parking assistance systems are available for modern motor vehicles. For example, US Patent 6,483,442 B2 displays the current position of a vehicle and the parking position achievable with the current steering angle to the driver. Semi-automatic and even fully automatic parking assistance systems are also available. One example is US Patent 2009 0259 365 A1, which automatically adjusts the steering angle of a vehicle when parking, for example, in a parallel parking space, requiring the driver to only accelerate or brake.

[0003] None of the known methods, however, take into account changes in the parking situation over a period extending beyond the duration of the parking maneuver itself. For example, in parallel parking areas—that is, parking lots with typically several spaces for vehicles parked lengthwise in a row—comparatively large gaps often arise between the parked vehicles, for instance, due to vehicles of varying sizes entering and exiting at different times. These gaps are often too small for another vehicle and thus unnecessarily block parking space. Conversely, gaps created by vehicles parked too close together are so small that even a pedestrian cannot comfortably pass between them, for example, to cross a roadway running parallel to the parallel parking area.Especially in small spaces, which are barely large enough or even too small for a parking vehicle, so-called "parking bumps" occur when parking or attempting to park, in which the parked vehicle collides with at least one already parked vehicle at low speed.

[0004] DE 10 2016 208 991 A1 describes a control device for a vehicle with at least one transmitting and receiving environmental sensor for detecting the vehicle's surroundings. The vehicle is controlled via a request signal from an external control unit containing information about a desired movement, based on the information captured in the request signal.

[0005] The invention is therefore based on the objective of improving the use of parking space in a parallel parking lot.

[0006] This problem is solved by the subject matter of the independent patent claims. Advantageous embodiments and / or further features are described in the dependent patent claims, the description, and the figures.

[0007] One aspect concerns a method for the driverless (or "personnelless") operation of a driverless motor vehicle parked in a parallel parking space after a parking maneuver has been completed. The completed parking maneuver can also be referred to as the "initial parking maneuver" and is usually controlled, initiated, and / or monitored by a driver (personnel). A predetermined amount of time may have elapsed since the completion of the parking maneuver, in particular several (e.g., at least 3, 5, or 10) seconds, several (e.g., at least 3, 5, or 10) minutes, or several (e.g., at least 3, 5, or 10) hours. The parallel parking space can refer to a parking area designed for one or more motor vehicles to be parked lengthwise in a row and / or lengthwise along a roadway running parallel to the parallel parking space.

[0008] The procedure comprises a series of steps. One step involves checking a trigger condition using a trigger condition verification device on the vehicle. This device may, for example, include a timing device or clock and, as a trigger condition (or part thereof), check whether a certain period of time has elapsed, possibly after the initial parking maneuver has been completed, and / or whether a predetermined time, such as a specific time, has been reached. Alternatively or additionally, the trigger condition verification device may include a motion detection device and, as a trigger condition (or part thereof), check whether the vehicle is being bumped (e.g., externally accelerated) and / or whether an object external to the vehicle is moving within a predetermined area surrounding the vehicle, preferably moving towards the vehicle.The trigger condition verification device may also include a receiver for receiving a wirelessly transmitted signal, such as a radio and / or mobile communication signal, in particular for receiving a signal from another vehicle, especially an ultrasonic and / or radio signal. For example, the signal from the other vehicle may include or be a swerve request signal, with which the driverless driving described below is requested within the detected free area described below. The trigger condition may also be checked repeatedly or continuously.

[0009] The motion detection system can, for example, include a motion detector for contactless detection of movement within a monitored area. Such motion detectors are available with a current consumption of just a few mA (at 12V). Therefore, movement within the area monitored by the respective motion detector, specifically in front of the vehicle's front and / or rear, can be defined as a trigger condition or part of the trigger condition. The motion detection system can also include a gesture detector. This allows movements with different trajectories to be detected, and, for example, a vehicle approaching the vehicle can be distinguished from a pedestrian's gesture indicating they wish to pass between the parked vehicle and another adjacent vehicle.

