Method and driving device for measuring a potential parking space

Abstract

A driving device for automated driving with at least automated lateral guidance is described, which includes a function for measuring one or more potential parking spaces on a roadway traversed by a motor vehicle. The driving device is configured to acquire roadway information and, based on this information, to determine a lateral position of the motor vehicle on the roadway suitable for measuring one or more potential parking spaces while driving along the roadway. The driving device is further configured to use automated lateral guidance to position the motor vehicle on the roadway with the determined lateral position while driving along the roadway, thereby measuring one or more potential parking spaces.

Description

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

[0002] A vehicle can have a driving device that is designed to automatically guide the vehicle longitudinally and / or transversely. The vehicle can in particular have a speed and / or distance controller (e.g. an Adaptive Cruise Control, ACC, assistance system) that is configured to set, in particular regulate, the driving speed of the vehicle (when driving freely without a vehicle in front) to a target speed, and / or to set, in particular regulate, the distance of the vehicle to a vehicle in front traveling directly in front of the vehicle to a target distance. The target speed and / or the target distance can be set by the user, in particular by the driver, of the vehicle via the vehicle's user interface.

[0003] Alternatively or additionally, the vehicle may comprise a maneuvering assistant, such as a parking assistant, which is designed to effect an automated maneuvering maneuver, in particular an automated parking maneuver, of the vehicle.

[0004] 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.

[0005] This document addresses the technical task of increasing the accuracy and / or reliability of the measurement of a parking space for a vehicle in order to further increase the comfort of parking maneuvers.

[0006] 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.

[0007] According to one aspect, a driving device (or a driving system) is described that has a function for measuring one or more possible parking spaces on a roadway traveled by a motor vehicle. The driving device can further be configured to effect an automated parking maneuver of the motor vehicle into a detected parking space. Furthermore, the driving device can be configured to automatically guide the motor vehicle longitudinally and / or transversely while traveling along the roadway. The measuring of one or more possible parking spaces along the roadway traveled by the motor vehicle can be effected as part of an automated journey with at least automated transverse guidance.

[0008] The driving device is configured to determine lane information with respect to the roadway. The lane information can be determined based on sensor data from one or more environmental sensors (e.g., at least one camera, at least one radar sensor, at least one lidar sensor, and / or at least one ultrasonic sensor) of the motor vehicle. Alternatively or additionally, the lane information can be determined based on a digital map of the road network traveled by the motor vehicle.

[0009] The determined road information can indicate whether • possible parking spaces are located (if necessary only) on the right and / or passenger side edge of the road; • possible parking spaces are located (if applicable only) on the left and / or driver-side edge of the road; or • possible parking spaces are located on the right and / or passenger side edge of the road and on the left and / or driver side edge of the road.

[0010] The driving device can be configured to check whether one of the aforementioned situations exists on the roadway being traveled. In particular, the roadway information can be used to determine which of the aforementioned situations exists.

[0011] Alternatively or additionally, the road information may indicate • the width of the roadway and / or the width of the lane on the roadway used by the motor vehicle (in each case transverse to the course of the roadway and / or transverse to the direction of travel of the motor vehicle); and / or • whether the road is a one-way street or a two-way street.

[0012] Alternatively or additionally, the road information can indicate whether a possible parking space at an edge of the road is a parallel parking space (where the vehicle is parked lengthwise at the edge of the road) or a perpendicular parking space (where the vehicle is parked perpendicular or diagonally to the edge of the road).

[0013] The driving device is further configured to determine a lateral positioning of the motor vehicle on the roadway, i.e. a positioning of the motor vehicle on the roadway transverse to the course of the roadway, on the basis of the roadway information. In this case, a lateral positioning of the motor vehicle can be determined that is suitable for measuring one or more possible parking spaces when driving along the roadway. In particular, a lateral positioning of the motor vehicle can be determined that is more suitable for measuring one or more possible parking spaces when driving along the roadway than a standard lateral positioning, which is used, for example, when no possible parking spaces are to be measured when driving.

