Parking assistance system for parking a motor vehicle, procedure for parking a motor vehicle and motor vehicle with a parking assistance system

Abstract

Parking assistance system (15) for parking a motor vehicle (4), comprising a control unit and a detection unit (17), by means of which a parking space (1, 2, 3) permissible for the motor vehicle (4), which is bounded at one of its ends (8, 11) by a barrier (6, 9, 10), can be at least partially detected and corresponding parking space data can be generated which can be made available to the control unit, characterized in that, by means of the control unit, a restricted area (21) can be arranged within the permissible parking space (1, 2, 3) depending on the parking space data, whereby the motor vehicle (4) can be positionally aligned in the permissible parking space (1, 2, 3) at the restricted area (21), wherein the restricted area (21) is determined solely by means of the control unit.

Description

[0001] According to claim 1, the invention relates to a parking assistance system for parking a motor vehicle. According to claim 9, the invention further relates to a method for parking a motor vehicle. Furthermore, according to claim 10, the invention relates to a motor vehicle equipped with such a parking assistance system.

[0002] To make parking a motor vehicle particularly easy and effortless for the user, especially the driver, parking assistance systems are known from the prior art, particularly from (series production) vehicle manufacturing. These systems support the driver when parking and / or exiting their vehicle in and out of parallel and perpendicular parking spaces, and even take over longitudinal and / or lateral guidance of the vehicle during the parking process. Objects in the vicinity of the vehicle or the corresponding parking space (such as other vehicles, curbs, walls, etc.) are detected by means of environmental sensors (e.g., ultrasonic sensors, cameras, laser scanners, etc.) of the vehicle or the parking assistance system.The vehicle is aligned with the objects in the vicinity of the parking space, in particular by using the respective parking assistance system to set a standard distance between the objects and the vehicle that depends on the size of the parking space, whereby the standard distance is measured or specified at least in such a way that the vehicle can be parked out of the parking space safely and with as little effort as possible.

[0003] Determining a parking position in a parking lot is typically done using the objects adjacent to the parking space as detected by the surrounding sensors. At the end of the parking maneuver, the vehicle is aligned longitudinally (in the case of parallel parking spaces) with a front object adjacent to the parking space and laterally with a side object adjacent to the parking space, so that the objects adjacent to the parking space and the parked vehicle are separated from each other by a distance – usually a predetermined one.

[0004] However, parking may be prohibited in certain areas due to a legally mandated no-stopping zone (for example, marked or unmarked by traffic signs). Such a no-stopping zone may only apply at certain times and / or only to specific types of vehicles or road users and may (for example, but not limited to) be due to an entrance / exit (especially a fire lane), a residents' parking zone, a public transport stop, a disabled parking space, a pedestrian crossing, a manhole cover, an intersection or junction, a lowered curb, a cycle path or cycle lane, etc.

[0005] German patent application DE 10 2009 001 316 A1 discloses a method for fully or partially automatically performing and / or assisting a parking maneuver of a motor vehicle, comprising the steps of: identifying a suitable parking space for the motor vehicle; performing and / or assisting the parking maneuver, whereby, before, after, or during the identification of the suitable parking space, it is checked by means of at least one optical sensor device whether the parking space is a permissible parking space. This provides the user or driver with a system that helps to avoid committing a parking violation.

[0006] In densely populated areas, such as cities, limited space and sometimes even driver incompetence often lead to vehicles, especially cars and / or trucks, being parked wastefully, thus preventing other road users and their vehicles from parking. It is not uncommon, for example, to find two adjacent, individually permitted parking spaces blocked by a single vehicle. However, parking spaces are becoming increasingly scarce these days, particularly in densely populated areas. The public's desire for versatile, readily available, and flexible individual mobility remains strong, resulting in an ever-growing vehicle fleet.

[0007] There is therefore a need to utilize existing parking space particularly efficiently so that as many motor vehicles as possible, especially in urban environments, can be parked.

[0008] DE 10 2012 215 218 A1 and DE 10 2018 111 522 A1 disclose a method or device for parking space optimization comprising the following steps: a) determining whether at least one additional parking space can be provided within a given parking area by changing the position of motor vehicles already parked within this parking area, wherein this determination is carried out using a (central) monitoring device or a processor; and b) remotely moving, depending on the result of step a), at least one motor vehicle parked within the parking area in a motor vehicle movement process such that the at least one additional parking space is provided. However, the remotely controlled movement of the already parked vehicles is relatively unsafe, since a check for traffic risks does not take place directly on the vehicles to be moved.Furthermore, initially a particularly space-wasting parking situation was permitted, which then had to be rectified at great expense.

[0009] The purpose of the invention is to utilize existing parking space in a particularly simple and / or cost-effective and space-efficient manner.

[0010] This problem is solved by a parking assistance system with the features specified in claim 1, as well as by a method for parking a motor vehicle designed according to claim 9 and a motor vehicle with the features specified in claim 10.

[0011] Features, advantages, and advantageous embodiments of the parking assistance system according to the invention are to be regarded as features, advantages, and advantageous embodiments of the method according to the invention or of the motor vehicle according to the invention, and vice versa. Features, advantages, and advantageous embodiments of the method according to the invention are to be regarded as features, advantages, and advantageous embodiments of the motor vehicle according to the invention, and vice versa.