[0010] A further procedural step involves the detection of a free area in front of the vehicle's front and / or rear as a parking space by a vehicle's environmental detection device. This free area is preferably a section of the parallel parking space. The parking space is therefore an unobstructed area in front of and / or behind the parked vehicle that could be used by the parked vehicle, at least as part of a parking space occupied by the vehicle in the parallel parking space.

[0011] The clear space can have a predefined minimum size, so that a detected area of ​​the surroundings or the parallel parking space that is smaller than this minimum size is not considered a clear space. The size of the respective area can be determined, for example, by its length, its extent along the length of the parallel parking space, and thus along the length of the vehicles to be parked there. A required width can also be specified for the clear space, for example, the width of the vehicle plus a tolerance. To detect a clear space as "suitable for parking," the surroundings detection system can include a classifier unit, which is designed to classify a detected clear space as a suitable part of the parallel parking space based on predefined criteria. Such classifier units are often also part of well-known parking assistance systems.

[0012] The environmental sensing device can, for example, include a camera, lidar, or ultrasonic sensor. The at least one free area can also be repeatedly or continuously scanned. The scanning and verification processes can be performed sequentially, preferably with one process step (a) verification as a condition for the other process step (b) scanning, or independently of each other, for example, simultaneously.

[0013] Only if the trigger condition is met, i.e., the check yields a positive result (and, of course, an open area has been identified as a parking area), does the next step involve the vehicle driving itself driverless into the parking area (or, if two parking areas are identified, into one of them). If two parking areas are identified, a predefined criterion can be used to decide which parking area the vehicle should enter, for example, preferably the smaller of the two.This process step is controlled by a vehicle control unit, either by the vehicle control unit actively driving the vehicle into the free area or by the vehicle control unit passively allowing the vehicle to drive into the parking free area, for example by the vehicle control unit releasing a parking brake and / or at least partially disengaging a transmission from the wheels, thus enabling the vehicle to be pushed into the parking free area.

[0014] As a preliminary step, a check can be performed to ensure that the vehicle is parked in a parallel parking space during the initial parking maneuver. This can be verified, for example, using map information in conjunction with a position tracking system. This allows, for instance, the activation condition check device to be activated only if the vehicle is indeed parked in a parallel parking space, thus saving energy.

[0015] The trigger condition involves detecting an ultrasonic signal from another vehicle, and this condition is only considered fulfilled if the ultrasonic signal is a distance determination signal from the other vehicle's parking assistance system. Accordingly, the detected ultrasonic signal can be checked by an ultrasonic signal verification device to determine whether it is indeed a distance determination signal. A distance determination signal can be identified, for example, by its repetitive nature and distinguished from a data transmission signal. A distance determination signal can thus be considered a signal without an intended communication function with another vehicle, whereas a data transmission signal is intended for communication with another vehicle and therefore has an intended communication function.

[0016] This has the advantage that the vehicle's parking position can be adjusted to a situation that arises later in the parallel parking space, even after the initial (the "actual" parking maneuver, meaning the one consciously controlled by the driver) is completed, thus making better use of the available parking space. This can also prevent or reduce damage to the parked vehicle from other vehicles during their parking maneuvers, especially in confined spaces where space is limited: for example, if another vehicle bumps into and shifts the parked vehicle while parallel parking (passive yielding of the vehicle), or would bump into the parked vehicle if the vehicle were not moving autonomously (active swerving of the vehicle).

[0017] The aforementioned procedural steps can also be carried out several times in succession. This allows the vehicle's parking position to be adjusted repeatedly over a longer period to accommodate changing or altered conditions.

[0018] In an advantageous embodiment, the motor vehicle has an electric drive motor for moving the vehicle. This has the advantage that the motor vehicle can react to the triggering condition with a particularly short time delay.

