Method and parking assistance device for detecting a parking space for a motor vehicle

Abstract

A parking assistance device for supporting the execution of a parking maneuver of a motor vehicle is described. The parking assistance device is designed to determine one or more indicators of the spatial extent of a parking space ahead before measuring its dimensions, and to determine, based on these one or more indicators, whether the parking space is suitable for the motor vehicle.

Description

[0001] The invention relates to a method and a corresponding parking assistance device designed to increase the comfort and reliability when searching for a suitable parking space for a motor vehicle.

[0002] A vehicle may have one or more driver assistance systems configured to automatically guide the vehicle longitudinally and / or laterally. The vehicle may, in particular, include a maneuvering assistant, such as a parking assistant, configured to perform an automated maneuvering maneuver, in particular an automated parking maneuver, of the vehicle.

[0003] The maneuvering assistant, in particular the parking assistant, can be configured to identify a suitable parking space for the vehicle based on sensor data from one or more of the vehicle's surrounding sensors. This typically requires the vehicle to first drive past the parking space in order to measure the parking space, in particular its spatial extent. Once a suitable parking space is detected, the vehicle can be reversed to park the vehicle (possibly automatically) into the parking space.

[0004] This document deals with the technical task of reliably identifying a suitable parking space for a vehicle at an early stage, in particular without driving past, in order to further increase the comfort of parking maneuvers.

[0005] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0006] According to one aspect, a parking assistance device is described for assisting in the execution of a parking maneuver of a (motor) vehicle. The parking assistance device can be designed, in particular, to identify a parking space that is suitable for the parking maneuver of the vehicle and thus has a sufficiently large spatial extent (in particular length and / or width) so that the vehicle can be parked in the parking space (possibly with automated longitudinal and / or lateral guidance).

[0007] The parking assistance device is configured to determine one or more indicia for the spatial extent of the parking space (ahead in the direction of travel) before measuring the spatial extent of a parking space (in particular before measuring the spatial extent, which occurs while driving past the parking space). The parking assistance device can be configured to determine the one or more indicia for the spatial extent of the parking space even if the spatial extent of the parking space cannot be detected and / or measured by the one or more available environmental sensors (e.g., based on the sensor data of the one or more cameras and / or radar sensors and / or lidar sensors) of the vehicle.For example, the vehicle may be parked at a location (before reaching the parking space) from which the spatial extent of the parking space cannot be detected, or at least not completely, by the one or more environmental sensors of the vehicle. Alternatively or additionally, the one or more indices for the spatial extent of the parking space can be determined at a time at which the extent of the parking space cannot be detected and / or measured by the one or more available environmental sensors (e.g. based on the sensor data of the one or more cameras and / or radar sensors and / or lidar sensors) of the vehicle. One or more indices for the spatial extent of the (ahead) parking space can then be determined (instead of direct measurement and / or possibly exclusively).

[0008] The spatial extent of the parking space can, in particular in the case of a perpendicular parking space, include, in particular, the length of the parking space along the longitudinal axis of the parked vehicle. Alternatively or additionally, the spatial extent can, in particular in the case of a longitudinal parking space, include, in particular, the width of the parking space along the transverse axis of the parked vehicle.

[0009] Thus, particularly in the case of a perpendicular parking space, one or more indicators for the length (i.e., depth) of the parking space can be determined (although the length from the current position of the vehicle cannot be measured using the vehicle's available environmental sensors). Alternatively or additionally, particularly in the case of a parallel parking space, one or more indicators for the width of the parking space can be determined (although the width from the current position of the vehicle cannot be measured using the vehicle's available environmental sensors).

[0010] The one or more indicators can be determined on the basis of sensor data from one or more environmental sensors (e.g. at least one camera and / or at least one ultrasonic sensor and / or at least one radar sensor and / or at least one lidar sensor).

[0011] The one or more indicators can be determined based on one or more detected objects (e.g., another vehicle) and / or obstacles (in particular, a road boundary, e.g., a curb) in the vicinity of the parking space. The one or more objects and / or obstacles (in particular, a road boundary, e.g., a curb) can be detected and / or recorded based on the sensor data from the vehicle's one or more environmental sensors.