[0012] According to the invention, a parking assistance system is provided by means of which a motor vehicle can be parked, for example, in or on a parking space, a parking lot, or a parking space. The motor vehicle is, in particular, a car, i.e., a truck and / or passenger car, or a motorcycle. The parking space can have more than one parking space. At least one first end of the parking space borders a barrier, for example, a legally prohibited stopping area and / or a physical barrier (such as a wall, a boundary element ("bollard"), another motor vehicle, a curb, etc.), wherein the first end of the parking space and the first end of the parking space coincide. At a second end, opposite the first end, the parking space borders on further usable area of ​​the parking space, for example, an adjacent parking space.Accordingly, the parking area, in particular the parking space and the adjacent parking space together, offers space for at least two motor vehicles of average dimensions. The respective end of the parking space can be either a longitudinal or a transverse end. Therefore, at least one end of the parking area and / or parking space can be formed by the barrier.

[0013] The parking assistance system includes a detection device that allows the parking space, or at least one of the parking spaces, to be at least partially detected by the vehicle. For example, the detection device, which may include sensors, can detect the longitudinal extent, lateral extent, clearance height, and orientation of the parking space relative to the roadway or other objects (parallel, perpendicular, angled). The longitudinal extent is defined by two opposing longitudinal ends of the parking space, and the lateral extent is defined by two transverse ends that are at least substantially perpendicular to the longitudinal ends. The respective longitudinal end and / or transverse end can be defined by a structural element, a road marking, a vehicle parked adjacent to the corresponding parking space, etc.

[0014] If the parking area is subject to parking restrictions, at least partially and / or at least temporarily, for example due to a legal no-stopping zone, this can also be detected by the monitoring device. In particular, the monitoring device is further designed to detect the area surrounding the parking area. This means that the detection of the parking area is not limited to the parking area itself or even just one parking space. Rather, the monitoring device can detect objects and / or conditions that directly border the parking area / parking space, such as the neighboring parking space and / or a neighboring vehicle parked there, the parking situation of the neighboring vehicle, and the no-stopping zone adjacent to the parking space, etc. The respective object or condition can therefore form at least one of the ends—that is, at least one of the longitudinal ends and / or at least one of the transverse ends—of the parking area.form a barrier for the parking lot.

[0015] The data collection device is further designed to provide at least one corresponding data collection result, in particular by enabling the generation of parking space data that corresponds to this at least one data collection result. The parking space data therefore includes at least partially characterizing the parking space or its parking spaces – the data thus includes or describes characteristics of the parking space. The parking space data exhibits, in particular, spatial characteristics (such as longitudinal extent, lateral extent, clearance height, parking space orientation, etc.) and / or legal characteristics, for example, whether the parking space is subject to parking restrictions.

[0016] For the following, it is assumed that the parking space is suitable for parking a motor vehicle. Therefore, the parking space is a permitted parking space. This means that the parking space is free of any legal parking restrictions affecting it. In other words, a user, especially a driver, of the motor vehicle is permitted and able to drive into or onto the parking space and park the vehicle there, for example, by switching it into a parking mode. Accordingly, the parking space and the motor vehicle are compatible, so there are no physical obstacles that hinder parking or exiting the parking space.In particular, the longitudinal extent, the transverse extent and the clear height of the parking space are greater than the corresponding spatial extents of the motor vehicle, so that parking and unparking as intended are possible, as is the safe opening of a flap element (for example, a door) of the motor vehicle.

[0017] Parking space data can be provided by means of a control unit's data acquisition device. The parking assistance system therefore includes a control unit, whereby the data acquisition device and the control unit are wirelessly and / or wiredly connected for data transmission. Using the control unit, a driving trajectory for particularly safe parking or exiting of the vehicle can be determined and made available to the user or driver, for example, on a visual display. Parking and / or exiting, or the corresponding driving trajectory, may involve maneuvering the vehicle in / on the parking space.

[0018] In order to utilize existing parking space in a particularly simple and / or space-efficient manner with the help of the parking assistance system, a restricted area within the permitted parking space is defined by the control unit depending on the parking space data (1 , 2 , 3) can be arranged. Accordingly, the control unit is designed to determine, based on the parking space data, at least whether a restricted area is to be arranged or placed in the parking space. The parking space data can be processed or further processed or evaluated by the control unit in such a way that a corresponding processing or evaluation result indicates, at least, whether the restricted area is to be placed in or on the parking space, or whether the restricted area is to be arranged within the parking space, or not. If the processing or evaluation result indicates that the restricted area is not necessary, the driving trajectory for parking can be determined by means of the control unit, whereby the vehicle to be parked can be aligned with the objects that directly border the parking space, in particular by means of the parking assistance system or...The control unit allows for the setting of a standard distance between the objects and the motor vehicle that depends on the size of the parking space and is at least dimensioned or specified in such a way that the motor vehicle can be safely and with as little effort as possible parked out of the parking space.

[0019] By deactivating the restricted area when necessary, the parking assistance system ensures particularly space-efficient parking. This is because the restricted area can, for example, represent the standard distance, which can then be omitted as needed, thus requiring significantly less parking space from the vehicle.

[0020] Once it has been determined that a restricted area is to be used in the parking space, the restricted area can be arranged, for example, between a (designated) parking position of the vehicle and the other end of the parking space, to which the further usable area of ​​the parking space directly or immediately borders, for example, the neighboring parking space or the neighboring vehicle possibly parked there. In particular, an edge of the restricted area facing the first end of the parking space and the first end of the parking space must be separated by a distance that is at least large enough to allow the vehicle to follow its intended trajectory into the parking space. The neighboring vehicle can be another vehicle or a non-motorized vehicle, such as a trailer parked on its own.