[0014] The lateral positioning typically varies depending on the road information. In particular, the lateral positioning can be changed while driving along the road. Alternatively or additionally, a different lateral positioning of the vehicle can be determined for different roadways (and the available road information) depending on the available road information.

[0015] The driving device can be configured to determine the lateral positioning of the motor vehicle on the roadway as a function of the detection range of an environmental sensor, in particular an ultrasonic sensor, of the motor vehicle for measuring one or more possible parking spaces. A lateral positioning can be determined that ensures that, in the lateral direction (i.e., in the transverse direction) of the motor vehicle, the maximum possible distance of a point of a parking space to be measured (based on the position of the environmental sensor of the motor vehicle) is equal to or less than the detection range.

[0016] Alternatively or additionally, the dimensions, in particular the length and / or the width, of the motor vehicle can be taken into account when determining the lateral positioning. The lateral positioning of the motor vehicle can be determined in a parallel parking space such that the sum of the lateral distance of the motor vehicle to the side of the parallel parking space facing the motor vehicle and the width of the motor vehicle is equal to or less than the detection range of the environment sensor. The lateral positioning of the motor vehicle can be determined in a perpendicular parking space such that the sum of the lateral distance of the motor vehicle to the side of the perpendicular parking space facing the motor vehicle and the length of the motor vehicle is equal to or less than the detection range of the environment sensor.

[0017] By specifically determining the lateral positioning of the motor vehicle on the roadway for measuring one or more possible parking spaces, the reliability and accuracy of the measurement can be increased, thereby improving the quality of a motor vehicle maneuvering assistant.

[0018] The driving device is further configured to arrange and / or position the motor vehicle on the roadway with the determined lateral positioning (through the automated lateral guidance of the motor vehicle) while traveling along the roadway, and to measure one or more possible parking spaces. The lateral positioning may change while traveling along the roadway. The driving device can be configured to automatically guide the motor vehicle transversely (and, if necessary, automatically longitudinally) while traveling along the roadway depending on the determined lateral positioning.

[0019] The driving device can be set up to determine, in particular to select, as road information whether, when driving along the road • a first situation exists in which possible parking spaces are located on the passenger-side edge of the road but not on the driver-side edge of the road; or • a second situation exists in which possible parking spaces are located at the passenger-side edge of the road and at the driver-side edge of the road; or • a third situation exists in which possible parking spaces are located on the driver's side edge of the road but not on the passenger side edge of the road.

[0020] This allows all possible situations to be examined, and the relevant one to be selected. The lateral positioning of the vehicle on the road can then be determined with particular precision, and in particular, adjusted depending on whether the first, second, or third situation applies while driving along the road.

[0021] The driving device can be configured to detect one or more possible parking spaces (arranged at the edge of the roadway) when driving along the roadway based on sensor data from one or more environmental sensors of the motor vehicle. The driving device can further be configured to determine one or more geometric properties, in particular the width and / or the length, of the detected possible parking space when driving past a detected parking space in order to measure the detected possible parking space. The width of the parking space can be the direction that corresponds to the width of the motor vehicle when the motor vehicle is parked in the parking space. The length of the parking space can be the direction that corresponds to the length of the motor vehicle when the motor vehicle is parked in the parking space.

[0022] The driving device can be configured to decide, based on the one or more determined geometric properties of a detected possible parking space, that the detected possible parking space is suitable for the motor vehicle. In response, an offer to perform an automated parking maneuver (with automated longitudinal and / or lateral guidance) into the detected possible parking space can be issued via a user interface of the motor vehicle. The offer can be accepted by the driver of the vehicle. In response, an automated parking maneuver (with automated longitudinal and / or lateral guidance) into the parking space can be initiated. Alternatively, an automated parking maneuver into the detected possible parking space can be initiated directly (without prior issuance and acceptance of an offer).

