Procedure and parking assistance system to support the parking of a motor vehicle in a parking space

Abstract

A parking assistance system is described to support the parking of a motor vehicle in a parking space. The parking assistance system is configured to recognize a parking space and determine assignment information indicating that the recognized parking space is assigned to the motor vehicle and / or the user of the motor vehicle. Furthermore, the parking assistance system is configured to initiate at least one action related to parking the motor vehicle in the parking space, depending on the assignment information.

Description

[0001] The invention relates to a method and a corresponding driver assistance system designed to assist the user of a motor vehicle when parking in a parking space.

[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. If a suitable parking space is identified, the vehicle can be parked in the space, possibly with automated longitudinal and / or lateral guidance.

[0004] This document deals with the technical task of enabling a particularly reliable parking of a vehicle in a parking space in order to further increase the comfort of (possibly automated) 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 driver assistance system, in particular a parking assistance system, is described for assisting in parking a motor vehicle in a parking space, in particular in a personalized parking space and / or in a parking space assigned to a specific group of one or more people and / or one or more vehicles. The driver assistance system is configured to recognize a parking space. The parking space can be recognized based on the sensor data from one or more environmental sensors of the motor vehicle (in particular based on the camera data from an environmental camera of the motor vehicle). The parking space can be arranged at the edge of a roadway traveled by the motor vehicle. The parking space can be a parallel parking space or a perpendicular parking space.

[0007] The driver assistance system is further configured to determine assignment information indicating whether or not the detected parking space is assigned to the motor vehicle and / or the user, in particular the driver, of the motor vehicle.

[0008] Alternatively or additionally, relationship information can be determined regarding a relationship between the detected parking space and the motor vehicle and / or the user (in particular the driver) of the motor vehicle. The assignment information and / or the relationship information can be determined based on sensor data from one or more environmental sensors, in particular based on camera data from the environmental camera, of the motor vehicle. Alternatively or additionally, the assignment information and / or the relationship information can be determined based on position data from a position sensor, in particular a receiver of a global navigation satellite system (GNSS), such as a GPS receiver, of the motor vehicle.

[0009] Assignment information can be determined that the detected parking space is assigned to the motor vehicle and / or the user (in particular, the driver) of the motor vehicle. On the other hand, assignment information can be determined that the detected parking space is not assigned to the motor vehicle and / or the user (in particular, the driver) of the motor vehicle (but rather to at least another vehicle and / or at least another user).

[0010] As relationship information, it can be determined that a relationship exists between the recognized parking space and the motor vehicle and / or the user of the motor vehicle (in particular that the recognized parking space is released, in particular reserved, for use by the motor vehicle and / or by the user of the motor vehicle).

[0011] On the other hand, it can be determined as relationship information that there is no relationship between the recognized parking space and the motor vehicle and / or the user of the motor vehicle (in particular that the recognized parking space is not released for use by the motor vehicle and / or by the user of the motor vehicle, but is released, in particular reserved, for use by at least one other vehicle or by at least one other user).

[0012] In addition, the driver assistance system is configured to effect at least one measure relating to the parking of the motor vehicle in the parking space depending on the assignment information (in particular depending on whether or not the identified parking space is assigned to the motor vehicle and / or the user (in particular the driver) of the motor vehicle) and / or depending on the relationship information (in particular depending on whether or not there is a relationship between the identified parking space and the motor vehicle and / or the user of the motor vehicle).

[0013] The driver assistance system can be configured to effect one or more of the following measures if it is determined as assignment information that the recognized parking space is assigned to the motor vehicle and / or the user (in particular the driver) of the motor vehicle, and / or if it is determined as relationship information that a relationship exists between the recognized parking space and the motor vehicle and / or the user of the motor vehicle, • the output of a reference to the detected parking space via the user interface of the motor vehicle; and / or • issuing an offer to carry out an automated parking maneuver (with automated longitudinal and / or lateral guidance) to the recognized parking space via the user interface of the motor vehicle; and / or • carrying out an automated parking maneuver (with automated longitudinal and / or lateral guidance) into the recognized parking space.