[0012] The parking assistance device is further configured to determine, based on the one or more indicators, whether the parking space is suitable for the vehicle (presumably and / or with a probability greater than a specific probability threshold, e.g., 70%). In this case, it is possible to determine, based on the one or more indicators, whether the parking space is suitable for the vehicle even if the spatial extent of the parking space cannot be detected and / or measured by the one or more environmental sensors, i.e., if the spatial extent of the parking space cannot be detected and / or measured by any of the one or more available environmental sensors of the vehicle.

[0013] A parking space can be considered suitable for the vehicle if one or more indicators indicate that the parking space is sufficiently large (in particular length and / or width).

[0014] This describes a parking assistance device that enables a vehicle to identify a parking space at an early stage (even without direct measurement) that is likely and / or relatively likely to be suitable for the vehicle. This allows the convenience of a parking assistance system to be increased efficiently and reliably.

[0015] If it is determined that the parking space is (presumably) suitable for the vehicle, the parking space can be offered to the vehicle user via the vehicle's user interface. The user can accept the offer, and a (possibly automated) parking maneuver into the parking space can then be initiated.

[0016] The parking assistance device can thus be configured to park the vehicle, possibly automatically, into the parking space when it is determined that the parking space is suitable for the vehicle. This can cause the vehicle to park into the parking space without the vehicle first driving past the parking space to measure the parking space. This allows for a relatively quick parking maneuver.

[0017] The parking assistance device can, in particular, be configured to, after it has been determined (possibly solely) based on one or more indicators that the parking space is suitable for the vehicle, trigger an offer to perform an automated parking maneuver into the parking space via the vehicle's user interface. The offer can be accepted by the user, in particular by the driver, of the vehicle (by actuating a control element of the user interface). In response to the acceptance of the offer, the vehicle can be parked into the parking space automatically (e.g., with automated longitudinal and / or lateral guidance).

[0018] The parking maneuver into the parking space can be aborted if, during the maneuver, the system detects, based on sensor data from one or more of the vehicle's surrounding sensors, that the parking space is not suitable for the vehicle. This allows for a particularly safe parking maneuver.

[0019] The parking assistance device can be configured to detect and / or capture an object located in a neighboring parking space (possibly directly and / or adjacent to) the parking space based on sensor data from one or more of the vehicle's surrounding sensors. The object can be another vehicle parked in the (directly) adjacent parking space. The sensor data can include a camera image of the object.

[0020] An indication of the spatial extent of the parking space can then be determined based on the detected and / or recognized object. In particular, the parking assistance device can be configured to determine a dimension (e.g., the length (along the longitudinal axis of the vehicle) and / or the width (along the transverse axis of the vehicle)) of the (detected and / or recognized) object as an indication of the spatial extent of the parking space. The dimension of the object can be determined, for example, using an image recognition algorithm.

[0021] In a perpendicular parking space, for example, the fact that an object (in particular another vehicle) is located next to the parking space and has a length that is equal to or greater than the length of the vehicle can be an indication that the spatial extent of the parking space is sufficient for the vehicle. Similarly, in a parallel parking space, the fact that an object (in particular another vehicle) is located in front of the parking space and has a width that is equal to or greater than the width of the vehicle can be an indication that the spatial extent of the parking space is sufficient for the vehicle.

[0022] The parking assistance device can be configured to assign the object (in particular the other vehicle) to an object class using a classification unit. The object class can be, for example, a vehicle type and / or a vehicle model of the other vehicle. An indication of the spatial extent of the parking space can then be determined based on the object class of the object. In particular, the dimension of the object (in particular the other vehicle) can be determined in a particularly robust and precise manner based on the object class of the object. In particular, the dimension of the object (in particular the other vehicle) can be determined using a database that specifies the length and / or width of vehicles of the respective vehicle type for a large number of different vehicle types.