[0023] The driving device can be configured to determine whether or not a suitable parking space for the motor vehicle needs to be found on the roadway traveled by the motor vehicle. This can be determined, for example, based on a user input from the driver of the motor vehicle via the motor vehicle's user interface. Alternatively or additionally, this can be determined based on the destination of a route planned in a navigation system of the motor vehicle.

[0024] The driving device can be configured to determine a lateral default positioning of the motor vehicle on the roadway if it has been determined that no suitable parking space for the motor vehicle can be found on the roadway traveled by the motor vehicle (and the motor vehicle is to be driven across the roadway without searching for a parking space). The lateral default positioning can, for example, correspond to a central positioning on the roadway or on the lane traveled by the motor vehicle.

[0025] On the other hand, the driving device can be configured to determine a lateral positioning of the motor vehicle on the roadway that deviates from the standard positioning depending on the roadway information (in particular depending on the arrangement of possible parking spaces at one or both edges of the roadway), if it has been determined that a suitable parking space for the motor vehicle is to be found on the roadway traveled by the motor vehicle. This lateral positioning can be suitable (better than the standard positioning) for measuring one or more possible parking spaces while driving along the roadway, in particular because the lateral positioning means that one or more possible parking spaces are located closer to the motor vehicle's surroundings sensor (than when using the standard positioning). This can further increase the reliability and accuracy of measuring parking spaces.

[0026] The driving device can be configured to compare the width of the roadway or lane with a (predefined) width threshold. The width threshold can depend on the detection range of the environmental sensor for measuring parking spaces. The motor vehicle can be positioned (essentially) in the center or along the center line of the roadway or lane to measure one or more possible parking spaces while driving along the roadway if the width of the roadway or lane is equal to or smaller than the width threshold (this can, for example, correspond to the default positioning).

[0027] On the other hand, the driving device can be configured to position the motor vehicle at a defined lateral distance from the edge of the roadway or lane or from one or more vehicles parked at the edge of the roadway or lane when traveling along the roadway to measure one or more possible parking spaces, if the width of the roadway or lane is greater than the width threshold. This can result in lateral positioning relative to the edge of the roadway where one or more possible parking spaces are located. This can further increase the reliability and accuracy of parking space measurement.

[0028] The driving device can be configured to detect, on the basis of sensor data from the one or more environmental sensors of the motor vehicle, one or more vehicles parked at the edge of the roadway at which one or more possible parking spaces can be or are located. The edge of the roadway at which one or more possible parking spaces can be located can be determined on the basis of the roadway information. The lateral positioning of the motor vehicle on the roadway can be determined as a function of the one or more detected vehicles, in particular to ensure that the motor vehicle has a predefined lateral distance (e.g. between 50 cm and one meter) from the one or more detected vehicles when driving along the roadway. In this way, possible parking spaces at the edge of the roadway can be measured particularly precisely.

[0029] The driving device can be configured to determine a driving trajectory for driving along the roadway based on the roadway information, wherein the driving trajectory indicates the course of the lateral positioning of the motor vehicle on the roadway (in particular as a function of time and / or as a function of the position along the roadway). The lateral positioning can be changed during the journey (e.g., to measure possible parking spaces at opposite edges of the roadway). It can then be arranged that the motor vehicle is positioned on the roadway (through automated lateral guidance) according to the determined driving trajectory while driving along the roadway. Suitable parking spaces can thus be detected particularly reliably.

[0030] The driving device can be configured to detect, on the basis of sensor data from one or more environmental sensors of the motor vehicle, a first possible parking space located ahead in the direction of travel of the motor vehicle at a first (e.g. right or left) edge of the roadway. The lateral positioning of the motor vehicle for driving past the first possible parking space and / or for driving (past) to measure the first possible parking space can then be determined depending on the position of the first possible parking space along the roadway. The driving device can in particular be configured to determine the lateral positioning of the motor vehicle for driving past the first possible parking space and / or for driving (past) to measure the first possible parking space in such a way that • the motor vehicle at the first possible parking space has a defined lateral distance (e.g. between 50 cm and 1 meter) to a parked vehicle adjacent to the first possible parking space; or • the motor vehicle has a defined lateral distance to the first edge of the road at the first possible parking space.