[0014] Alternatively or additionally, the driver assistance system can be configured to effect one or more of the following measures if it is determined as assignment information that the recognized parking space is not assigned to the motor vehicle and / or the user (in particular the driver) of the motor vehicle, and / or if it is determined as relationship information that there is no relationship between the recognized parking space and the motor vehicle and / or the user of the motor vehicle, • preventing the issuance of an offer to carry out an automated parking maneuver in the recognized parking space (via the user interface of the motor vehicle); and / or • preventing an automated parking maneuver (with automated longitudinal and / or lateral guidance) into the recognized parking space; and / or • the issuance of a warning (via the motor vehicle's user interface) indicating that the detected parking space is not intended for the motor vehicle and / or the motor vehicle user. This can occur, in particular, if a manual parking maneuver of the motor vehicle (by the driver of the motor vehicle) into the detected parking space is previously detected, i.e., if it is detected that the driver of the motor vehicle is manually parking into the detected parking space.

[0015] A driver assistance system, in particular a parking assistance system, is thus described which is designed to automatically recognise a parking space which is generally permitted for parking vehicles, but which may be reserved for one or more other vehicles and / or vehicle users. For this purpose, a check can be carried out to determine whether the recognised parking space is assigned to the motor vehicle and / or to the user of the motor vehicle, and / or whether a relationship exists between the recognised parking space and the motor vehicle and / or the user of the motor vehicle which authorises the parking of the motor vehicle in the recognised parking space. This can enable particularly reliable parking of the motor vehicle, e.g. to further increase the convenience of a parking assistant.

[0016] The driver assistance system can be configured to detect (and interpret) a sign located at the detected parking space based on camera data from the vehicle's surroundings camera. The relationship information can then be determined particularly precisely based on the detected (and interpreted) sign. The sign can comprise one or more letters and / or numbers and / or symbols. The sign can be located on a sign located at the parking space, on the floor (in particular the roadway) of the parking space, and / or on a wall at the parking space.

[0017] The driver assistance system can, in particular, be configured to determine, based on the camera data, reservation information indicated by the detected sign, which indicates the group of (one or more) people and / or (one or more) vehicles for which the detected parking space is reserved. The group may, if appropriate, comprise exactly one person and / or exactly one vehicle. The reservation information can thus indicate the person and / or vehicle for which the detected parking space is reserved.

[0018] The reservation information may include • a vehicle registration number; • a name, in particular a family name or a company name (the parking space may, for example, be reserved for vehicles from the fleet of a particular company); • a pitch number; and / or • an address element, in particular a house number, of an address.

[0019] Alternatively or additionally, the reservation information may include and / or specify a required characteristic and / or function of the vehicles for which the parking space is reserved. Examples of vehicle characteristics for which a parking space may be reserved include: • the vehicle must have an electric drive; and / or • the vehicle must be a two-wheeler.

[0020] Examples of vehicle functions for which a parking space can be reserved include: • the vehicle must be used as a taxi; and / or • the vehicle must be an emergency vehicle (e.g. a public service vehicle); and / or • the vehicle must be used for a ride share or carpool.

[0021] The assignment information and / or the relationship information can then be determined in a particularly precise manner based on the reservation information indicated by the detected character. For this purpose, the determined reservation information can be compared with data stored in a memory unit of the motor vehicle. The stored data can include, for example, • the registration number of the motor vehicle; • the parking space number assigned to the motor vehicle or the vehicle user; • an address associated with the vehicle or the vehicle user; • the name of the vehicle user or the company of the vehicle or the vehicle user; and / or • one of the above-mentioned characteristics and / or functions of the vehicle.

[0022] The driver assistance system can be configured, in particular, to determine whether the motor vehicle and / or the user, in particular the driver, of the motor vehicle are part of the group of (one or more) persons and / or (one or more) vehicles defined by the reservation information. Based on the determination, it can then be determined as assignment information that • the identified parking space is assigned to the motor vehicle and / or the user of the motor vehicle, in particular if the motor vehicle and / or the user of the motor vehicle are part of the group of one or more persons and / or one or more vehicles defined by the reservation information; and / or • the identified parking space is not assigned to the motor vehicle and / or the user of the motor vehicle, in particular if the motor vehicle and / or the user of the motor vehicle are not part of the group of one or more persons and / or one or more vehicles defined by the reservation information.