[0023] The classification of the object can be performed by a vehicle-external computing unit (e.g., a server). Alternatively or additionally, the database can be located on the computing unit. The parking assistance device can be configured to communicate with the vehicle-external computing unit via a (wireless) communication connection in order to determine the object class and / or the dimensions of the object.

[0024] The parking assistance device can thus be configured to determine an indicator of the spatial extent of the parking space using a database. The database can indicate, for a plurality of different object classes (as an indicator of the spatial extent), whether the spatial extent of the parking space is sufficient for the motor vehicle in the presence of a (detected or recognized) object from the respective object class. For this purpose, the database can be vehicle-specific for the vehicle in which the parking assistance device is provided. Alternatively or additionally, the database can indicate, for the plurality of different object classes, the dimension, in particular the length and / or the width, of objects from the respective object class (as an indicator of the spatial extent).

[0025] Alternatively or additionally, the parking assistance device can be configured to detect an obstacle, in particular a road boundary, such as a curb, based on sensor data from one or more environmental sensors of the vehicle, which laterally delimits the roadway traveled by the vehicle. It should be noted that the roadway traveled by the vehicle preferably also includes the parking space, in particular such that the parking space is delimited by the same road boundary as the roadway itself.

[0026] The limiting obstacle, in particular the road boundary, such as the curb, can be detected before reaching the parking space. In other words, the obstacle, in particular the road boundary (such as the curb), can be located in front of the parking space in the direction of travel. The indication of the spatial extent of the parking space can be determined based on the detected obstacle, in particular the road boundary, such as the curb (assuming that the limiting obstacle, in particular the road boundary, such as the curb, will also be located at the parking space).

[0027] The parking assistance device can in particular be configured to detect a lane boundary of the roadway traveled by the motor vehicle, which is arranged (with respect to the direction of travel) in front of a concealing element, in particular in front of another vehicle, by which the lane boundary of the roadway at the parking space is concealed. For example, a driving situation can exist in which the vehicle approaches the parking space in the direction of travel, wherein the parking space is at least partially concealed by a concealing element (e.g. by another vehicle arranged next to the parking space). In particular, the lane boundary at the location of the parking space can be concealed by the concealing element. On the other hand, the lane boundary can be detected at a location that is arranged (with respect to the direction of travel) in front of the concealing element.

[0028] The parking assistance device can be configured to determine, based on the sensor data from one or more environmental sensors, distance information relating to the distance of the vehicle from the limiting obstacle, in particular from the roadway boundary, such as the curb (at a location located (in relation to the direction of travel) in front of the parking space and, if applicable, in front of the concealing element). The indication of the spatial extent of the parking space can then be determined particularly precisely based on the distance information, in particular based on the determined distance. The distance to the limiting obstacle, in particular from the roadway boundary, such as the curb, can be used in particular as an indication of the length (in the case of a perpendicular parking space) or the width (in the case of a parallel parking space) of the parking space.

[0029] The parking assistance device can be configured to extrapolate the course of the limiting obstacle, in particular the road boundary, such as the curb, (starting from the point where the obstacle is detected or recorded) in the direction of travel up to the parking space, in particular taking into account a digital map of the roadway traversed by the vehicle. The indication of the spatial extent of the parking space can then be determined based on the course of the obstacle, in particular the road boundary, such as the curb, extrapolated up to the parking space.

[0030] Based on the extrapolated path of the obstacle, in particular the road boundary, such as the curb, the distance information relating to the distance of the vehicle to the limiting obstacle (in particular the road boundary, such as the curb) at the parking space can be determined (in particular extrapolated) (and used as an indicator of the spatial extent of the parking space). This allows a particularly reliable indicator of the spatial extent of the parking space to be determined.

[0031] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the parking assistance device described in this document.

[0032] According to a further aspect, a method for assisting the execution of a parking maneuver of a (motor) vehicle is described. The method comprises, before measuring the spatial extent (in particular the length and / or width) of a parking space (ahead in the direction of travel), determining one or more indicia for the spatial extent of the (ahead) parking space. The one or more indicia can be determined without directly measuring the spatial extent. The method further comprises determining, in particular solely on the basis of the one or more indicia, whether the parking space is suitable for the vehicle. In particular, it can be determined whether the spatial extent of the parking space is (presumably) sufficient for the vehicle.

