Driver assistance system for performing an autonomous, remotely activated parking maneuver of a motor vehicle

Abstract

The invention relates to a driver assistance system for performing an autonomous, remotely activated parking maneuver of a motor vehicle (1), comprising - Means of wirelessly receiving a request signal to initiate the parking maneuver, - a plurality of environmental sensor means designed to sense the environment of the motor vehicle and detect potential collision obstacles (4, 5), - a control device (2) configured to process the request signal and measurement data from the environmental sensor means and to calculate a plan trajectory of the motor vehicle (1) for the parking maneuver and to automatically control the driving, steering and braking maneuvers of the motor vehicle required to carry out the parking maneuver along the plan trajectory and to automatically stop the parking maneuver by means of a braking intervention if a collision with a collision obstacle (4, 5) is imminent, wherein the driver assistance system has a plurality of light sources and associated optical functional means configured to generate ground-side light projections (8a, 8b, 8c, 8d, 8e, 8f) in a near area of ​​the motor vehicle (1) during the execution of the autonomous parking maneuver of the motor vehicle (1).

Description

[0001] The present invention relates to a driver assistance system for carrying out an autonomous, remotely activated parking maneuver of a motor vehicle according to the preamble of claim 1.

[0002] Driver assistance systems for performing an autonomous, remotely activated parking maneuver of a motor vehicle are known in various embodiments. The parking maneuver, which can be a parking or reversing maneuver, is requested by a user located outside the vehicle using a mobile device.

[0003] The mobile device can be, for example, a mobile phone, in particular a smartphone, or a tablet PC. Such a mobile device executes a corresponding program that can generate a request signal to initiate the parking maneuver based on a user input. The request signal can be generated, for example, by a user interface displayed on a touch-sensitive display device of the mobile phone, in particular the smartphone, or the tablet PC, by a user input, or by a voice input. This request signal is transmitted wirelessly to the driver assistance system of the motor vehicle.

[0004] The mobile device can, for example, also be a vehicle key, with the request signal being generated, in particular, by pressing a button and transmitted wirelessly to the driver assistance system. The driver assistance system can, for example, also have a voice input system with a number of microphones located outside the vehicle. The voice input system makes it possible to evaluate the user's voice inputs received via the microphones and to extract a request signal to initiate the parking maneuver.

[0005] The driver assistance system comprises a control device by means of which the autonomous parking maneuver of the motor vehicle can be controlled. When a request signal to start a parking maneuver is received by the driver assistance system, suitable environmental sensor means, which may be, for example, ultrasonic sensor means and / or lidar sensor means and / or camera devices, are used to check whether a parking area, in particular a parking space on a street or in a parking lot or another uncovered or covered parking space (for example, a garage or underground parking space), is available in the vicinity of the motor vehicle that is sufficiently dimensioned to allow the motor vehicle to be parked safely.If so, the driver assistance system performs the parking maneuver of the vehicle autonomously by using the control device to control a drive device, a steering device, and a braking device of the vehicle accordingly, so that the driving, steering, and braking maneuvers required for the successful execution of the parking maneuver are automated and thus controlled without user intervention. In a similar way, a parking maneuver from a parking space can also be performed autonomously using the driver assistance system.

[0006] The progress of the parking maneuver can be visualized to the user via the display device of the mobile phone, in particular the smartphone, or the tablet PC. The driver assistance system is designed so that the parking maneuver is automatically stopped by a braking intervention initiated by the control device if a collision with an obstacle is imminent. Preferably, the driver assistance system is also designed so that the parking maneuver can be stopped by an operator intervention using the mobile device.

[0007] Relevant legal regulations stipulate that the user may only activate the parking maneuver within a defined maximum distance radius around the vehicle in order to fulfill their monitoring obligations and, if necessary, also be able to stop the parking maneuver. Currently applicable legal standards stipulate that this maximum distance radius, within which the user monitoring the parking maneuver must be located, may be 6 m. It is often difficult for the user to estimate whether they are within this maximum distance radius to be able to activate the parking maneuver.