[0031] The driving device can further be configured to detect, based on sensor data from one or more environmental sensors of the motor vehicle, a second possible parking space located ahead in the direction of travel of the motor vehicle at the second edge of the roadway (where the first and the (opposite) second edge bound the roadway in the transverse direction). The lateral positioning of the motor vehicle for driving past the second possible parking space and / or for driving (past) the second possible parking space to measure the second possible parking space can be determined depending on the position of the second possible parking space along the roadway (and can, in particular, be changed compared to the lateral positioning for the first possible parking space).The driving device can in particular be configured to determine the lateral positioning of the motor vehicle for driving past the second possible parking space and / or for driving (past) the second possible parking space in such a way that. • the motor vehicle at the second possible parking space has a defined lateral distance (e.g. between 50 cm and 1 meter) to a parked vehicle adjacent to the second possible parking space; or • the motor vehicle has a defined lateral distance to the second edge of the road at the second possible parking space.

[0032] The driving device can be configured, in particular, to determine a driving trajectory for driving past the first and the subsequent second possible parking space (ie for measuring the first and the subsequent second possible parking space). The driving trajectory can be determined in such a way that • the motor vehicle at the first possible parking space has a defined lateral distance (e.g. between 50 cm and 1 meter) to a vehicle parked at the first edge of the road adjacent to the first possible parking space; and • the motor vehicle at the second possible parking space has the defined lateral distance (e.g. between 50 cm and 1 meter) to a vehicle parked at the second edge of the road adjacent to the second possible parking space.

[0033] The vehicle can thus be guided along a winding trajectory across the road to measure potential parking spaces at both edges of the road. This significantly improves the quality of the measurement.

[0034] 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 driving device described in this document.

[0035] According to a further aspect, a method for measuring one or more possible parking spaces on a roadway traveled by a motor vehicle (as part of an automated journey with at least automated lateral guidance) is described. The method comprises determining roadway information with respect to the roadway, and determining (in particular adapting), based on the roadway information, a lateral positioning of the motor vehicle on the roadway that is suitable for measuring one or more possible parking spaces while traveling along the roadway (in particular, more suitable than a standard lateral positioning). The lateral positioning is typically variable depending on the roadway information.Furthermore, the method comprises arranging and / or positioning the motor vehicle (by means of automated lateral guidance) while driving along the roadway with the determined lateral positioning on the roadway and measuring one or more possible parking spaces.

[0036] 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.

[0037] 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.

[0038] In this document, the term "automated driving" refers to driving with automated longitudinal and / or lateral guidance. Automated driving can, for example, involve extended driving on the highway or limited-time driving while parking. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation include assisted, partially automated, highly automated, fully automated, and autonomous driving (each with an increasing degree of automation). The five levels of automation mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering). In assisted driving (SAE Level 1), the system performs longitudinal or lateral guidance in specific driving situations.In partially automated driving (SAE Level 2), the system assumes longitudinal and lateral guidance in certain driving situations, whereby the driver must continuously monitor the system, as in assisted driving. In highly automated driving (SAE Level 3), the system assumes longitudinal and lateral guidance in certain driving situations without the driver having to continuously monitor the system; however, the driver must be able to assume control of the vehicle within a certain time period upon request from the system. In fully automated driving (SAE Level 4), the system assumes control of the vehicle in certain driving situations, even if the driver does not respond to a request for intervention, thus eliminating the driver as a fallback. In autonomous driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road surface and environmental conditions that can also be mastered by a human driver.The measures described in this document may refer to a driving device that is designed to SAE Level 2 or higher.

[0039] 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.

[0040] 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. 2 an exemplary driving trajectory of a vehicle when searching for a parking space; and Fig. 3 a flowchart of an exemplary method for measuring a parking space for a vehicle.