[0019] In a further advantageous embodiment, the triggering condition includes the presence of movement by an object external to the vehicle, in particular the approach of the object external to the vehicle, for example, another vehicle, to the vehicle, and / or a predetermined movement trajectory of the object external to the vehicle, for example, a gesture of a walking stick and / or foot such as a swinging up and / or down of the walking stick and / or foot, in a predetermined area behind the rear of the vehicle and / or in a predetermined area in front of the front of the vehicle. The movement of the object external to the vehicle can be a movement of a person. In particular, in this case, the movement can be a gesture, whether with a limb such as a foot or hand, or with a tool, for example, a walking aid such as a walking stick, an umbrella, or the like.In this case, checking the trigger condition verifies whether a movement, in particular an approach or a movement with a predefined trajectory, is present in the predetermined environment. Accordingly, the trigger condition verification device can, for example, include a motion detection device with a motion detector.

[0020] It can further be provided that, during driverless operation, the vehicle moves into the designated parking area (referred to as the "parkable area") in front of the vehicle's front end if the movement is detected by the trigger condition verification device in the predetermined area behind the vehicle's rear. This is particularly advantageous when the movement of an external object is an approach of that external object.

[0021] Accordingly, for example, if the movement of the external object is detected as the object moving away from the vehicle, a reverse movement dependency can also be provided. Thus, during driverless driving, the vehicle can move into the detected free area in front of the vehicle's front if the movement is detected as the object moving away from the vehicle within the predetermined area in front of the vehicle's front, and similarly, during driverless driving, the vehicle can move into the detected free area behind the vehicle's rear if the movement is detected as the object moving away from the vehicle within the predetermined area behind the vehicle's rear.

[0022] This has the advantage that, on the one hand, damage to the parked vehicle by another parking vehicle is avoided, as the parked vehicle can independently move out of the way of the other parked vehicle or at least give it space. This makes parking easier for the other vehicle, allowing smaller parking spaces to be used and parking space to be utilized more efficiently overall.This also allows for closer parking in the parallel parking space without obstructing pedestrians crossing it. For example, a pedestrian can gesture with a walking stick or their foot, swinging it upwards into a gap monitored by the activation condition monitoring device—a gap located between the parked vehicle and another external object, such as another vehicle—causing the parked vehicle to widen the gap by moving into a parking space in front of the other end. This allows pedestrians to easily pass between the parked vehicle and other external objects, even when the parking space is densely packed.Because the parked vehicle can also follow a receding external object, fluctuations in parking density can be better compensated for, as this allows, for example, the free space in the direction opposite to the movement of the parked vehicle to be increased, so that the parking space there can be used more efficiently.

[0023] In a further advantageous embodiment, driverless driving includes releasing the vehicle's parking brake and / or at least partially disengaging the vehicle's transmission from its wheels. In particular, driverless driving cannot include any self-initiated movement, but rather only externally initiated movement, such as occurs when another vehicle collides with the parked vehicle while the parking brake is released and the transmission is disengaged (i.e., in neutral). Specifically, during driverless driving, the parked vehicle is pushed into the detected free space by the external object, especially another vehicle.It may also be provided that the motor vehicle activates a brake during driverless driving (then being pushed) as soon as it reaches an end of the parking area, in order to avoid damage to an object located at the end of the parking area, such as another parked vehicle.

[0024] This has the advantage of allowing more efficient use of parking space, as damage to the parked vehicle is prevented or at least reduced, even in the case of the occasional minor parking bump that occurs in tight spaces. Furthermore, the requirements for the parked vehicle are particularly low; even without an electric drive motor, the vehicle can react quickly to the activation condition, for example by releasing the parking brake, thus preventing damage.

[0025] In another advantageous embodiment, a predetermined minimum distance to the object outside the vehicle is maintained during driverless driving. This minimum distance is preferably greater than zero, for example, at least 5 cm, at least 10 cm, at least 15 cm, or at least 20 cm. In particular, the predetermined minimum distance can be maintained as long as a remaining, parkable or drivable area of ​​the open space into which the vehicle drives driverlessly remains available, and / or as long as the open space into which the vehicle drives driverlessly is recognized as a parkable area. This prevents damage to the parked vehicle and, if applicable, to a third vehicle by the parked vehicle.

[0026] This has the advantage that a collision or parking bump between the parked vehicle and the moving external object, for example another vehicle parking or unparking, is avoided as far as possible, and thus parallel parking spaces with little available space can be used more efficiently.