[0008] In such an autonomous parking maneuver of the motor vehicle, which is activated from the outside, there is currently no representation of the remaining travel path of the motor vehicle until the collision-avoiding braking is carried out, in addition to the representation of the current course of the parking maneuver on the display device of the mobile device.

[0009] Currently, such information is provided to the driver by parking assistance systems via acoustic and / or visual signals in the vehicle interior. The frequency of the acoustic signals increases with increasing proximity to a collision obstacle and changes to a continuous tone when a collision with the obstacle is imminent. This continuous tone is generated when the vehicle approaches within approximately 20 cm of a collision obstacle.Optical signals that are visualized to the driver by means of a display device within the motor vehicle include, for example, guide lines of the motor vehicle as well as front, rear and side segments that represent the surroundings of the motor vehicle and that can be displayed in particular in the "traffic light colors" green (no collision imminent), yellow (collision possible if a collision obstacle is approached further) and red (collision with the collision obstacle is imminent).

[0010] DE 10 2013 213 064 A1 discloses a vehicle with a parking assistant for autonomous parking functions that can be controlled from the outside. The vehicle's external lighting, including headlights, sidelights, and rearlights, can be varied to create a display band by changing the flashing frequency or gradually switching rear light modules on or off. If the vehicle is too close to an obstacle, hazard warning flashing is activated, triggered by environmental sensors, such as ultrasonic sensors. The flashing of the headlights is used to indicate the distance between the front of the vehicle and a rear wall, such as in a garage. The distance is visually represented in the form of bars of different heights that vary depending on the distance.

[0011] The invention aims to provide a driver assistance system for carrying out an autonomous, remotely activated parking maneuver of a motor vehicle of the type mentioned above with further improved properties.

[0012] The solution to this problem is provided by a generic driver assistance system for carrying out an autonomous, remotely activated parking maneuver of a motor vehicle with the features of the characterizing part of claim 1. The subclaims relate to advantageous developments of the invention.

[0013] A driver assistance system designed to carry out an autonomous, remotely activated parking maneuver of a motor vehicle comprises - means for wirelessly receiving a request signal to start the parking maneuver, - a plurality of environmental sensor means designed to sense the environment of the motor vehicle and to detect potential collision obstacles, - a control device configured to process the request signal and measurement data from the environmental sensor means and to calculate a planned trajectory of the motor vehicle for the parking maneuver, to automatically control the driving maneuvers, steering maneuvers, and braking maneuvers of the motor vehicle required to carry out the parking maneuver along the planned trajectory, and to automatically stop the parking maneuver by braking if a collision with a collision obstacle is imminent. According to the invention, the driver assistance system is characterized in that it comprises a plurality of lighting means and optically functional means associated therewith, which are configured to generate ground-side light projections related to the parking maneuver in a vicinity of the motor vehicle while the motor vehicle is carrying out the autonomous parking maneuver.

[0014] The floor-mounted light projections allow users to visualize information related to the autonomous parking maneuver, such as the progress of the maneuver. For example, the light projections can be used to visualize the vehicle's remaining travel distance until collision-avoiding braking is initiated.

[0015] In one embodiment, it is proposed that at least some of the light projections in the near area of ​​the motor vehicle are shaped like lines.

[0016] In one embodiment, it is possible for at least some of the linear light projections to be provided in the near field to the side of the motor vehicle. For example, to generate the lateral projections in the interior of the motor vehicle, corresponding illuminants and associated optically functional means can be arranged, particularly at the positions of the upper interior grab handles, in such a way that, once activated, the illuminants emit light from the interior of the motor vehicle through the side windows onto the ground to the side of the motor vehicle, thereby generating the linear light projections (lines or line segments).To generate these lateral, linear light projections, door handle illumination light sources (also for retractable door handles) and optically functional means associated with these door handle illumination light sources on the exterior of the motor vehicle can be used as lighting means.

[0017] In one embodiment, it can be provided that in the near area of ​​the motor vehicle at least some of the light projections are shaped like circular segments.