[0041] As stated at the beginning, this document deals with the reliable and precise measurement 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.

[0042] 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.

[0043] The automatic longitudinal guidance of vehicle 100 can be effected, for example, by a speed and / or distance controller. Based on the surrounding data, the actual distance between vehicle 100 and a vehicle traveling directly in front of vehicle 100 can be determined. Furthermore, the actual distance can be set, in particular regulated, to a predefined target distance by the distance controller. The target distance can be set by the user, for example, via a user interface 104 of vehicle 100.

[0044] Alternatively or additionally, the driving speed of the vehicle 100 (during a free ride) can be set, in particular regulated, to a target speed using a cruise control. The target speed can be set by the user via the user interface 104 of the vehicle 100.

[0045] Fig. 1b shows an exemplary parking situation in which the vehicle 100 approaches one or more parking spaces 120 on a roadway 130. 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. Due to the limited detection range 112 of the one or more environmental sensors 102, one or more geometric properties, such as the width 121 (along the transverse axis of the vehicle 100) and / or the length 122 (along the longitudinal axis of the vehicle 100), cannot be detected at all or can only be detected with relatively low accuracy. It may then not be possible to determine on the basis of the one or more detected geometric properties 121, 122 of the parking space 120 whether the parking space 120 is suitable for the vehicle 100, in particular whether the parking space 120 has a sufficiently large spatial extent for the vehicle 100.

[0046] The device 101 can be configured to determine lane information relating to the lane 130 on which the vehicle 100 is traveling and on which a suitable parking space 120 is being sought. The lane information can be determined based on the sensor data of the one or more environmental sensors 102 and / or based on a digital map for the lane network traveled by the vehicle 100. The lane information can, for example, indicate • the width 131 of the carriageway 130; • the means 132 and / or the center line of the roadway 130; • the number of possible directions of travel on lane 130 (e.g. one-way street or road with two opposing directions of travel); and / or • the fact whether the road has 130 possible parking spaces 120 only on the passenger side or also on the driver side.

[0047] Fig. 2 shows an exemplary driving situation in which the vehicle 100 is traveling on a one-way street that has possible parking spaces 120 on both sides (i.e., on both edges of the road). The device 101 of the vehicle 100 can be configured to detect one or more possible parking spaces 120 ahead based on the sensor data from the one or more environmental sensors 102. Furthermore, the device 101 can be configured to determine a driving trajectory 200 for the vehicle 100, wherein the driving trajectory 200 aims to position the vehicle 100 at a defined lateral distance from the individual possible parking spaces 120 while traveling along the roadway 130, so that the respective possible parking space 120 can be measured with relatively high accuracy (based on the sensor data from the one or more environmental sensors 102).

[0048] In the Fig. In the example shown in Figure 2, the vehicle 100 first drives past a first possible parking space 120 on the right side of the road. The driving trajectory 200 for the vehicle 100 can be determined such that the vehicle 100 has a defined distance 201 from one or more other vehicles 110 parked on the right side of the road at the first possible parking space 200.

[0049] As the lane 130 continues, a second possible parking space 120 is identified on the left side of the lane. The driving trajectory 200 for the vehicle 100 can then guide the vehicle 100 to the second possible parking space 120 such that the vehicle 100 has the defined distance 201 from one or more vehicles 110 parked on the left side of the lane.

[0050] If the road information indicates that • Lane 130 has a single direction of travel, • possible parking spaces 120 are arranged on both sides of the road, and • the roadway 130 has a width 131 that is equal to or less than a certain width threshold, a driving trajectory 200 for the vehicle 100 can be determined, in which the vehicle 100 is guided along the center 132 of the roadway 130. The width threshold can depend on the typical width (for parallel parking spaces) or length (for perpendicular parking spaces) of vehicles. Furthermore, the width threshold can depend on the detection range 112 of the one or more environmental sensors 102 for measuring parking spaces 120.