[0027] In a further advantageous embodiment, the triggering condition includes the detection, in particular passive detection, of a signal from another vehicle, especially the detection of an ultrasonic signal generated, for example, by an ultrasonic parking assistance system of the other vehicle. However, the signal from the other vehicle can also be or include a radio signal, for example, an avoidance request signal that specifically instructs the parked vehicle to perform the above-described process steps of detection (b) and driverless driving (c).

[0028] This has the advantage that driverless driving, and thus the improvement of parking space utilization, only occurs when parking space is actually needed. Furthermore, especially when a parking assistance system in the other vehicle is active, it can be assumed that an existing (parking) gap in the parallel parking space already roughly meets the requirements of the other vehicle, so that even a particularly short period of driverless driving—i.e., a small distance traveled by the parked vehicle during driverless driving—helps to use the available parking space effectively.

[0029] In another advantageous embodiment, the triggering condition includes the elapse of at least a predetermined time interval since the completion of the parking process, particularly the initial parking process, and / or since the last check of the triggering condition. In particular, the triggering condition can include a recurring elapse of the predetermined time interval, which can also be repeated, for example, regularly, independently of the respective check result. It can also be provided that the vehicle, during driverless driving, enters one of the detected free areas, and in particular only enters one of the detected free areas, if the combined size of the detected free areas exceeds a predetermined total size.Advantageously, the vehicle drives to one end of the available parking space, i.e., until there is no more parking space in the direction of driverless driving. The size here can be defined, in particular, as the length along the length of the parallel parking space. The specified total size could, for example, be a typical car parking space length, such as 5 m, plus a parking length, such as 1 m.

[0030] This has the advantage that the parked vehicle independently optimizes the parking space without any activity from an external object by freeing up additional parking space, if possible, by driving along the longitudinal direction of the parallel parking space.

[0031] In a further advantageous embodiment, the size of the detected clearance area in front of the vehicle's front and / or the size of the detected clearance area behind the vehicle's rear is compared with a (preferably) predetermined minimum size. At least if the size of one detected clearance area is smaller than the minimum size, the vehicle, during driverless operation, moves or is pushed into one or both of the detected clearance areas to such an extent that the other clearance area increases to at least the (preferably) predetermined minimum size, and / or both clearance areas are the same size, within a predetermined deviation of, for example, 5% or 10%. In particular, if only one clearance area is detected, the size of the other clearance area is assumed to be zero.

[0032] This has the advantage that any existing free space between the parked vehicle and other external objects (such as another vehicle or the end of the parallel parking space) is automatically created and homogenized, thus reducing the probability of collisions during parking and / or exit maneuvers in the parallel parking space. This allows the parking space to be used particularly efficiently and safely.

[0033] In another advantageous embodiment, it is provided that during driverless driving, the vehicle does not travel further than a predetermined maximum distance, in particular a maximum distance of 3 m, 1.5 m, 1 m, 0.5 m, or 0.2 m. This has the advantage of reducing the risk of the driver being distracted by the vehicle moving or traveling in their absence.

[0034] In a particularly advantageous embodiment, it is provided that, after completion of the initial parking maneuver, a position detection device records and permanently stores the vehicle's initial position. During driverless driving, c) particularly during repeated driverless driving, the vehicle does not move further than a predetermined distance of, for example, 5 m, 3 m, 1.5 m, or 1 m from the initial position.

[0035] This has the advantage that even with repeated driverless driving, c) the parked vehicle always remains near its original parking position, which also reduces the driver's irritation caused by the vehicle moving during their absence. Thanks to the position tracking device, the driver, user, or owner of the vehicle can also be informed of any change in position.

[0036] It may also be provided that the procedural steps of detection b) and driverless driving c), in particular also of verification a), are carried out several times and then, when detecting the free area in front of the vehicle's front and / or the free area behind the vehicle's rear as a parkable free area, it is additionally checked which of the detected free areas is closer to the original position of the motor vehicle, and that the motor vehicle drives into the parkable free area which is closer to the original position of the motor vehicle during driverless driving (if the other conditions permit this).