[0018] In one embodiment, it is proposed that at least some of the circular-segment-like light projections be provided in the immediate vicinity of the motor vehicle. To generate these projections, the driver assistance system can, for example, comprise a daytime running light source of the motor vehicle as a light source, to which at least one light-refracting optically functional means or one or more light-guiding optically functional means are assigned in order to generate the desired circular-segment-like shape of these light projections on the ground in the immediate vicinity of the motor vehicle. Alternatively, the driver assistance system can also comprise one or more light sources in the region of the front of the motor vehicle and optically functional means assigned to them, which serve the exclusive purpose of generating the front circular-segment-like light projections.

[0019] In one embodiment, it is possible for at least some of the circular segment-like light projections to be provided in the immediate vicinity behind the motor vehicle. To generate these light projections on the ground in the immediate vicinity behind the motor vehicle, the driver assistance system can, for example, comprise one or more illuminants with associated optically functional means in the region of a grip recess of an operating handle provided for opening a trunk lid or tailgate of the motor vehicle. Alternatively or additionally, the driver assistance system can comprise one or more illuminants in the region of a license plate illumination recess to generate the rear light projections.One or more optically functional means, such as one or more lenses and / or one or more projection heads, can be assigned to these aforementioned illuminants in the area of ​​the handle recess or the license plate illumination recess. For example, a lighting module can also be used as the illuminant, which, in terms of its design, resembles a sensor device in a motor vehicle's parking aid and, as an optically functional means, has a slightly inclined cover surface for generating the light projections onto the ground surface.

[0020] Other possible locations for one or more light sources to generate the projections near the rear of the vehicle include a lower edge in the license plate holder, on cooling fins, or near a spoiler edge (such as a third rear brake light). For example, an LED strip with projective prism geometry can also be used as a light source to generate the projections on the ground.

[0021] In a preferred embodiment, it is proposed that the light projections generated in the near range are spaced 10 cm to 50 cm, preferably approximately 20 cm, from the motor vehicle.

[0022] In an advantageous embodiment, the driver assistance system can be provided with a plurality of lighting devices and associated optically functional devices, which are designed to generate a circular light projection on the ground, preferably at a distance from the motor vehicle that corresponds to a maximum distance radius. The user must remain within this maximum distance radius in order to fulfill their monitoring obligations and thus allow the autonomous parking maneuver to be performed at all. By projecting the maximum distance radius, the user can easily estimate whether or not they are within this maximum distance radius to activate and operate the autonomous parking maneuver.

[0023] The illuminants provided for generating the light projections can be designed to emit light with a fixed light color (including white light). In an alternative embodiment, it is proposed that at least some of the illuminants for generating the light projections be multicolored. Preferably, the control device can be used to switch between the different light colors. These multicolored illuminants can then, for example, emit light in the colors green, yellow, or red depending on the current distance of the motor vehicle from potential collision obstacles, thus generating colored light projections.

[0024] For example, at least some of the light projections can be generated in green if there is no imminent collision with a collision obstacle. At least some of the light projections can be displayed in yellow if a collision is possible as the motor vehicle approaches a collision obstacle. At least some of the light projections can be displayed in red if a collision with one of the collision obstacles is imminent and the driver assistance system prevents this through automatic braking intervention. The latter preferably occurs when the motor vehicle is approximately 20 cm away from the collision obstacle.

[0025] In one embodiment, it can be provided that at least some of the lighting means for generating the light projections can be controlled by means of a flashing circuit with a variable flashing frequency. Analogous to the increase in the frequency of acoustic signals of a parking assistance system in the interior of the motor vehicle when approaching a collision obstacle, it can be provided, for example, that the flashing frequency increases with increasing proximity to a collision obstacle and changes to a "continuous light" when a collision with the respective collision obstacle is imminent and automatic braking intervention is initiated to prevent the collision.

[0026] In one embodiment, it is proposed that the driver assistance system is designed to project a stop line of the automated driving function onto the ground as a line segment, comparable to an HMI display of the current parking train, by means of the lighting means and the optically functional means associated therewith in the front area or rear area.

[0027] In a further embodiment, it is possible to project the current direction of travel onto the ground at one or more locations around the motor vehicle, for example as a shape in front of or behind the motor vehicle (for example as arrows) or as an animation of the line segments (for example flashing forwards / backwards as with direction indicators).