[0021] The restricted area has no physical form; it is primarily a data element. Furthermore, the restricted area is not based on any kind of legal no-stopping zone extending into the parking space, but is activated or defined solely by the parking assistance system, specifically by means of its control unit. It is also permissible for the vehicle to cross the restricted area during the parking maneuver along its trajectory in order to reach the parking position and / or to align the vehicle within the parking space.

[0022] Furthermore, the restricted area – if it has been defined – limits the vehicle's positional orientation within the permitted parking space. This positional orientation can be determined by the control unit, particularly before and / or during parking, and constitutes a final position for the vehicle once the driving trajectory into the parking space has been followed. In other words, the vehicle can be positioned within the parking space based on this positional orientation while following the driving trajectory. Since the positional orientation is predetermined before the end of the parking maneuver, it is a designated positional orientation of the vehicle within the parking space.

[0023] It is intended that the restricted area, when in use, limits the (designated) positional alignment of the vehicle within the parking space. In other words, it is intended that when parking the vehicle in or onto the parking space, the restricted area remains clear, ensuring maximum space between the adjacent parking space or any adjacent vehicle parked there, and simultaneously a minimum space between the vehicle and the no-parking zone and / or the physical barrier. In other words, it is intended that the vehicle is aligned with the restricted area at least while parking. Thus, the vehicle is aligned with the restricted area.Even if the restricted area is insufficient for another vehicle to park in the space until the neighboring vehicle departs, a particularly large parking space or portion of the parking space becomes available for the next vehicle, for example, that of a third road user or driver, at the latest after the neighboring vehicle departs. This is because the parking space is used very efficiently, as the minimum amount of space between the no-stopping zone or physical barrier and the adjacent end of the vehicle is wasted.

[0024] This is particularly advantageous for drivers of relatively large or long vehicles, such as delivery vans, transport vehicles, minibuses, etc. Since this space-saving parking is an integral part of the parking assistance system's functionality, it is especially easy for the user to park the vehicle in a space-efficient manner. Furthermore, the parking assistance system enjoys particularly high user acceptance, as the user (or buyer) can expect an improvement in their parking performance. Moreover, the user behaves more cooperatively in traffic, especially when parked, simply by using the parking assistance system – even without actively engaging with it – by parking in a particularly considerate and space-saving way.As a result, road safety is increased, since the less a road user looking for a parking space is confronted with space-wasting parked vehicles, the lower their stress level.

[0025] The invention is also based on the understanding that occupied parking space is constantly changing. If the vehicles are optimally positioned from the outset, a space that initially appears unsuitable for parking another vehicle can, after a certain period of time – for example, when a neighboring vehicle pulls out – increase the usable parking space for a third party who would otherwise be unable to use it. Thus, even a small increase in usable parking space enhances the usability of the parking lot for a greater number of vehicle users.

[0026] In a further advantageous embodiment of the parking assistance system, the vehicle is aligned with both the restricted area and the no-stopping zone or physical barrier while parking. For example, the vehicle can be positioned and aligned with the barrier between the restricted area and the barrier while parking in / onto the parking space. This ensures that the vehicle is aligned with both the restricted area and the barrier (i.e., the no-stopping zone, the physical barrier, and / or the neighboring vehicle). This results in an even more advantageous alignment of the vehicle in the parking space, which can also be referred to as a "parking space," particularly to the benefit of other road users or drivers, as the parking space is used with maximum efficiency and space saving.

[0027] In a further development of the parking assistance system, the control unit is designed to determine the vehicle's positional orientation for parking in the permitted parking space based on the restricted area, provided the restricted area is present. In other words, when creating the driving trajectory that culminates in the vehicle being positioned within the parking space, the restricted area is taken into account, for example, if it has been previously activated by the control unit. Thus, even before the actual parking maneuver, the driving trajectory, precisely aligned with the restricted area, is already available, allowing the user to simply follow it to park the vehicle with minimal effort and maximum space efficiency.

[0028] It has proven advantageous if the detection device includes sensors capable of at least partially detecting the permitted parking space and providing corresponding sensor data to the control unit. This data allows the control unit to determine whether a restricted parking area should be placed within the permitted parking space. The sensors comprise at least one sensor and are designed to detect traffic signs, particularly those with supplementary signs, (lowered) curbs, road markings, etc. This enables the detection of no-stopping zones. Furthermore, the sensors are designed to detect the positions and distances of objects (such as vehicles and curbs) from the motor vehicle, as well as their height.

[0029] If the parking assistance system is part of a motor vehicle, it is particularly advantageous if the detection device of the parking assistance system incorporates at least some of the vehicle's sensors, whereby the vehicle's sensors then have at least one dual function: firstly, they provide a functionality for the parking assistance system, and secondly, they provide at least one further functionality for the vehicle, such as for highly automated, fully automated, or autonomous driving. In this way, separate sensors for the parking assistance system can be dispensed with, which means that the parking assistance system, and in particular the vehicle equipped with it, can be designed to be particularly mass-efficient. Consequently, the vehicle can be operated in a particularly fuel- and / or energy-efficient and / or low-emission manner.

[0030] In another embodiment of the parking assistance system, the user is provided with at least one piece of information about the restricted area. This information can relate to the restricted area itself, for example, its position or whether the restricted area is even in use in the parking space. Furthermore, the at least one piece of information can relate to the first end of the parking space, the designated parking position of the vehicle, etc. For the delivery or provision of this information, the control unit is provided with an output unit by means of which the information can be made available to the user, for example, displayed. The information can represent a suggestion for the user, enabling them to use the information or suggestion to park in the most space-saving way possible. The output unit can be, for example, a display, a speaker, a vibration element, etc.The system must be designed so that the user receives at least some information about the restricted area visually, audibly, and / or haptically. The output unit can be a component of a vehicle infotainment system.