[0033] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to carry out the method described in this document.

[0034] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0035] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.

[0036] The invention will be described in more detail below using exemplary embodiments. Fig. 1a exemplary components of a vehicle; Fig. 1b an exemplary parking situation of a vehicle; Fig. 2a an exemplary camera image showing another vehicle in an adjacent parking space; Fig. 2b an example of determining the distance to a road boundary; and Fig. 3 a flowchart of an exemplary method for detecting a suitable parking space for a vehicle.

[0037] As stated at the beginning, this document deals with the early and reliable detection of a parking space for a vehicle. In this context, Fig. 1a shows an exemplary vehicle 100 with one or more environmental sensors 102, each configured to collect sensor data (also referred to as environmental data) relating to the surroundings of the vehicle 100. Exemplary environmental sensors 102 include a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0038] A (control) device 101 of the vehicle 100 can be configured to evaluate the environmental data, e.g., to detect one or more objects (e.g., other vehicles) in the environment of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral guidance of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or lateral guidance actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle 100 can be controlled.

[0039] Fig. 1b shows an exemplary parking situation in which the vehicle 100 approaches one or more perpendicular parking spaces on a roadway. Based on the sensor data from the one or more environmental sensors 102 of the vehicle 100, a possible parking space 120 between two other vehicles 110 can be detected. However, due to the limited detection range 112 of the one or more environmental sensors 102, it may not yet be possible to determine whether the parking space 120 is suitable for the vehicle 100, in particular whether the parking space 120 has a sufficiently large spatial extent, in particular length 121 (along the longitudinal axis of the vehicle 100) and / or width (along the transverse axis of the vehicle 100).

[0040] The spatial extent of the parking space 120 may not be determined until the vehicle 100 drives past the parking space 120, so that the parking space 120 lies entirely within the detection range 112 of the one or more environmental sensors 102. However, this may be inconvenient for the user of the vehicle 100, since the vehicle 100 must then be reversed in order to park in the parking space 120.

[0041] The control device (101) of the vehicle 100 can be configured to determine one or more indicators for the spatial extent, in particular for the length 121, of the parking space 120 at an early stage (even before a possible parking space 120 can be completely measured on the basis of the sensor data of the one or more environmental sensors 120).

[0042] An exemplary indication is another vehicle 110 that is parked next to the possible parking space 120. Using a surroundings camera of the vehicle 100, a camera image 202 of the other vehicle 110 can be captured (as shown by way of example in Fig. 2a). The camera image 202 includes a pictorial representation 210 of the other vehicle 110, which can be analyzed to determine one or more characteristics 211, 212, 213, 214 of the other vehicle. Example characteristics 211, 212, 213, 214 are, • the height 211 of the other vehicle 110; • the width 212 of the other vehicle 110; • a lettering 213 on the body of the other vehicle 110; and / or • a shape of a lighting element 214 of the other vehicle 110.

[0043] Based on the determined properties 211, 212, 213, 214 of the other vehicle 110, the type of the other vehicle 110 can be identified. For this purpose, a database can be used, for example, in which different vehicle types and representative properties 211, 212, 213, 214 of the respective vehicle type are recorded.

[0044] Based on the vehicle type of the other vehicle 110, one or more dimensions (in particular the length and / or width) of the other vehicle 110 can be determined (based on the database). From the length of the other vehicle 110, the length 121 of the possible parking space 120 can in turn be deduced. In particular, it can be assumed that the possible parking space 120 should have a length 121 that should at least correspond to the determined length of the other vehicle 110. In this way, it can be checked efficiently and reliably whether the possible parking space 120 has a sufficiently large spatial extent for the vehicle 100.

[0045] The database can be arranged on a vehicle-external computing unit 150. The device 101 of the vehicle 100 can be configured to communicate with the computing unit 150 using a communication unit 105 of the vehicle 100 via a (wireless) communication connection 151 in order to determine the vehicle type and / or the dimensions of the other vehicle 110.