[0028] In a further embodiment, it is possible to numerically project the remaining travel distance of the automated train onto the ground at one or more locations around the motor vehicle.

[0029] Ideally, the display "follows" the user, depending on where they move. The user's movement and position are evaluated anyway by the required location of the mobile device in order to maintain the legally required range. Further features and advantages of the present invention will become clear from the following description of preferred embodiments with reference to the enclosed Fig. 1, which shows a highly simplified plan view of a motor vehicle 1 equipped with a driver assistance system for performing an autonomous, remotely activated parking maneuver. The driver assistance system is designed to autonomously perform a parking maneuver (parking or exiting a parking space) of the motor vehicle 1 and comprises a control device 2 by means of which this parking maneuver can be controlled in the manner described in more detail below.

[0030] The driver assistance system further comprises a plurality of environmental sensor means configured to sense the surroundings of the motor vehicle 1 and, in doing so, to detect possible collision obstacles 4, 5, such as walls or other vehicles or other objects or even persons with which the motor vehicle 1 could potentially collide during a parking maneuver. These environmental sensor means can be configured, for example, as ultrasonic sensor means and / or camera devices and / or lidar sensor means. This list is expressly not to be understood as exhaustive. The control device 2 is configured to evaluate the measurement signals or measurement data from the environmental sensor means and, in doing so, to determine, among other things, the current distances of the motor vehicle from the possible collision obstacles 4, 5.

[0031] The parking maneuver is requested by a user 3, who is outside the motor vehicle 1, using a mobile device.

[0032] The mobile device can be, for example, a mobile phone, in particular a smartphone, or a tablet PC. Such a mobile device executes a corresponding program, by means of which a request signal to start the parking maneuver can be generated through an operator input. The request signal can be generated, for example, by means of a user interface displayed on a touch-sensitive display device of the mobile phone, in particular the smartphone, or the tablet PC, through a user input, or through a voice input. This request signal is transmitted wirelessly to the driver assistance system.

[0033] The mobile device can, for example, also be a vehicle key, whereby the request signal is generated in particular by pressing a button and is transmitted wirelessly to the driver assistance system.

[0034] The driver assistance system can, for example, also have a voice input system with a number of microphones located outside the vehicle. The voice input system makes it possible to evaluate the user's voice inputs received via the microphones and extract a request signal to initiate the parking maneuver.

[0035] The driver assistance system is designed to wirelessly receive the request signal generated in the manner explained above to start the parking maneuver of the motor vehicle 1 and to make it available to the control device 2.

[0036] Relevant legal regulations stipulate that user 3 may only activate the parking maneuver within a defined maximum distance radius 7 around motor vehicle 1 in order to fulfill their monitoring obligations. The currently applicable legal standards stipulate that this maximum distance radius 7, within which user 3 monitoring the parking maneuver must be located, may be 6 m.

[0037] If, for example, the request signal to start a parking maneuver is received by the driver assistance system, it is first checked with the aid of the environmental sensor means of the motor vehicle 1 and the control device 2, which evaluates the data of the environmental sensor means, whether a parking area 6 is present in the vicinity of the motor vehicle 1 that is sufficiently dimensioned to allow the motor vehicle 1 to be parked there at all.If so, the driver assistance system carries out the parking maneuver of the motor vehicle 1 autonomously by first calculating a corresponding target trajectory (planned trajectory) along which the motor vehicle 1 is to move using the control device 2 and then controlling at least one drive device, at least one steering device, and at least one braking device of the motor vehicle 2 accordingly, so that the driving maneuvers, steering maneuvers, and braking maneuvers required for the successful execution of the parking maneuver can be automated and thus controlled without intervention by the user 3. The driver assistance system is designed such that the parking maneuver is automatically stopped by a braking intervention if a collision with a collision obstacle 4, 5 is imminent.

[0038] In an analogous manner, following a corresponding request from the user, a parking maneuver of the motor vehicle 1 from the parking area 6 along a corresponding target trajectory (plan trajectory) is also carried out autonomously by means of the driver assistance system, provided that no obstacles make the parking maneuver impossible.