[0031] Furthermore, it has proven advantageous if the control unit can determine, based on parking space data, whether the restricted area – if one exists – results, at least in part, from the parking situation of a neighboring vehicle parked adjacent to the permitted parking space. This means that the vehicle's position is then at least partially determined by the distance between the vehicle and the neighboring vehicle. Accordingly, the restricted area then has at least a first sub-area that results from the parking situation of the neighboring vehicle parked adjacent to the permitted parking space.

[0032] This means that the parking space data includes information characterizing the neighboring parking space, such as whether the neighboring parking space is occupied by the neighboring vehicle, its length, width, height, etc. In particular, if the neighboring vehicle's first end, the end furthest from the parking space where the vehicle is to be parked, borders a physical barrier (for example, a third vehicle) or a no-parking zone, the detection device, especially the sensors, can determine the distance between the no-parking zone and / or the physical barrier and the first end of the neighboring vehicle. If, for example, the control unit detects that the neighboring vehicle could no longer exit the parking space, or could no longer do so safely and / or easily, if the standard distance between the neighboring vehicle and the vehicle were set, the standard distance is extended to include the restricted area.Consequently, once a vehicle is parked, the distance between it and the neighboring vehicle is greater than the (predefined) standard distance, making it particularly easy for the neighboring vehicle to exit the parking space. This is because the restricted area provides the neighboring vehicle with maximum maneuvering space. This further emphasizes the highly cooperative nature of the parking assistance system in road traffic.

[0033] In other words, the parking situation of a neighboring vehicle parked adjacent to a permitted parking space includes at least a certain distance between that vehicle and other objects in its vicinity. This can lead to parking situations where, due to the distances to objects in the vicinity of the parking space, it is very difficult or even impossible to exit a previously parked vehicle.

[0034] According to another embodiment, the control unit uses parking space data to determine whether the restricted area—if present—is at least partially due to the no-stopping zone adjacent to the permitted parking space. In this case, the vehicle's position is at least partially determined by the distance between the vehicle and the other end of the parking space, where, for example, the neighboring parking space is located. Therefore, the restricted area then has, as an alternative or in addition to the first sub-area, a different sub-area resulting from a no-stopping zone adjacent to the permitted parking space. This is because the system is designed to encourage space-saving and parking-efficient parking, which is achieved by parking particularly close to the no-stopping zone.

[0035] Another advantageous embodiment provides that server data can be made available to the control unit via a server, enabling it to determine whether the restricted area must be placed within the permitted parking space. For this purpose, the parking assistance system can include the server; for example, the detection device can be at least partially formed by or encompass the server. Alternatively or additionally, the server can be located remotely from the parking assistance system or the vehicle equipped with it. In this case, the server can be configured as a so-called backend. In any case, the server and the control unit are directly or indirectly connected, wirelessly and / or via cables, for the purpose of bidirectional data transmission.

[0036] To determine whether or not the restricted area within the parking space should be set up using the parking assistance system, the control unit may require server data to be provided, for example, sent to it. This server data—such as map data, satellite images, and / or other data that at least partially characterizes the parking space—can be provided to the server by multiple vehicles (swarm data) or other information sources (such as map providers). The server can, for example, be a cloud server, where the server data is stored by the cloud server (which can also be referred to as the backend). Ideally, the backend or server data should have a predefined minimum timeliness, for example, no older than one day.The server data can originate in particular from vehicle-to-vehicle data communication, vehicle-to-infrastructure data communication and / or data communication between mobile devices (smartphones).

[0037] In this respect, the server setup can, for example, be at least part of a navigation system, in particular a satellite navigation system, with which the vehicle is equipped or can be equipped. Accordingly, it is then intended that the navigation system is coupled or can be coupled with the parking assistance system, in particular with the control unit, for data transmission.

[0038] The server data therefore includes at least one piece of information that is incorporated into the control unit's evaluation result regarding whether the restricted area should be implemented in the parking space. The server data includes, for example, information / data about the presence and / or location of a legally mandated no-stopping zone in the vicinity of the vehicle.

[0039] The control unit uses server data, particularly in conjunction with the vehicle's current position (e.g., GPS position), to determine whether a restricted area is required. The vehicle's position can be transmitted to the server or cloud server for this purpose. This can, in particular, constitute a trigger event directed to the backend, which then provides the server data relating to the parking space where the vehicle is intended to be parked. Furthermore, the trigger event can also be configured as the activation of the parking assistance system.

[0040] This allows for a more precise characterization of the parking space, making it possible to determine more reliably whether the restricted area in the parking space is advantageous.

[0041] Finally, the parking assistance system may also include a steering and / or drive unit, which, via the control unit, provides the vehicle with the necessary positional alignment within the permitted parking space. This allows the vehicle to be maneuvered into the parking space and positioned within it using the steering and drive unit, and, in particular, if a restricted area is present, to be positioned within the parking space based on the restricted area. If the restricted area is not present or has not been activated by the control unit, the vehicle is positioned based on the objects directly adjacent to the parking space.

[0042] In this way, the parking assistance system further contributes to improved road safety, as a fully or highly automated parking maneuver carried out by the system is particularly fast and safe. This is because the human driver is largely eliminated as a potential source of error from the control process of the parking assistance system or the vehicle equipped with it.