[0023] Alternatively or additionally, based on the determination as relationship information, it can be determined that • there is a relationship between the detected parking space and the motor vehicle and / or the user of the motor vehicle (if the motor vehicle and / or the user of the motor vehicle are part of the group of one or more persons and / or one or more vehicles defined by the reservation information); and / or • there is no relationship between the detected parking space and the motor vehicle and / or the user of the motor vehicle (if the motor vehicle and / or the user of the motor vehicle are not part of the group of one or more persons and / or one or more vehicles defined by the reservation information).

[0024] By evaluating reservation information marked on a sign located at the recognized parking space, the allocation information and / or the relationship information can be determined in a particularly precise manner.

[0025] The driver assistance system can be configured to determine the position of the detected parking space (and to locate it within a digital map) based on position data from the motor vehicle's position sensor. The assignment information and / or the relationship information can then be determined precisely based on the determined position of the detected parking space. The driver assistance system can, in particular, be configured to • to determine as assignment information that the recognized parking space is assigned to the motor vehicle and / or the user of the motor vehicle, if the position of the recognized parking space is located at the address, in particular at a residential or company address, of the user (which can be read out, for example, from a memory unit of the motor vehicle); and / or • to determine as assignment information that the recognized parking space is not assigned to the motor vehicle and / or the user of the motor vehicle if the position of the recognized parking space is not located at the address, in particular not at the residential or company address, of the user; and / or • to determine as relationship information that a relationship exists between the recognized parking space and the motor vehicle and / or the user of the motor vehicle, if the position of the recognized parking space is located at the address, in particular at the residential or company address, of the user (which can be read out, for example, from a memory unit of the motor vehicle); and / or • to determine as relationship information that there is no relationship between the recognized parking space and the motor vehicle and / or the user of the motor vehicle if the position of the recognized parking space is not located at the address, in particular not at the residential or company address, of the user.

[0026] By evaluating the position of the parking space, the assignment information and / or the relationship information can be determined in a particularly precise manner.

[0027] 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 driver assistance system described in this document.

[0028] According to a further aspect, a method for assisting in parking a motor vehicle in a (possibly personalized) parking space is described. The method comprises recognizing a parking space and determining assignment information indicating that the recognized parking space is assigned to the motor vehicle and / or the user of the motor vehicle. Furthermore, the method comprises initiating, depending on the assignment information, at least one measure related to parking the motor vehicle in the parking space.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] The invention will be described in more detail below using exemplary embodiments. Fig. 1 exemplary components of a vehicle; Fig. 2 an exemplary parking situation of a vehicle; and Fig. 3 a flowchart of an exemplary method for assisting in parking a vehicle in a parking space.

[0033] As stated at the beginning, this document deals with the particularly reliable parking of a (motor) vehicle in a parking space. In this context, Fig. 1 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.

[0034] A (control) device 101 (in particular a driver assistance system) 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.

[0035] Fig. 2 shows an exemplary parking situation in which the vehicle 100 approaches several perpendicular parking spaces 120 (i.e., parking spaces) on a roadway. Based on the sensor data from the one or more environmental sensors 102 of the vehicle 100, one or more parking spaces 120 can be detected, e.g., between two other vehicles 110 and / or between lane markings. The driver of the vehicle 100 can be offered the one or more detected parking spaces 120 for selection via the user interface 104. The driver of the vehicle 100 can then select one of the offered parking spaces 120 by a user input at the user interface 104. The vehicle 100 can then be driven to the selected parking space 120 using automated longitudinal and / or transverse guidance.

[0036] It may happen that one or more of the detected parking spaces 120 are reserved for one or more other vehicles and / or for one or more other vehicle users. If the vehicle 100 is parked in such a parking space 120, this may cause disruption to the other vehicle user and possibly lead to legal problems for the user of the vehicle 100.

[0037] The device 101 of the vehicle 100 can be configured to check whether relationship information regarding a relationship between the recognized parking space 120 and the vehicle 100 and / or the user of the vehicle 100 is available for a recognized parking space 120. Alternatively or additionally, it can be determined whether assignment information is available for the recognized parking space 120 that indicates an assignment of the parking space 120 to one or more vehicles 100 and / or to one or more vehicle users.