[0039] The progress of the parking maneuver can be visualized to the user 3 via the display device of the mobile device. Preferably, the driver assistance system is also designed so that the parking maneuver can be stopped by an operator input from the user 2 on the mobile device and / or by a voice input.

[0040] If the motor vehicle 1 is controlled autonomously by means of the driver assistance system during the remotely activated parking maneuver, there is currently no representation of the remaining travel distance of the motor vehicle 1 until collision-avoiding braking in front of a collision obstacle 4, 5, in addition to the representation of the course of the parking maneuver on the display device. Currently, such information is provided to the driver of the motor vehicle 1 by parking assistance systems via acoustic and / or optical signals in the vehicle interior. The frequency of the acoustic signals increases with increasing approach to a collision obstacle 4, 5 and changes to a continuous tone when a collision with the collision obstacle 4, 5 is imminent. This continuous tone is typically generated at a distance from the collision obstacle 4, 5 of approximately 20 cm.Optical signals that are visualized by means of a display device within the motor vehicle include, for example, guide lines of the motor vehicle 1 as well as segments that represent the surroundings of the motor vehicle 1 in the near range and that can be displayed in particular in the “traffic light colors” green (no collision imminent), yellow (collision possible upon further approach to the collision obstacle 4, 5) and red (collision with the collision obstacle 4, 5 is imminent).

[0041] The driver assistance system described here is configured to generate different light projections 8a, 8b, 8c, 8d, 8e, 8f related to the parking maneuver on the ground in the vicinity of the motor vehicle 1, preferably at a distance from the motor vehicle of approximately 10 cm to approximately 50 cm, while the autonomous parking maneuver is being performed. The light projections 8a, 8b, 8c, 8d, 8e, 8f can, for example, be linear and / or circular segment-shaped. For this purpose, the driver assistance system has a plurality of lighting devices and optically functional devices associated therewith, which are configured to generate the light projections 8a, 8b, 8c, 8d, 8e, 8f related to the parking maneuver.With the aid of the optically functional means assigned to the illuminants, the beam shape of the light emitted by the illuminants during activation can be influenced such that the desired shapes of the light projections 8a, 8b, 8c, 8d, 8e, 8f, in particular lines or circular segments (this list is expressly not intended to be exhaustive, so that other shapes are also possible in principle), are generated. The optically functional means can preferably be light-refracting, in particular as lenses, lens systems, prisms, or combinations thereof, or light-conducting. They are designed such that they can generate the light projections 8a, 8b, 8c, 8d, 8e, 8f through appropriate beam shaping.

[0042] The illuminants of the driver assistance system presented here, which are provided for generating the light projections 8a, 8b, 8c, 8d, 8e, 8f, can be arranged at several different positions depending on the design language of the motor vehicle 1 and can be realized by different illuminants and the optically functional means assigned to them, which in particular influence the beam shape of the light emitted by the illuminants.

[0043] Preferably, the driver assistance system is configured to generate at least some of the light projections 8a, 8b, 8c, 8d, 8e, 8f at a distance from the motor vehicle 1 at which a collision with a collision obstacle 4, 5 is imminent. This distance in the vicinity of the motor vehicle is preferably approximately 20 cm and thus corresponds to the distance at which a continuous tone is typically generated within the motor vehicle 1 by a parking assistance system, warning the driver of an imminent collision with a collision obstacle 4, 5.

[0044] In Fig. 1 shows, by way of example, two linear light projections 8a, 8b that are generated laterally next to the motor vehicle 1. For example, to generate the lateral projections 8a, 8b in the interior of the motor vehicle 1, corresponding lighting means and optically functional means associated therewith can be arranged, in particular at the positions of upper interior grab handles, in such a way that, after activation, the lighting means emit light from the interior of the motor vehicle 1 through the side windows onto the ground laterally next to the motor vehicle 1, thereby generating the linear light projections 8a, 8b (lines or line segments).To generate these lateral, in this case linear light projections 8a, 8b, door handle illumination light sources (also in the case of retractable door handles) and optically functional means assigned to these door handle illumination light sources on the outside of the motor vehicle 1 can be used as lighting means.