[0037] This has the advantage that, with optimal use of the available parking space, the vehicle remains as close as possible to its original position.

[0038] In a further advantageous embodiment, it is provided that a predetermined maximum speed is not exceeded during driverless operation, in particular a maximum speed of 5 km / h, 2 km / h, or 1 km / h. This has the advantage of reducing both the probability of an accident and the expected damage in the event of a possible accident.

[0039] In another advantageous embodiment, the vehicle emits a signal or warning signal, in particular an acoustic and / or visual warning signal, in response to the detected trigger condition. The warning signal can also be emitted if the trigger condition and a further condition are met. For example, this can signal to the driver or driver assistance system of another vehicle parking in front of or behind the parked vehicle that it is approaching the parked vehicle dangerously close. This or another warning signal can also be emitted by the vehicle when it is driving autonomously. This has the advantage that collisions with the parked vehicle can be avoided or their consequences reduced.

[0040] Another aspect concerns a device for the driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of an initial parking maneuver. This device includes a trigger condition verification unit, an environment detection unit, and a driving control unit. A "driverless motor vehicle" can be understood as a motor vehicle whose proper users and / or owners are all out of sight, for example, more than 20 meters away. The trigger condition verification unit is designed to check a trigger condition. The environment detection unit is designed to detect a clear area in front of the vehicle's front and / or a clear area behind the vehicle's rear as a parking area.The vehicle control device is designed to drive the motor vehicle driverless into the designated parking area, i.e., one of the detected areas classified as parking, only if the trigger condition is met. The device may be part of the vehicle being controlled and / or be designed to be installed in and / or structurally coupled to the vehicle being controlled.

[0041] The advantages and advantageous embodiments of the device correspond to the advantages and advantageous embodiments of the described method.

[0042] One aspect also concerns a motor vehicle equipped with such a device.

[0043] The features and combinations of features mentioned above in the description, as well as those subsequently mentioned in the figure description 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 not explicitly shown and explained in the figures, but which can be derived and generated from the explained embodiments through 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 or dependent 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.

[0044] Exemplary embodiments of the invention are explained in more detail below with reference to schematic drawings. These show: Fig. 1 An exemplary device for the driverless operation of a motor vehicle parked in a longitudinal maneuver after completion of a parking operation; Fig. 2 an example scenario for a first advantageous embodiment of a method for the driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of a parking operation; Fig. 3 an example scenario for a second advantageous embodiment of a method for the driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of a parking operation. Fig. 4 an example scenario for a third advantageous embodiment of a method for the driverless operation of a driverless motor vehicle parked in a parallel parking space after completion of a parking operation

[0045] In the figures, identical or functionally equivalent elements are given the same reference symbols.

[0046] In Fig. Figure 1 schematically depicts a motor vehicle 1 with an exemplary device 2 for the driverless operation of a motor vehicle parked in a parallel parking space 3 after completion of a parking maneuver. The parallel parking space 3 is, in this case, designed parallel to a roadway 4 as the shoulder of the roadway 4. In the example shown, the parallel parking space 3 is partially bordered by a curb 14.

[0047] The device 2 comprises a trigger condition verification device 5, which in the example shown includes several motion detectors 6a to 6d. In the example shown, two motion detectors 6a, 6b are arranged at the rear of a vehicle 7 and two motion detectors 6c, 6d at the front of a vehicle 8. Corresponding detector areas 9a to 9d are assigned to the motion detectors 6a to 6d. In the example shown, the detector areas 9a-9d are limited to areas in a longitudinal direction L (y-direction) of the vehicle 1 behind (9a, 9b) and in front (9c, 9d) of the vehicle 1. In this case, the detector areas are arranged exclusively in an extension of the vehicle 1 in front of and behind the vehicle 1, and thus do not extend laterally beyond the vehicle 1 in a transverse direction Q (x-direction).