[0043] The invention further relates to a motor vehicle equipped with a parking assistance system. The advantages of this motor vehicle have already been explained in connection with the description of the parking assistance system.

[0044] Furthermore, the invention relates to a method for parking a motor vehicle, wherein a detection device at least partially detects a permissible parking space, which is bounded at one end by a barrier, and generates corresponding parking space data that is provided to a control unit. The method is characterized in particular by the fact that, depending on the parking space data, the control unit arranges a restricted area within the permissible parking space, so that the motor vehicle is positionally aligned with the restricted area and the barrier within the permissible parking space.

[0045] The invention also includes further developments of the method according to the invention, which have features already described in connection with the further developments of the parking assistance system according to the invention and the motor vehicle according to the invention. For this reason, the corresponding further developments of the method according to the invention are not described again here.

[0046] The invention also includes combinations of the features of the described embodiments.

[0047] An embodiment of the invention is described below. The following is shown: Fig. 1 a schematic top view of a parking area with parallel parking spaces ( Fig. 1a) or perpendicular parking spaces ( Fig. 1b), which are used in a very inefficient way in terms of parking space; Fig. 2 a schematic top view of the parking area with the parallel parking spaces ( Fig. 2a) or perpendicular parking spaces ( Fig. 2b), on which a respective restricted area is arranged; Fig. 3 a schematic top view of the parking area with the parallel parking spaces ( Fig. 3a) or perpendicular parking spaces ( Fig. 3b), where parking space is used particularly efficiently due to the restricted area; Fig. 4 a schematic top view of the parking area with the parallel parking spaces, in which safe exiting of a motor vehicle is not guaranteed; Fig. 5. A schematic top view of the parking area with the parallel parking spaces, in which the safe exit of a motor vehicle is ensured due to the restricted area; and Fig. 6. A procedural diagram in the form of a flowchart to illustrate a procedure for parking the motor vehicle.

[0048] The embodiment described below is a preferred embodiment of the invention. In this embodiment, the described components each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiment can also be supplemented by other features of the invention already described.

[0049] In the figures, functionally identical elements are each labeled with the same reference symbols. The following describes a parking assistance system. 15 , a motor vehicle equipped with it 4 and a procedure for parking a motor vehicle is described together. This includes the means of the parking assistance system. 15 and / or the motor vehicle4 trained to carry out steps of the procedure.

[0050] Fig. Figure 1 shows a schematic top view of a parking space. 1 with a parallel parking space 2 ( Fig. 1a) or a perpendicular parking space 3 ( Fig. 1b), on which a motor vehicle 4 It is parked. Adjacent to the parking spaces. 2 , 3 is a neighboring parking space 5 arranged, on which another motor vehicle is parked, which will be referred to below as the neighboring vehicle 6 is referred to as the motor vehicle. 4 In this example, the vehicle in question is a motor vehicle, specifically a passenger car or truck. This also applies to the neighboring vehicle. 6 .

[0051] The parking area 1 exhibits a longitudinal extent 7 open, so that at least the parking spaces 2 , 3- and especially more parking spaces - from the parking area 1 are included. To the respective parking lot 2 , 3 borders on its first end 8 a barrier, for example a no-stopping zone 9 and / or a physical barrier 10 (especially the neighboring vehicle) 6 ), which means that there - that is, in / on the barrier ( 6 , 9 , 10 ) - may not or cannot be parked there. (About a second end) 11 of the respective parking space 2 , 3 , which corresponds to the first end 8 The neighboring parking lot is located opposite. 5 to the parking lot 2 , 3 to.

[0052] The no-stopping zone 9This is particularly relevant if it is a legally mandated no-stopping zone, such as one established by a five-meter clear area at an intersection or junction, a lowered curb, a public transport stop, a pedestrian crossing ("zebra crossing"), a traffic light system, a cycle path or cycle lane, a parking area restricted to certain road users (e.g., residents only) and / or certain vehicle types (e.g., electric vehicles only or no trucks), a level crossing, a manhole cover in the road surface, a property entrance or exit, an access zone for emergency vehicles ("fire lane"), etc. Alternatively or additionally, the no-stopping zone may be... 9The no-stopping zone may be indicated by signage or established by appropriate signage and / or road markings in a location other than those mentioned above. Furthermore, it may be stipulated that the no-stopping zone is only effective on certain days and / or at certain times of day. These examples are not exhaustive; for a complete list, relevant legal texts should be consulted (in Germany, the Road Traffic Regulations and any applicable state-specific regulations).

[0053] It is in Fig. 1 to recognize that by means of the motor vehicle 4 Parking was not very efficient. Because between a first end 12 of the motor vehicle 4 and the first end 8 Parking space 2,3 is affected by the inefficient parking style of the motor vehicle. 4 unusable parking space 13 present, whose longitudinal extent 14is not large enough for another motor vehicle to occupy this unusable parking space 13 could use it for parking.

[0054] The motor vehicle 4 It features a parking assistance system 15 on, which is a user, especially driver, of the motor vehicle 4 when parking and / or pulling out of the parking space of the motor vehicle 4 to / from the respective parking space 2 , 3 supported. In the present example, the parking assistance system indicates 15 a steering and drive unit of the motor vehicle 4 on or is at least connected to it for the transmission of control commands in order to provide longitudinal and / or lateral guidance of the motor vehicle 4 to take over, at least partially and / or temporarily, objects in the vicinity of the vehicle during a parking maneuver. 4 or in the vicinity of the corresponding parking lot 2 , 3 (for example, the neighboring vehicle)6 , kerbs 16 , walls etc.) using a detection device 17 of the parking assistance system 15 recorded. A positional alignment of the motor vehicle. 4 This is then done using the data collected by the recording device. 17 detected objects, in particular by using the parking assistance system 15 a standard distance 18 is set between the objects and the motor vehicle, with the standard distance 18 at least dimensioned or specified in such a way that the motor vehicle 4 safely and with as little effort as possible from the parking lot 2 , 3 It can be parked out.