[0038] The relationship information and / or the assignment information can be determined based on the sensor data of one or more environmental sensors 102 of the vehicle 100. Alternatively or additionally, the relationship information and / or the assignment information can be determined based on the position data of a position sensor 105 (e.g., a GNSS receiver) of the vehicle 100.

[0039] For example, based on the sensor data of the one or more environmental sensors 102 (e.g. based on the camera data from a camera), a sign 121 (generally a sign) can be detected at the parking space 120. Furthermore, the sign 121, generally the sign, can be analyzed and / or interpreted (e.g. using an image analysis algorithm). The sign 121 (generally a sign) can, for example, display (as reservation information) the license plate number of the vehicle and / or the name of the person for whom the parking space 120 is reserved. It can then be determined as relationship information that a relationship exists between the detected parking space 120 and the vehicle 100 or the vehicle user if it is recognized that the license plate number of the vehicle 100 or the person for whom the parking space 120 is displayed on the sign 121 (generally on the sign).the name of the vehicle user is indicated (wherein the license plate number of the vehicle 100 and / or the name of the vehicle user can be stored in a memory unit of the vehicle 100). Alternatively or additionally, it can be determined as assignment information that the parking space 120 is assigned to the vehicle 100 or the vehicle user if it is recognized that the license plate number of the vehicle 100 or the name of the vehicle user is indicated on the sign 121 (generally on the sign) of the parking space 120 (wherein the license plate number of the vehicle 100 and / or the name of the vehicle user can be stored in a memory unit of the vehicle 100).

[0040] On the other hand, it can be determined as relationship information that no relationship exists between the recognized parking space 120 and the vehicle 100 or the vehicle user if it is recognized that the sign 121 (generally on the sign) of the parking space 120 does not contain the license plate number of the vehicle 100 (but rather a different license plate number) or the name of the vehicle user (but rather a different name). Alternatively or additionally, it can be determined as assignment information that the parking space 120 is not assigned to the vehicle 100 or the vehicle user if it is recognized that the sign 121 (generally on the sign) of the parking space 120 does not contain the license plate number of the vehicle 100 (but rather a different license plate number) or the name of the vehicle user (but rather a different name).

[0041] Alternatively or additionally, the position data of the position sensor 105 of the vehicle 100 (in conjunction with a digital map for the road network traveled by the vehicle 100) can be evaluated, e.g., to determine as relationship information whether the parking space 120 is located at the address of the home of the user of the vehicle 100 or at the address of the workplace of the user of the vehicle 100 (wherein the respective address can be stored on the memory unit of the vehicle 100). If this is the case, it can be determined as relationship information that a relationship exists between the detected parking space 120 and the vehicle 100 or the vehicle user. On the other hand, it can be determined as relationship information that no relationship exists between the detected parking space 120 and the vehicle 100 or the vehicle user.

[0042] Alternatively or additionally, the position data of the position sensor 105 of the vehicle 100 can be used to determine the assignment information, • that the parking space 120 is assigned to the vehicle 100 or the vehicle user, e.g., because the parking space 120 is located at the address of the residence of the user of the vehicle 100 or at the address of the workplace of the user of the vehicle 100; and / or • that the parking space 120 is not assigned to the vehicle 100 or the vehicle user, e.g. because the parking space 120 is not located at the address of the place of residence of the user of the vehicle 100 or at the address of the workplace of the user of the vehicle 100.

[0043] The device 101 can be configured, if it is detected that a relationship exists between the parking space 120 and the vehicle 100 or the vehicle user, and / or that the parking space 120 is assigned to the vehicle 100 or the vehicle user, to initiate one or more measures to assist the vehicle user in parking the vehicle 100 in the parking space 120. For example, an automated parking maneuver (with automated longitudinal and / or lateral guidance) can be initiated to guide the vehicle 100 into the parking space 120.

[0044] On the other hand, the vehicle user can be informed that the detected parking space 120 is not intended for the vehicle 100 (and may be reserved for another vehicle or for another vehicle user) if it is detected that there is no relationship between the parking space 120 and the vehicle 100 or the vehicle user, and / or that the parking space 120 is not assigned to the vehicle 100 or the vehicle user.