[0048] The device 2 also includes an environment detection device 10, which is configured to detect a free area 11A in front of the front of the motor vehicle 1 as a parking area and / or a free area 11B behind the rear of the motor vehicle 1 as a parking area. In the example shown, the environment detection device 10 has cameras 12a and 12b respectively mounted on the front of the vehicle 8 and the rear of the vehicle 7 for this purpose.

[0049] The device 2 also includes a driving control unit 13, which is configured to actively or passively drive the motor vehicle 1 into the parkable free area, i.e., the free area 11a or 11b recognized or classified as parkable, if the triggering condition is met. Accordingly, when actively driving into the free area, the driving control unit 13 can, for example, control a drive motor, preferably an electric drive motor of the motor vehicle 1, or, when passively driving into the free area, release a parking brake and / or at least partially decouple a transmission from the wheels.

[0050] In the figures relating to the example scenarios described below, the respective motor vehicle 1 is shown without the device 2 or only with parts of the device 2 for the sake of clarity.

[0051] In Fig. Figure 2 illustrates how the described method or device is used to avoid obstructing other road users, such as pedestrians, in a densely parked parallel parking area, thus enabling more efficient use of the parking space. Figures 2A and 2B show an example scenario in a top view.

[0052] In diagram 2A, parked vehicle 1 is positioned in parallel parking space 3 behind two other parked vehicles 15a and 15b. A pedestrian 16 wishes to cross the roadway 4. The distance d between vehicle 1 and the nearest adjacent vehicle 15a is insufficient to allow pedestrian 16 to pass through the gap 17 between the two vehicles 1 and 15a. Since the triggering condition involves the movement of an object external to the vehicle, pedestrian 16 can, for example, swing their leg or a walking stick into an area behind or, in this case, in front of vehicle 1, into the gap 17 between vehicle 1 and the other vehicle 15a, thereby increasing the gap 17 and allowing pedestrian 16 to cross the roadway 4.

[0053] The environmental detection device 10, for example with camera 12a, detects at least the area behind the vehicle 1 as the parking area 11b. The motion detector 6c detects the movement of the pedestrian 16. Checking the trigger condition by the trigger condition verification device 5 of the vehicle 1 yields a positive result for the trigger condition specified in this example. Consequently, the vehicle 1 drives driverless into the parking area 11b, as indicated by arrow 18, and in this example, actively, i.e., self-initiated by means of its own drive motor.

[0054] As shown in partial figure 2B, the distance d between motor vehicle 1 and the other vehicle 15a is increased at a later point in time, so that the intermediate area 17 between the two vehicles 1 and 15a is large enough to allow pedestrian 16 to comfortably cross the roadway 4. Here, and also in the scenarios of the other figures, the other vehicles 15a, 15b, and 15c (except for vehicle 15a in the following) retain their position. Fig. 4A) their respective parking position, so they do not need to move to achieve the described advantages.

[0055] In Fig. Figure 3 illustrates how the described method or device is used to avoid collisions and consequently damage when parking in a parallel parking space, thus enabling more efficient use of the parallel parking space. Figures 3A and 3B show an example scenario in a top view.

[0056] Figure 3A shows how vehicle 15a parks itself in the parallel parking space 3 in front of parked vehicle 1. Vehicle 15a drives towards parked vehicle 1 in the direction indicated by arrow 19. The movement of vehicle 15a, an external object, towards parked vehicle 1 is detected by the trigger condition monitoring device 5 of parked vehicle 1, in this case by means of the motion sensor 6d. In the example shown, the trigger condition monitoring device 5 also includes an ultrasonic sensor 19, which determines the distance d to the external object, here vehicle 15a.

[0057] The environmental detection device 10, here with camera 12a, again detects an open area in front of or behind the parked vehicle 1, in this case behind the parked vehicle 1, as a parking space 11b. In this case, the trigger condition includes, in addition to the detected movement, a breach of a minimum distance by the object outside the vehicle, i.e., here the vehicle 15a. In the illustrated example scenario, the vehicle 15a now approaches the parked vehicle 1 closer than the minimum distance allows; the distance d therefore falls below the permissible minimum distance.