[0055] For this purpose, the detection device in question has a sensor system. 19 on or is at least connected or coupled to it for the transmission of sensor data. Regarding the sensors 19This is particularly relevant if it involves at least some sensor technology of the motor vehicle. 4 , if this is connected to the parking assistance system 15 is equipped with sensors. 19 It has at least one sensor, which may be, for example, an ultrasonic sensor, a camera sensor, a laser scanner, a lidar sensor, etc.

[0056] With reference to Fig. 1a and Fig. 1b can therefore be seen that the motor vehicle 4 , by bumping into the neighboring vehicle while parking 6 was positioned to utilize the unusable parking space 13 caused. But as mentioned at the beginning, there is a need to utilize the existing parking space. 1 particularly easy and / or low-effort to use space efficiently, so that as many motor vehicles as possible can be parked in / on the parking space 1 can be parked.

[0057] Therefore, the parking assistance system 15a control unit (not shown in the figure) which uses the detection device 17 Parking space data, that is, at least the parking space 1 or its parking spaces 2 , 3 At least partially characterizing data can be provided. The parking space data exhibits, in particular, spatial characteristics (such as the longitudinal extent). 7 , a transverse extent, a clear height, etc.) of the parking space 1 or the respective parking space 2 , 3 Furthermore, the parking space data exhibits legal characteristics, for example, whether the parking space 1 to the no-stopping zone 9 or the physical barrier 10 adjacent or whether the no-stopping zone 9 in the parking area 1 , i.e., in one of the parking spaces of the parking area 1 , has an effect. In the present example, the parking spaces are 2 , 3 each suitable for the motor vehicle4 to accommodate parking. Firstly, this means that the parking spaces 2 , 3 Parking is permitted, meaning there is no no-stopping zone directly in the parking spaces. 2 , 3 has an effect.

[0058] Secondly, the longitudinal extent corresponds 7 the parking spaces 2 , 3 and a parking length extension 20 of the motor vehicle 4 together, which means that the length of the park 20 of the motor vehicle 4 is smaller than the corresponding longitudinal extent 7 the parking lot 2 , 3 . Due to the length of the park 20 is a component of the respective motor vehicle 4 dependent measure described, which the parking lot 2 , 3 must have at least the required characteristics in order to use the motor vehicle 4to drive a safe trajectory into parking space 2 or 3 as intended and to be able to safely open any flap element (e.g., door, trunk lid, etc.) as intended. The parking length 20 is in the parking lot 2 , 3 a portion of the entire length of the parking lot that is free of objects 2 , 3 or the parking space 1 .

[0059] The control unit uses parking space data to determine whether a restricted area is in effect. 21 into the permitted parking space 1 to be laid, which determines the positional orientation of the motor vehicle 4 in the permitted parking space 1 or in the parking lots 2 , 3 restricts. The restricted area 21 is in Fig. Figure 2 shows a schematic top view of the parking area. 1 with the parallel parking spaces 2 ( Fig. 2a) or perpendicular parking spaces3 ( Fig. 2b) shows, where in the respective parking space 1 the restricted area 21 is arranged.

[0060] The restricted area 21 exhibits a blocking longitudinal extent 22 which results from the difference between the entire longitudinal extent of the parking lot 2 , 3 and the length of the park 20 of the motor vehicle 4 results. In Fig. 2. It can be seen that the motor vehicle 4 , which is located in the respective parking lot 2 , 3 has been parked, in particular using the parking assistance system 15 , on the one hand at the restricted area 21 and on the other hand at the no-stopping zone 9 or at the physical barrier 10 was positionally aligned. This means that the restricted area 21 at least one of the standard distances 18 encompasses or replaces it. In this case, the restricted area is... 21between a second end 23 of the motor vehicle 4 and the second end 11 of the corresponding parking space 2 , 3 arranged or through the two ends 11 , 23 limited or included. Because, contrary to the representation according to Fig. 1 fall in the representation of the Fig. 2 the ends 11 , 23 apart. In other words, the ends are 11 , 23 from each other, at least along the longitudinal extent of the barrier 22 spaced apart.

[0061] The restricted area 21 This has a particularly positive effect on the efficient use of parking space, as in Fig. 3 is shown, which is a schematic top view of the parking space. 1 with its parallel parking spaces 2 ( Fig. 3a) or perpendicular parking spaces 3 ( Fig. 3b) shows which, due to the restricted area 21They are used in a particularly efficient way. Because after the neighboring vehicle 6 the neighboring parking lot 5 After leaving or exiting this parking space, the neighboring parking space indicates the restricted area. 21 , on which the motor vehicle 4 when not parked, a larger overall longitudinal extent 24 as if the motor vehicle 4 on the neighboring vehicle 6 It would have been aligned. This allows for a third vehicle to be parked in a particularly space-efficient manner. 25 in / onto the neighboring parking lot 5 drive up and park there, even if the third vehicle 25 a greater parking length than the neighboring vehicle 6 should exhibit. The one in Fig. 1 unusable parking space shown 13 is omitted or, alternatively, can be used to advantage.