[0046] While the vehicle 100 is traveling on the roadway where the possible parking space 120 is located, as shown for example in Fig. As shown in Figure 2b, based on the sensor data from one or more environmental sensors 102, an edge 122, in particular a curb, can be detected, which defines the parking spaces arranged along the roadway. Furthermore, the distance 221 between the vehicle 100 and the edge 122 can be determined. The distance 221 can be determined before the possible parking space 120 is reached.

[0047] Based on the previously determined distance 221 from the edge 122, the length 121 of the parking space 120 can be determined. In particular, it can be assumed that the parking space 120 is also bounded by an edge 122 that is located at the determined distance 221 from the vehicle 100. This allows for an early check as to whether the potential parking space 120 has a sufficiently large spatial extent for the vehicle 100.

[0048] Thus, one or more boundary objects 110 (e.g., other vehicles) of a parking space 120 can be detected before the vehicle passes by. Furthermore, a classification of the objects 110 can be carried out, for example, by comparison with an object database (which is arranged, for example, on a vehicle-external computing unit 150). Based on the information from the database, a conclusion can be drawn about the neighboring parking space 120. In particular, it can be determined whether the parking space 120 next to an object 110 is potentially long (in particular, deep) enough for the vehicle 100. In this way, a parking space 120 can be offered with a relatively high probability via the user interface 104 of the vehicle 100 even before the actual measurement of the parking space 120.

[0049] For example, if a relatively large other vehicle 110 (e.g., a van) is detected by the camera of vehicle 100 before passing perpendicular parking spaces, it can be assumed that one or more adjacent parking spaces 120 are deep enough for the vehicle 100. On the other hand, if a relatively small other vehicle 110 is detected, it may be concluded that the adjacent parking space 120 is not deep enough.

[0050] The width of a (perpendicular) parking space 120 can usually be estimated and / or measured relatively well before passing by using the sensor data of one or more environmental sensors 102 (e.g. camera and / or radar sensor) of the vehicle 100.

[0051] Overall, a parking space 120 can be offered to the user of vehicle 100 relatively early on. The advantage of this is that an autonomous driving function can position itself early on for optimized measurement of the parking space 120 while driving past, or that the vehicle can park directly forward. A re-measurement of the parking space 120 can be performed during the parking process. If it is detected that the depth 121 of the parking space 120 is insufficient, the parking process can be aborted.

[0052] The information determined based on one or more neighboring objects 110 can also be used for parallel parking spaces 120. In this case, for example, the width of the parallel parking space 120 can be determined based on the width of an object 110.

[0053] Alternatively or additionally, a curb 122 can be detected before the actual parking space 120 is measured (e.g., between parked vehicles 110 when approaching the parking space 120). For example, several points on the curb 122 can be detected, and based on this, an extrapolation of the curb 122 can be performed to estimate the position of the curb 122 at a parking space 120 that has not yet been measured. If necessary, a digital map of the roadway traveled by the vehicle 100 can also be used, e.g., to take the course of the roadway (shown in the digital map) into account during the extrapolation.

[0054] With this information, an estimate can be made for a parking space 120 ahead as to whether the parking space 120 has sufficient depth 121 for the vehicle 100. Furthermore, the approach to the parking space 120 to be measured can be optimized to position the vehicle in an optimal position for the parking maneuver (for example, at the end of a yard). A curb 122 is an example of a limiting obstacle (in particular, a roadway boundary), such as a wall.

[0055] For example, in the context of the search for a suitable parking space 120, the vehicle 100 can be guided past the limiting obstacle 122 (in particular the lane boundary) of the roadway in order to measure the distance 221 to the obstacle 122. If necessary, the distance 221 to the limiting obstacles (in particular to the lane boundaries, such as the curbs) 122 can be determined on both sides of the roadway.

[0056] Based on the determined distance information with respect to the distance 221, it can be concluded whether a (not yet measured) parking space 120 has a sufficient depth 121 for the vehicle 100. For a parallel parking space 120, it can be checked in a corresponding manner whether the parallel parking space 120 has a sufficient width for the vehicle 100.