[0058] As a result, the triggering condition is met, and vehicle 1 enters the parking area 11b behind the rear of vehicle 7. This can occur passively, for example, if the parking brake of vehicle 1 is merely released and / or the transmission is at least partially disengaged from the wheels, so that vehicle 1 is pushed into the parking area 11b by vehicle 15a when the distance d becomes zero, i.e., a collision occurs. In this case, damage is at least minimized by passively entering the parking area 11b, since some of the energy transferred from vehicle 15a to vehicle 1 is converted into kinetic energy of vehicle 1.

[0059] In a preferred embodiment, the driverless movement of motor vehicle 1 into the parking area 11b is active; that is, motor vehicle 1 drives itself into the parking area 11b before the distance d decreases to zero, thus avoiding damage. This is illustrated in partial figure 3B, in which vehicle 15a continued driving in the positive y-direction, and motor vehicle 1 swerved into the parking area 11b, also in the positive y-direction, thereby even increasing the distance d to the other vehicle 15a.

[0060] In Fig.Figure 4 illustrates how the described method or device is used to drive into a parkable area in front of or behind a parked vehicle after another vehicle has pulled out, thus enabling more efficient use of the parallel parking space. Figures 4A, 4B, and 4C show an example scenario in a top view.

[0061] In sub-figure 4A, the parked vehicle 1 is again parked in the parallel parking space 3. In front of vehicle 1, there are again other vehicles 15a and 15b parked. The nearest vehicle, 15a, is parked at a short distance d in front of vehicle 1, leaving no parking space in front of it. Behind vehicle 1, at a greater distance d', another vehicle, 15c, is parked. This greater distance d' creates a parking space 11b between vehicle 1 and the other vehicle, 15c.

[0062] In sub-figure 4B, the nearest adjacent vehicle, 15a, is no longer parked in parallel parking space 3. Accordingly, vehicle 15b is now the nearest vehicle in front of vehicle 1. This vehicle is positioned at a greater distance d from the parked vehicle 1. In this case, the distance d is large enough to also allow for a parking space 11a. In the example shown, a size Ga and Gb are determined for the two parking spaces 11a and 11b, respectively, and compared with a predefined minimum size. Since both parking spaces 11a and 11b are very small in the example shown—for example, because vehicle 15a was a particularly short vehicle, such as a two-seater—only very small vehicles, such as a two-seater, can park in parking space 1a, and only smaller vehicles, such as a motorcycle at most, can park in parking space 11b.

[0063] The parked vehicle 1 can now, for example, if the trigger condition includes the elapse of a predetermined time interval, automatically drive into one of the free spaces 11a, 11b, for example, free space 11b. Alternatively or additionally, the trigger condition can also include a detected movement, such as that expected when vehicle 15a is pulling out of a parking space. By driving into one of the two free spaces 11a, 11b, the other free space, in this case free space 11a in front of vehicle 1, increases by the amount by which the first free space, here free space 11b, decreases. After vehicle 1 has driven into free space 11b up to its end, an additional parking space P with size GP, which is determined by the sum of the sizes Ga and Gb, has been created in the parallel parking space 3 due to the enlarged free space 11a. This is illustrated in sub-figure 4C.