[0045] Furthermore, Fig. 1 shows two front, in this case circular segment-like light projections 8c, 8d near the front of the vehicle, for the generation of which the driver assistance system can, for example, each have a daytime running light source of the motor vehicle 1 as a light source, to which at least one light-refracting optically functional means or one or more light-guiding optically functional means are assigned in order to generate the desired circular segment-like shape of these light projections 8c, 8d on the ground in the near range of the motor vehicle 1.

[0046] In an alternative embodiment, the driver assistance system in the region of the vehicle front of the motor vehicle 1 can also comprise one or more lighting means and optically functional means associated therewith, which serve exclusively the purpose of generating the front, in this case circular segment-like light projections 8c, 8d.

[0047] In addition, Fig. 1 also shows two rear light projections 8e, 8f, in this case also in the form of circular segments, near the rear of the vehicle. To generate these light projections 8e, 8f on the ground in the immediate vicinity behind the motor vehicle 1, the driver assistance system can, for example, have one or more illuminants with associated optically functional means in the region of a recessed grip of an operating handle provided for opening a trunk lid or tailgate of the motor vehicle 1.

[0048] Alternatively or additionally, the driver assistance system can comprise one or more illuminating means in the area of ​​a license plate light recess for generating the rear light projections 8e, 8f. One or more optically functional means, such as one or more lenses and / or one or more projection heads, can be associated with these aforementioned illuminating means in the area of ​​the handle recess or the license plate light recess.

[0049] For example, a lighting module can also be used as the lighting means, which in terms of its design resembles a sensor means of a parking aid of the motor vehicle and has, as an optically functional means, a slightly inclined cover surface for generating the projections 8e, 8f of the light onto the ground surface.

[0050] Other conceivable positions for one or more light sources to generate projections 8e, 8f near the rear of the vehicle include a lower edge in the license plate holder, on cooling fins, or in the area of ​​a spoiler edge (such as a third rear brake light). For example, an LED strip with projective prism geometry can also be used as a light source to generate projections 8e, 8f on the ground.

[0051] Furthermore, the driver assistance system can also comprise lighting devices with associated optically functional means, which are designed to generate a circular light projection 8g at a greater distance from the motor vehicle 1, which corresponds to the maximum distance radius 7 within which the user 3 must be located in order for the autonomous parking maneuver to be carried out at all. This allows the user 3 to easily estimate whether or not they are within this maximum distance radius 7 in order to be able to activate the parking maneuver.

[0052] The lamps provided for generating the light projections 8a, 8b, 8c, 8d, 8e, 8f, 8g can be designed to emit light with a fixed light color (including white light). To the extent legally permissible and technically feasible, multicolored lamps can also be used, particularly for generating the light projections 8a, 8b, 8c, 8d, 8e, 8f in the immediate vicinity of the motor vehicle 1, wherein the control device 2 can be used to switch between the different light colors. These multicolored lamps can then, for example, emit light in the colors green, yellow, or red depending on the current distance of the motor vehicle 1 from potential collision obstacles 4, 5, thus generating colored light projections 8a, 8b, 8c, 8d, 8e, 8f.

[0053] For example, at least some of the light projections 8a, 8b, 8c, 8d, 8e, 8f can be generated in green if there is no risk of a collision with a collision obstacle 4, 5. At least some of the light projections 8a, 8b, 8c, 8d, 8e, 8f can be displayed in yellow if a collision is possible if the motor vehicle 1 approaches a collision obstacle 4, 5 further. At least some of the light projections 8a, 8b, 8c, 8d, 8e, 8f can be displayed in red if a collision with at least one of the collision obstacles 4, 5 is imminent and the driver assistance system prevents this by automatically applying the brakes. The latter typically occurs when the motor vehicle 1 is approximately 20 cm away from the collision obstacle 4, 5.

[0054] To the extent legally permissible and technically feasible, it is also possible for at least some of the lighting means for generating the light projections 8a, 8b, 8c, 8d, 8e, 8f, 8g to be controlled by means of a flashing circuit with a variable flashing frequency. Analogous to the increase in the frequency of acoustic signals of a parking assistance system in the interior of the motor vehicle 1 when approaching at least one collision obstacle 4, 5, it can be provided, for example, that the flashing frequency increases with increasing approach to at least one collision obstacle 4, 5 and changes to a "continuous light" when a collision with the respective collision obstacle 4, 5 is imminent and automatic braking intervention is performed to prevent the collision.