[0057] The determined distance information can also be used if the parking space 120 has a lowered curb. In this case, the vehicle can park up to the previously determined limit, even if the curb cannot be detected in the parking space 120. The one or more indicators can thus also be used during the parking maneuver to automatically park the vehicle 100 in the parking space 120.

[0058] The distance information can be used, in particular, for the last (perpendicular and / or longitudinal) parking space 120 with a limiting obstacle (e.g., in an underground garage). In such a case, the measurement of the parking space 120 typically cannot be performed because the vehicle 100 cannot drive past the parking space 120. A parking maneuver can then be initiated to position the vehicle 100 in the parking space 120 (e.g., in the forward direction). The parking maneuver can be aborted if it is detected during the parking maneuver that the parking space 120 does not have sufficient spatial extent.

[0059] Fig. 3 shows a flowchart of a (possibly computer-implemented) method 300 for supporting the execution of a parking maneuver of a vehicle 100 into a parking space 120. The method 300 can be designed in particular to identify a suitable parking space 120 for the vehicle 100.

[0060] The method 300 comprises, before measuring the parking space 120, i.e., before the spatial extent of the parking space 120 is and / or can be explicitly measured based on the sensor data of the one or more environmental sensors 102, determining 301 one or more indicia for the spatial extent of the parking space 120. The one or more indicia can be determined, for example, based on an object 110 located in an adjacent parking space. Alternatively or additionally, the one or more indicia can be determined based on an obstacle 122 delimiting the roadway (in particular based on a roadway boundary such as a curb).

[0061] The method 300 further includes determining 302, in particular solely based on the one or more indicators, whether the parking space 120 is suitable for the vehicle 100. In this case, it can be determined whether the parking space 120 is (presumably) suitable even before the actual measurement of the parking space 120.

[0062] By means of the measures described in this document, a suitable parking space 120 for a vehicle 100 can be detected at an early stage, possibly without driving past, thereby enabling particularly convenient parking of the vehicle 100.