[0051] If the road information indicates that • possible parking spaces 120 are arranged only at a first edge of the two road edges, a driving trajectory 200 can be determined in which the vehicle 100 is guided past the first edge of the road at a defined distance 201 from the vehicles 110.

[0052] The device 101 can be configured to guide the vehicle 100 with automated longitudinal and transverse guidance along the determined travel trajectory 200 in order to search for a suitable parking space 120 for the vehicle 100 (and in doing so to measure one or more possible parking spaces 120).

[0053] In an alternative example, the determined driving trajectory 200 can be output via the user interface 104 of the vehicle 100, e.g., displayed on a screen. The determined driving trajectory 200 can, for example, be projected into the field of view of the driver of the vehicle 100 (e.g., via a head-up display). This can prompt the driver of the vehicle 100 to manually drive along the displayed driving trajectory 100 in order to measure one or more possible parking spaces 120 as they pass by.

[0054] Once a suitable parking space 120 is identified, this parking space 120 can be offered via the user interface 104. The parking space 120 can then be selected by the driver of the vehicle 100. In response to the selection of the parking space 120, an automated parking maneuver into the parking space 120 can be initiated.

[0055] As already explained, the sensor range 112 of an environment sensor 102, in particular an ultrasonic sensor, is limited. Therefore, a vehicle 100 should drive as close as possible to a potential parking space 120 in order to be able to measure the parking space 120 (in particular in the transverse direction to the direction of travel of the vehicle 100, e.g., the parking space depth).

[0056] If the parking intention of the vehicle 100 is apparent (e.g., because the parking sign in the user interface 104 of the vehicle 100 is open or because the destination address is reached from the navigation data) and the vehicle 100 is possibly operated with automated longitudinal and / or lateral guidance, the vehicle 100 can assume an advantageous (lateral) positioning for parking space measurement. For this purpose, the vehicle 100 can be oriented not to the center of the lane traveled by the vehicle 100, but to one or more parked vehicles 110, e.g., to ensure that the vehicle 100 has a defined distance 201 (e.g., 1 meter) from the one or more parked vehicles 110. The (lateral) positioning can also be on the driver's side if possible parking spaces 120 are expected on the driver's side. An example of this is a one-way street where parking is possible (if necessary) on the left side.

[0057] Central positioning of the vehicle 100 can be effected when the vehicle 100 is located, for example, in a one-way street 130 with a width 131 that is equal to or less than a width threshold and where parking spaces 120 are expected on both sides.

[0058] In combination with one or more predictive environment sensors 102, the vehicle 100 can pre-position itself to the left or right as needed. For example, the vehicle 100 can oscillate between right and left on the roadway 130 and / or within the lane.

[0059] The lateral position of the vehicle 100 can be achieved by a lateral guidance assistant (possibly without automated longitudinal guidance).

[0060] Fig.3 shows a flowchart of a (possibly computer-implemented) method 300 for measuring one or more possible parking spaces 120 on a roadway 130 traveled by a motor vehicle 100 (as part of an automated journey with at least automated lateral guidance). The one or more possible parking spaces 120 can be located at one edge or at both edges of the roadway 130. In each case, this can be a parallel parking space (in which the motor vehicle 100 is arranged longitudinally at the edge of the roadway 130) or a perpendicular parking space (in which the motor vehicle 100 is arranged transversely or obliquely to the edge of the roadway 130).

[0061] The method 300 includes determining 301 lane information with respect to the lane 130 (e.g., based on the sensor data from one or more environmental sensors 102 and / or based on a digital map). The lane information can, in particular, indicate the edge(s) of the lane 130 at which a possible parking space 120 may be located.

[0062] The method 300 further comprises determining 302, based on the roadway information, a lateral positioning of the motor vehicle 100 on the roadway 130, which is suitable for measuring one or more possible parking spaces 120 when driving along the roadway 130 (in particular, is more suitable than a standard positioning). The lateral positioning can be carried out (and adjusted) in particular depending on whether • a possible parking space 120 only on the right edge; • a possible parking space 120 only on the left edge; or • a possible parking space 120 can be arranged on both edges of the roadway 120.