[0062] Fig. Figure 4 shows a schematic top view of the parking area. 1 with the parallel parking spaces 2 , in which a safe exit of a motor vehicle, in particular the neighboring vehicle, is possible 6 , is not guaranteed, as the neighboring vehicle 6 and another motor vehicle, for example the third motor vehicle 25 , are positioned too close together for the neighboring vehicle to 6 simply or efficiently from the neighboring parking space 5 could park. Because the second end 23 of the motor vehicle 4 is over the standard distance 18 from the neighboring vehicle 6 remotely arranged. Based on this representation, in Fig. 5. The top view of the parking area 1 with the parallel parking spaces 2 demonstrated, showing the safe maneuvering of a neighboring vehicle out of a parking space 6 due to the restricted area 21 is guaranteed. Because the restricted area 21is dimensioned in such a way and between the neighboring vehicle 6 and the motor vehicle 4 in the parking area 1 positioned so that the neighboring vehicle 6 Sufficient space is provided for efficient parking maneuvers. In particular, the neighboring vehicle is given ample room. 6 the space required for parking thanks to the parking assistance system 15 provided by using the parking assistance system 15 by means of a motor vehicle 4 into the parallel parking space 2 is parked.

[0063] This is done before the actual parking process of the motor vehicle. 4 into the parallel parking space 2 a parking situation of the neighboring vehicle 6 recorded, for example by means of the recording device, in particular the sensors 19 This will improve the parking situation of the neighboring vehicle. 6Part of the parking space data, which is used to determine whether the restricted area 21 what is necessary or at least makes sense, and secondly, what longitudinal extent of the barrier 22 the restricted area 21 exhibits.

[0064] The parking assistance system 15 It also features a server setup 26 on, by means of which server data can be provided to the control unit, from which it can be determined whether the restricted area 21 in the permitted parking space 1 to be ordered. In this case, the server setup. 26 far removed from the parking assistance system 15 or the motor vehicle equipped with it 4 arranged so that the server setup 26 is configured as a so-called backend. The server setup 26and the control unit are directly or indirectly coupled or can be coupled to each other for bidirectional data transmission, wirelessly and / or via cables.

[0065] The server data – such as map data, satellite images and / or other information about the parking space 1 at least partially characterizing data etc. - can be used in the server setup 26 This data is provided by multiple vehicles (swarm data) or other information sources (for example, map providers). The server data is intended to have a predefined minimum level of currency, for example, being updated daily, meaning it is not older than one day. The server data includes data from vehicle-to-vehicle communication, vehicle-to-infrastructure communication, and / or communication between mobile devices (smartphones).

[0066] The parking assistance system 15and / or the motor vehicle equipped with it 4 Furthermore, it features a navigation system, which may be at least part of the server setup. The navigation system is in particular designed as a satellite navigation system (for example, GPS - Global Positioning System), preferably integrated into the motor vehicle. 4 It is integrated. Accordingly, it is planned that the navigation system will communicate with the parking assistance system for data transmission. 15 , in particular, is coupled or can be coupled to the control unit.

[0067] Based on Fig. 6, which is a procedural scheme in the form of a flowchart to illustrate the procedure for parking the motor vehicle 4The following section describes the steps of the procedure. These steps may be performed in a different order than described below – the numbering of the steps (reference symbols and "first," "second," "third," etc.) does not imply a mandatory sequence; it serves only for clarity. Furthermore, the procedure may include additional steps not explicitly mentioned here. It is intended that the parking assistance system 15 is trained to carry out the steps of the procedure.

[0068] The process includes a first step 27 , in which environmental detection or recording, for example by means of the recording device 17 This is done. In a further step 28A classification of the objects detected during environmental detection (e.g., by sensors) takes place. This classification is based on the results obtained, for example, by the control unit after executing the following steps. 27 , 28 what is spent or received will be determined in a further step. 29 A suitable parking space has been identified.

[0069] The process also includes a fourth step. 30 , which - as well as the steps explained below 31 and 32 - simultaneously with the steps 27 , 28 , 29 They can happen, but they don't have to. In the fourth step 30 A self-position determination of the motor vehicle will be carried out. 4 carried out, preferably using the navigation system. In the fifth step 31 The own position is determined from the fourth step. 30 server setup 26provided, for example, sent by mail. The procedure may then include the possibility that – for example, in a sixth step – 32 - based on the vehicle's own position 4 the parking assistance system 15 Information is provided about whether the (designated) parking space, for example one of the parking spaces, is available. 2 , 3 , to the physical barrier 10 and / or the no-stopping zone 9 adjacent. This can be provided in particular to the control unit by the server setup. 26 the information is sent to the control unit, or the control unit receives the relevant information from the server unit. 26 retrieves.

[0070] It is a seventh step. 33 provided for, which is specifically related to the third step 29 and / or the sixth step 32 can connect. In this seventh step 33It is evaluated, in particular by means of the control unit, whether the (designated) parking space, for example one of the parking spaces 2 , 3 , to the physical barrier 10 and / or the no-stopping zone 9 adjacent to 19 the recording device 17 for use, for example, in traffic sign recognition systems for motor vehicles 4 or the parking assistance system 15 .

[0071] The procedure also includes a decision step – for example, an eighth step. 34 - during which it will be decided whether the restricted area 21 in the (designated) parking space, for example one of the parking spaces 2 , 3 , useful or necessary for the particularly efficient or parking-space-efficient use of parking space 1 is.