[0055] In one embodiment, it is proposed that the driver assistance system is designed to project a stop line of the automated driving function onto the ground as a line segment 9a, 9b, comparable to an HMI display of the current parking train, by means of the lighting means and the optically functional means associated therewith in the front area or rear area.

[0056] In a further embodiment, it is possible to project the current direction of travel onto the ground at one or more locations around the motor vehicle 1, for example as a shape in front of or behind the motor vehicle 1 (for example as arrows 10a, 10b) or as an animation of the line segments (for example flashing forwards / backwards as with direction indicators).

[0057] In a further embodiment, it is possible to numerically project the remaining travel distance of the automated train onto the ground at one or more locations around the motor vehicle 1.

[0058] Ideally, the ad "follows" the user, depending on where they move. The user's movement and position are evaluated anyway through the required location of the mobile device in order to maintain the legally required range. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2013 213 064 A1

[0010]

Claims

[1] Driver assistance system for carrying out an autonomous, remotely activated parking maneuver of a motor vehicle (1), comprising - means for wirelessly receiving a request signal to start the parking maneuver, - a plurality of environmental sensor means designed to sense the environment of the motor vehicle and to detect potential collision obstacles (4, 5), - a control device (2) which is designed to process the request signal and measurement data of the environmental sensor means and to calculate a planned trajectory of the motor vehicle (1) for the parking maneuver and to automatically control the driving maneuvers, steering maneuvers and braking maneuvers of the motor vehicle required to carry out the parking maneuver along the planned trajectory and to automatically stop the parking maneuver by means of a braking intervention if a collision with a collision obstacle (4, 5) is imminent, characterized bythat the driver assistance system has a plurality of lighting means and optically functional means associated therewith, which are designed to generate ground-side light projections (8a, 8b, 8c, 8d, 8e, 8f) related to the parking maneuver in a vicinity of the motor vehicle (1) during the execution of the autonomous parking maneuver of the motor vehicle (1). [2] Driver assistance system according to claim 1, characterized by that in the near area of ​​the motor vehicle (1) at least some of the light projections (8a, 8b, 8c, 8d, 8e, 8f) are linearly shaped. [3] Driver assistance system according to claim 2, characterized by that at least some of the line-like light projections (8a, 8b) are provided in the near area to the side of the motor vehicle (1). [4] Driver assistance system according to one of claims 1 to 3, characterized bythat in the near area of ​​the motor vehicle (1) at least some of the light projections (8a, 8b, 8c, 8d, 8e, 8f) are shaped like circular segments. [5] Driver assistance system according to claim 4, characterized by that at least some of the circular segment-like light projections (8c, 8d, 8e, 8f) are provided in the close range in front of the motor vehicle (1). [6] Driver assistance system according to one of claims 4 or 5, characterized by that at least some of the circular segment-like light projections (8c, 8d, 8e, 8f) are provided in the close range behind the motor vehicle (1). [7] Driver assistance system according to one of claims 1 to 6, characterized by that the light projections generated in the near range are spaced 10 cm to 50 cm, preferably about 20 cm, from the motor vehicle (1). [8] Driver assistance system according to one of claims 1 to 7, characterized bythat the driver assistance system has a plurality of lighting means and optically functional means associated therewith, which are designed to generate a circular light projection (8g) in the surroundings of the motor vehicle (1), preferably at a distance from the motor vehicle (1) which corresponds to a maximum distance radius. [9] Driver assistance system according to one of claims 1 to 8, characterized by that at least some of the illuminants for generating the light projections (8a, 8b, 8c, 8d, 8e, 8f, 8g) are multi-coloured. [10] Driver assistance system according to one of claims 1 to 9, characterized by that at least some of the lighting means for generating the light projections (8a, 8b, 8c, 8d, 8e, 8f, 8g) can be controlled by means of a flashing circuit with a variable flashing frequency.

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