[0063] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Parking assistance device (101) for supporting the execution of a parking maneuver of a motor vehicle (100); wherein the parking assistance device (101) is designed, before measuring a spatial extent of a parking space (120) in front, - to determine one or more indicia for the spatial extent of the parking space (120); wherein the one or more indicia are determined on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100); and - to determine on the basis of the one or more indicators whether the parking space (120) is suitable for the motor vehicle (100). [2] Parking assistance device (101) according to claim 1, wherein the parking assistance device (101) is arranged - based on the sensor data of the one or more environmental sensors (102) of the motor vehicle (100), to detect an object (110) that is arranged in an adjacent parking space next to the parking space (120); and - to determine an indication of the spatial extent of the parking space (120) on the basis of the detected object (110). [3] Parking assistance device (101) according to claim 2, wherein the parking assistance device (101) is configured to determine a dimension, in particular a length and / or a width, of the object (110) as an indication of the spatial extent of the parking space (120) on the basis of the sensor data for the detected object (110). [4] Parking assistance device (101) according to one of claims 2 to 3, wherein the parking assistance device (101) is arranged - to assign the object (110) to an object class using a classification unit; and - to determine an indication of the spatial extent of the parking space (120), in particular a dimension, in particular a length and / or a width, of the object (110) as an indication of the spatial extent of the parking space (120), on the basis of the object class of the object (110). [5] Parking assistance device (101) according to claim 4, wherein - the object (110) is another vehicle parked in the adjacent parking space; and - the object class is a vehicle type and / or a vehicle model of the other vehicle. [6] Parking assistance device (101) according to one of claims 4 to 5, wherein - the parking assistance device (101) is configured to determine the indication for the spatial extent of the parking space (120) using a database; and - the database specifies for a variety of different object classes, - whether the spatial extent of the parking space (120) is sufficient for the motor vehicle (100) in the presence of an object from the respective object class; and / or - a dimension, in particular a length and / or a width, of objects from the respective object class. [7] Parking assistance device (101) according to one of claims 2 to 6, wherein - the sensor data comprise a camera image (202) of the object (110); and - the dimension of the object (110) is determined using an image recognition algorithm. [8] Parking assistance device (101) according to one of the preceding claims, wherein the parking assistance device (101) is arranged - based on sensor data from one or more environmental sensors (102) of the motor vehicle (100), to detect a road boundary (122) by which a roadway travelled by the motor vehicle (100) is laterally delimited; wherein the road boundary (122) is arranged in front of the parking space (120) in the direction of travel; and - to determine the indication for the spatial extent of the parking space (120) on the basis of the detected lane boundary (122). [9] Parking assistance device (101) according to claim 8, wherein the roadway boundary (122) comprises a curb, in particular is a curb. [10] Parking assistance device (101) according to one of claims 8 to 9, wherein the parking assistance device (101) is configured to detect a lane boundary (122) of the roadway traveled by the motor vehicle (100), which is arranged in the direction of travel in front of a concealing element, in particular in front of another vehicle (110), by which the lane boundary (122) of the roadway at the parking space (120) is concealed. [11] Parking assistance device (101) according to claim 8 to 10, wherein the parking assistance device (101) is arranged - to determine distance information relating to a distance (221) of the motor vehicle (100) to the detected road boundary (122) on the basis of the sensor data of the one or more environmental sensors (102); and - to determine the indication for the spatial extent of the parking space (120) on the basis of the distance information. [12] Parking assistance device (101) according to one of claims 8 to 11, wherein the parking assistance device (101) is arranged - to extrapolate a course of the road boundary (122) in the direction of travel up to the parking space (120), in particular taking into account a digital map for the roadway travelled by the motor vehicle (100); and - to determine the indicator for the spatial extent of the parking space (120) on the basis of the course of the road boundary (122) extrapolated up to the parking space (120). [13] Parking assistance device (101) according to claim 12, wherein the parking assistance device (101) is configured to determine, on the basis of the extrapolated course of the roadway boundary (122), distance information with respect to a distance (221) of the motor vehicle (100) to the roadway boundary (122) at the parking space (120) as an indication of the spatial extent of the parking space (120). [14] Parking assistance device (101) according to one of the preceding claims, wherein the spatial extent of the parking space (120), in particular in the case of a transverse parking space, comprises a length of the parking space (120) along a longitudinal axis of the parked motor vehicle (100), and / or, in particular in the case of a longitudinal parking space, a width of the parking space (120) along a transverse axis of the parked motor vehicle (100). [15] Parking assistance device (101) according to one of the preceding claims, wherein the parking assistance device (101) is arranged - to determine the one or more indicators for the spatial extent of the parking space (120) at a location and / or at a time, and - to determine at a location and / or at a time whether the parking space (120) is suitable for the motor vehicle (100) at which the spatial extent of the parking space (120) cannot be detected and / or measured by one or more environmental sensors (102) of the motor vehicle (100). [16] Parking assistance device (101) according to one of the preceding claims, wherein the parking assistance device (101) is arranged to cause - the motor vehicle (100) is parked, in particular automatically, in the parking space (120) when it is determined that the parking space (120) is suitable for the motor vehicle (100); and - to abort the parking maneuver into the parking space (120) if, during the parking maneuver, it is detected by measuring the parking space (120) on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100) that the parking space (100) is not suitable for the motor vehicle (100). [17] Parking assistance device (101) according to claim 16, wherein the parking assistance device (101) is configured to cause the motor vehicle (100) to be parked in the parking space (120) without the motor vehicle (100) first driving past the parking space (120) to measure the parking space (120). [18] Method (300) for supporting the execution of a parking maneuver of a motor vehicle (100); wherein the method (300) comprises, before measuring a spatial extent of a parking space (120) located ahead, - determining (301) one or more indicia for the spatial extent of the parking space (120); wherein the one or more indicia are determined on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100); and - Determining (302), in particular solely on the basis of the one or more indicators, whether the parking space (120) is suitable for the motor vehicle (100).

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