[0072] Following this decision, the eighth step is... 34a decision result that the restricted area 21 The decision as to whether or not it should be used is made in a further, approximately ninth step. 35 a setting up a parking maneuver, whereby the designated positional orientation of the motor vehicle 4 based on the objects in the vicinity of the motor vehicle 4 or in the vicinity of the corresponding parking lot 2 , 3 (for example, the neighboring vehicle) 6 , kerbs 16 , walls etc.) is carried out.

[0073] After the decision (step 34 ) a different decision result, that the restricted area 21 The process for using it for space-efficient parking, or for it to be used, takes place in a further, approximately tenth step. 36 the determination of the parking procedure, whereby the designated positional orientation of the motor vehicle 4 both based on the objects in the vicinity of the motor vehicle4 or in the vicinity of the corresponding parking lot 2 , 3 (for example, the neighboring vehicle) 6 , kerbs 16 , walls etc.) as well as based on the restricted area 21 This has been done.

[0074] To the ninth step 35 or to the tenth step 36 This leads (directly or indirectly) to an eleventh step. 37 on, in which the motor vehicle 4 using the parking assistance system 15 to the appropriate parking space 2 , 3 is maneuvered into it and there - depending on whether the restricted area 21 Whether or not it is used – is positioned in a final parking position. This preferably occurs highly automatically, fully automatically and / or autonomously, so that the driver of the vehicle 4The vehicle is at least partially relieved of the driving task of parking. For this purpose, the vehicle is designed to be at least partially highly or fully automated and / or autonomous in operation or movement. Reference symbol list 1 parking space 2 parallel parking spaces 3 cross parking spaces 4 Motor vehicle 5 neighboring parking spaces 6 neighboring vehicle 7 Longitudinal extent 8 first end of the parking lot 9 No stopping 10 physical barriers 11 second end of the parking lot 12 first end of the motor vehicle 13 unusable parking spaces 14 Longitudinal extent of the parking space 15 Parking Assistance System 16 Curb 17 Recording device 18 Standard spacing 19 Sensors 20 Parking length extension 21 Restricted area 22 Longitudinal extent of the barrier 23 second end of the motor vehicle 24 Longitudinal extent 25 third motor vehicle 26 Server setup 27th process step 28th process step 29th process step 30th process step 31st procedural step 32nd process step 33. Procedure step 34th process step 35th process step 36th process step 37th 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] DE 102009001316 A1

[0005] DE 102012215218 A1

[0008] DE 102018111522 A1

[0008]

Claims

[1] Parking assistance system (15) for parking a motor vehicle (4), comprising a control unit and a detection unit (17), by means of which a parking space (1, 2, 3) permissible for the motor vehicle (4), which is bounded at one of its ends (8, 11) by a barrier (6, 9, 10), can be detected at least partially and corresponding parking space data can be generated which can be made available to the control unit, characterized by , that by means of the control device a restricted area (21) can be arranged within the permitted parking space (1, 2, 3) depending on the parking space data, whereby the motor vehicle (4) can be positioned in the permitted parking space (1, 2, 3) at the restricted area (21). [2] Parking assistance system according to claim 1, characterized by , that the motor vehicle (4) can be positioned in the permitted parking space (1, 2, 3) at the restricted area (21) and at the barrier (6, 9, 10). [3] Parking assistance system (15) according to claim 1 or 2, characterized by, that if the restricted area (21) is present, the positional orientation of the motor vehicle (4) for parking in the permitted parking space (1, 2, 3) can be determined by means of the control device based on the restricted area (21). [4] Parking assistance system (15) according to one of the preceding claims, characterized by , that the detection device (17) has sensors (19) by means of which the permissible parking space (1, 2, 3) can be detected at least partially and corresponding sensor data can be provided to the control device by means of which it can be determined on the basis of the sensor data whether the restricted area (21) is to be arranged within the permissible parking space (1, 2, 3). [5] Parking assistance system (15) according to one of the preceding claims, characterized by , that information about the restricted area (21) can be provided to a user of the motor vehicle (4) by means of the control device. [6] Parking assistance system (15) according to one of the preceding claims, characterized by , that the restricted area (21) has a sub-area which results from a parking situation of a neighboring vehicle (6) parked adjacent to the permitted parking space (1, 2, 3), whereby the positional orientation of the motor vehicle (4) is then at least partially formed by a distance between the motor vehicle (4) and the neighboring vehicle (6). [7] Parking assistance system (15) according to one of the preceding claims, characterized by , that the restricted area (21) has a sub-area which results from a no-stopping zone (10) adjacent to the permitted parking space (1, 2, 3), whereby the positional orientation of the motor vehicle (4) is at least partially formed by a distance between the motor vehicle (4) and a second end (11) of the parking space (1, 2, 3). [8] Parking assistance system (15) according to one of the preceding claims, characterized by, that server data can be provided to the control unit by means of a server unit (26) which can be used to determine whether the restricted area (21) is to be placed within the permitted parking space (1, 2, 3). [9] Method for parking a motor vehicle (4) using a parking assistance system (15) designed according to one of claims 1 to 8, wherein in the method a detection device (17) at least partially detects a permissible parking space (1, 2, 3) which is bounded at one of its ends (8, 11) by a barrier (6, 9, 10) for the motor vehicle (4) and generates corresponding parking space data which is provided to a control unit, characterized by , that by means of the control device a restricted area (21) is ordered within the permissible parking space (1, 2, 3) depending on the parking space data, so that the motor vehicle (4) is positionally aligned in the permissible parking space (1, 2, 3) at the restricted area (21). [10] Motor vehicle (4) with a parking assistance system (15) designed according to one of claims 1 to 8.

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