Claims

[1] Method for the driverless operation of a driverless motor vehicle (1) parked in a parallel parking space (3) after completion of a parking operation, comprising the following method steps: a) checking a triggering condition by a triggering condition checking device (5) of the motor vehicle (1); b) detecting an open space in front of a vehicle front (8) of the motor vehicle (1) or an open space behind a vehicle rear (7) of the motor vehicle (1) as a parkable open space (11a, 11b) by an environment detection device (10) of the motor vehicle (1); and, c) if the triggering condition is met: driverless driving of the motor vehicle (1) into the open parking area (11a, 11b), characterized bythat the triggering condition comprises detecting an ultrasonic signal from another vehicle (15a), wherein the triggering condition is only considered to be fulfilled if the ultrasonic signal is a distance determination signal from a parking assistance system of the other vehicle (15a). [2] Method according to claim 1, characterized by , that -the triggering condition comprises the presence of a movement of an object external to the vehicle, in particular the presence of an approach of the object external to the vehicle to the motor vehicle (1) and / or the presence of a predetermined movement trajectory of the object external to the vehicle, in a predetermined surrounding area behind the rear of the vehicle (7) or in a predetermined surrounding area in front of the front of the vehicle (8); and that -the motor vehicle (1) drives into the detected parking area (11a, 11b) in front of the vehicle front (8) during driverless driving if the movement is detected in the predetermined surrounding area behind the vehicle rear (7), and -the motor vehicle (1) drives into the detected parkable free area (11a, 11b) behind the rear of the vehicle (7) during driverless driving if the movement is detected in the predetermined surrounding area in front of the front of the vehicle (8). [3] Method according to one of the preceding claims, characterized by that the driverless driving comprises releasing a parking brake of the motor vehicle (1) and / or decoupling a transmission of the motor vehicle (1) from wheels of the motor vehicle (1), and in particular the motor vehicle (1) is pushed into the detected free area (11a, 11b) by the object external to the vehicle, in particular another vehicle (15a). [4] Method according to one of claims 2 or 3, characterized bythat during driverless driving a predetermined minimum distance to the object external to the vehicle is maintained, in particular as long as a remaining area of ​​the free parking space (11a, 11b) is still available and / or a free space is detected as a free parking space (11a, 11b). [5] Method according to one of the preceding claims, characterized by that the detection of the ultrasonic signal of the other vehicle is a passive detection of the ultrasonic signal of the other vehicle (15a). [6] Method according to one of the preceding claims, characterized by , that -the triggering condition includes the expiration of at least one predetermined time interval since the completion of the parking process or since the last checking of the triggering condition, and that -the motor vehicle (1) drives into one of the detected free parking spaces (11a, 11b) during driverless driving if a size (Ga, Gb) of the detected free parking spaces (11a, 11b) together is greater than a predetermined total size. [7] Method according to one of the preceding claims, characterized by , that -the size (Ga) of the detected free parking space (11a) in front of the front end (8) of the motor vehicle (1) and / or the size (Gb) of the detected free parking space (11a, 11b) behind the rear end (7) of the motor vehicle (1) is compared with a predetermined minimum size, and -the motor vehicle (1) during driverless driving drives into one of the detected free parking spaces (11a, 11b) to such an extent that the other free parking space (11a, 11b) increases at least to the predetermined minimum size or both free parking spaces have the same size except for a predetermined deviation, wherein in particular in the case of only one detected free parking space (11a, 11b) the size (Gb, Ga) of the other free parking space (11b, 11a) is assumed to be equal to zero. [8] Method according to one of the preceding claims, characterized by that driverless driving does not exceed a specified maximum distance, in particular a maximum distance of 1.5 m or 1 m or 0.5 m or 0.2 m. [9] Method according to one of the preceding claims, characterized bythat after completion of the parking process, an original position of the motor vehicle (1) is detected and stored by a position detection device and the motor vehicle (1) does not move further than a predetermined distance from the original position during driverless driving according to method step c), in particular even during repeated driverless driving according to method step c). [10] Device for the driverless operation of a motor vehicle (1) parked in a parallel parking space (3) after completion of a parking process, with - a trigger condition checking device (5) which is designed to check a trigger condition; - an environment detection device (10) which is designed to detect an open space in front of a vehicle front end (8) of the motor vehicle (1) or an open space behind a vehicle rear end (7) of the motor vehicle (1) as a parkable open space (11a, 11b); and - a driving control device (13) which is designed to drive the motor vehicle (1) into the open parking area (11a, 11b) without a driver or to allow it to drive into the open parking area if the triggering condition is met, characterized by that the triggering condition comprises detecting an ultrasonic signal from another vehicle (15a) by an ultrasonic detection device of the device, wherein the triggering condition is only considered to be fulfilled if the ultrasonic signal is a distance determination signal from a parking assistance system of the other vehicle (15a).

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