[0045] The parking spaces 120 in a garage are often assigned to specific individuals (e.g., to the owners and / or tenants). This can be achieved, for example, by means of posted signs 121 (with license plates or house numbers). By evaluating this reservation information, a vehicle user can be provided with an improved parking option and / or an illegally parked person can be informed that a parking space 120 is reserved for another vehicle and / or another vehicle user.

[0046] The described driver assistance system detects, for example, a marked parking space 120 via camera 102. It can then be evaluated whether this parking space 120 has a relationship and / or assignment to the vehicle 100 or to the driver of the vehicle 100. This relationship information and / or assignment information can be determined via the license plate number, the home address with house number, and / or the work / company address (particularly for company vehicles).

[0047] If necessary, multiple parking spaces 120 can be found (based on the surrounding data). Based on the relationship information and / or assignment information, the parking space 120 relevant to the vehicle 100 can be determined. This parking space 120 can then be offered for selection alone or at least with priority.

[0048] If it is detected that the vehicle 100 is parking in a parking space 120 that is assigned to another vehicle or vehicle user, the parking process can be automatically avoided or aborted by the driver assistance system, if necessary. Alternatively or additionally, a message can be issued to the driver of the vehicle 100 to inform the driver that the parking space 120 is reserved for another vehicle or vehicle user.

[0049] The described functionality can be used as part of a parking assistant and / or as part of an assistant for following previously recorded driving trajectories (a so-called property parking assistant).

[0050] Fig.3 shows a flowchart of a (possibly computer-implemented) method 300 for assisting (a vehicle user, in particular a driver) when parking a motor vehicle 100 in a (possibly personalized) parking space 120. The method 300 comprises the recognition 301 of a parking space 120. The parking space 120 can be recognized based on the sensor data from one or more environmental sensors 102 of the motor vehicle 100.

[0051] The method 300 further includes determining 302 assignment information relating to an assignment of the identified parking space 120 to the motor vehicle 100 and / or to the user of the motor vehicle 100. In particular, the assignment information may be determined as to whether or not the identified parking space 120 is assigned to the motor vehicle 100 and / or the user of the motor vehicle 100. The assignment information may be determined based on a sign 121 (generally based on a symbol) at the identified parking space 120 and / or based on a position of the identified parking space 120 (within a digital map).

[0052] In addition, the method 300 comprises effecting 303, depending on the assignment information, at least one measure with regard to parking the motor vehicle 100 in the parking space 120. As a measure, for example, the driver of the motor vehicle 100 can be assisted in parking the motor vehicle 100 in the recognized parking space 120 if it is determined as assignment information that an assignment of the recognized parking space 120 to the motor vehicle 100 and / or to the user of the motor vehicle 100 exists.On the other hand, the measure can be such that the driver of the motor vehicle 100 is prevented from parking the motor vehicle 100 in the recognized parking space 120 if it is determined as assignment information that there is no assignment of the recognized parking space 120 to the motor vehicle 100 and / or to the user of the motor vehicle 100, and in particular if it is additionally determined as assignment information that there is an assignment of the recognized parking space 120 to at least one other vehicle and / or to at least one other vehicle user.

[0053] The measures described in this document can efficiently increase the reliability of parking operations for parking a vehicle 100 in a parking space 120.

[0054] 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 system (101) for assisting in parking a motor vehicle (100) in a parking space (120); wherein the parking assistance system (101) is configured - to identify a parking space (120); - to determine assignment information indicating that the recognized parking space (120) is assigned to the motor vehicle (100) and / or a user of the motor vehicle (100); and - to effect at least one measure relating to the parking of the motor vehicle (100) in the parking space (120) depending on the assignment information. [2] Parking assistance system (101) according to claim 1, wherein the parking assistance system (101) is arranged - to determine the assignment information on the basis of sensor data from one or more environmental sensors (102), in particular on the basis of camera data from an environmental camera, of the motor vehicle (100); and / or - to determine the assignment information on the basis of position data of a position sensor (105), in particular a receiver of a global navigation satellite system, of the motor vehicle (100). [3] Parking assistance system (101) according to one of the preceding claims, wherein the parking assistance system (101) is arranged - to detect, on the basis of camera data from an environment camera of the motor vehicle (100), a sign arranged at the recognized parking space (120), in particular on a sign (121) or on a floor or on a wall; and - to determine the assignment information based on the detected character. [4] Parking assistance system (101) according to claim 3, wherein the parking assistance system (101) is arranged - to determine, on the basis of the camera data, reservation information indicated by the detected sign, which indicates for which number of one or more persons and / or one or more vehicles the detected parking space (120) is reserved; and - to determine the allocation information based on the reservation information indicated by the detected character. [5] Parking assistance system (101) according to claim 4, wherein the reservation information comprises - a vehicle registration number; - a name, in particular a family name or a company name; - a pitch number; - a required property and / or function of vehicles for which the parking space (120) is reserved; and / or - an address element, in particular a house number, of an address. [6] Parking assistance system (101) according to one of claims 4 to 5, wherein the parking assistance system (101) is arranged - to determine whether the motor vehicle (100) and / or the user, in particular the driver, of the motor vehicle (100) are part of the group of one or more persons and / or one or more vehicles defined by the reservation information; and - to determine based on the determination as assignment information that - the recognized parking space (120) is assigned to the motor vehicle (100) and / or the user of the motor vehicle (100), in particular if the motor vehicle (100) and / or the user of the motor vehicle (100) are part of the group of one or more persons and / or one or more vehicles defined by the reservation information; and / or - the recognized parking space (120) is not assigned to the motor vehicle (100) and / or the user of the motor vehicle (100), in particular if the motor vehicle (100) and / or the user of the motor vehicle (100) are not part of the group of one or more persons and / or one or more vehicles defined by the reservation information. [7] Parking assistance system (101) according to one of the preceding claims, wherein the parking assistance system (101) is arranged - to determine a position of the detected parking space (120) on the basis of position data from a position sensor (105) of the motor vehicle (100); and - to determine the assignment information on the basis of the determined position of the recognized parking space (120). [8] Parking assistance system (101) according to claim 7, wherein the parking assistance system (101) is arranged - to determine as assignment information that the recognized parking space (120) is assigned to the motor vehicle (100) and / or the user of the motor vehicle (100) if the position of the recognized parking space (120) is located at an address, in particular at a residential or company address, of the user; and / or - to determine as assignment information that the recognized parking space (120) is not assigned to the motor vehicle (100) and / or the user of the motor vehicle (100) if the position of the recognized parking space (120) is not located at the address, in particular not at the residential or company address, of the user. [9] Parking assistance system (101) according to one of the preceding claims, wherein the parking assistance system (101) is configured to effect one or more of the following measures when it is determined as assignment information that the recognized parking space (120) is assigned to the motor vehicle (100) and / or the user of the motor vehicle (100), - an output of an indication of the recognized parking space (120) via a user interface (104) of the motor vehicle (100); and / or - an output of an offer to carry out an automated parking maneuver on the recognized parking space (120) via the user interface (104) of the motor vehicle (100); and / or - an automated parking maneuver into the recognized parking space (120). [10] Parking assistance system (101) according to one of the preceding claims, wherein the parking assistance system (101) is configured to effect one or more of the following measures if it is determined as assignment information that the recognized parking space (120) is not assigned to the motor vehicle (100) and / or the user of the motor vehicle (100), - preventing the issuance of an offer to carry out an automated parking maneuver on the recognized parking space (120) via a user interface (104) of the motor vehicle (100); and / or - Preventing an automated parking maneuver into the recognized parking space (120); and / or - issuing a warning message to the effect that the detected parking space (120) is not intended for the motor vehicle (100) and / or for the user of the motor vehicle (100), in particular when a manual parking maneuver of the motor vehicle (100) onto the detected parking space (120) is detected. [11] Method (300) for assisting in parking a motor vehicle (100) in a parking space (120); the method (300) comprising - recognizing (301) a parking space (120); - determining (302) assignment information indicating that the recognized parking space (120) is assigned to the motor vehicle (100) and / or a user of the motor vehicle (100); and - effecting (303), depending on the assignment information, at least one measure relating to the parking of the motor vehicle (100) on the parking space (120).

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