[0063] Furthermore, the method 300 comprises causing 303 the motor vehicle 100 to be arranged and / or positioned on the roadway 130 with the determined lateral positioning (by automated lateral guidance of the motor vehicle 100) while traveling along the roadway 130, and in the process, one or more possible parking spaces 120 are measured. For this purpose, in particular, automated lateral guidance (and possibly automated longitudinal guidance) of the motor vehicle 100 can be effected while traveling along the roadway 130 (in order to automatically effect the lateral positioning). Alternatively or additionally, a driving trajectory 200 can be projected into the field of view of the driver of the vehicle 100 via a head-up display in order to cause the driver of the vehicle 100 to effect the determined lateral positioning.

[0064] By means of the measures described in this document, a suitable parking space 120 for a vehicle 100 can be detected in a reliable and precise manner, thereby enabling particularly convenient parking of the vehicle 100.

[0065] 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] Driving device (101) for automated driving with at least automated lateral guidance, which has a function for measuring one or more possible parking spaces (120) on a roadway (130) travelled by a motor vehicle (100); wherein the driving device (101) is designed - to determine road information relating to the roadway (130); - to determine, on the basis of the roadway information, a lateral positioning of the motor vehicle (100) on the roadway (130), which is suitable for measuring one or more possible parking spaces (120) along the roadway (130) when driving along the roadway (130); wherein the lateral positioning is variable depending on the roadway information; and - to position the motor vehicle (100) on the roadway (130) with the determined lateral positioning by means of automated lateral guidance while driving along the roadway (130) and to measure one or more possible parking spaces (120). [2] Driving device (101) according to claim 1, wherein the road information indicates whether - possible parking spaces (120) are arranged on a passenger-side edge of the roadway (130); - possible parking spaces (120) are arranged on a driver-side edge of the roadway (130); or - possible parking spaces (120) are arranged at the passenger-side edge of the roadway (130) and at the driver-side edge of the roadway (130). [3] Driving device (101) according to one of the preceding claims, wherein the driving device (101) is arranged - to determine as road information, in particular to select whether, when driving along the road (130) - a first situation exists in which possible parking spaces (120) are arranged on a passenger-side edge of the roadway (130) but not on a driver-side edge of the roadway (130); or - a second situation exists in which possible parking spaces (120) are arranged at the passenger-side edge of the roadway (130) and at the driver-side edge of the roadway (130); or - a third situation exists in which possible parking spaces (120) are located on the driver-side edge of the roadway (130) but not on the passenger-side edge of the roadway (130); and - to determine, in particular to adapt, the lateral positioning of the motor vehicle (100) on the roadway (130) as a function of whether the first, second or third situation exists when driving along the roadway (130). [4] Driving device (101) according to one of the preceding claims, wherein the road information indicates - a width (131) of the roadway (130) and / or a width of a lane on the roadway (130) travelled by the motor vehicle (100); and / or - whether the carriageway (130) is a one-way street or a two-way street. [5] Driving device (101) according to claim 4, wherein the driving device (101) is arranged - to compare the width (131) of the roadway (130) or lane with a width threshold value; and - to position the motor vehicle (100) for measuring one or more possible parking spaces (120) when driving along the roadway (130) substantially in a center (132) of the roadway (130) or lane, if the width (131) of the roadway (130) or lane is equal to or smaller than the width threshold value; and / or - to position the motor vehicle (100) for measuring one or more possible parking spaces (120) when driving along the roadway (130) at a defined lateral distance (201) from an edge of the roadway (130) or the lane or from one or more vehicles (110) parked at the edge of the roadway (130) or the lane, if the width (131) of the roadway (130) or the lane is greater than the width threshold value. [6] Driving device (101) according to one of the preceding claims, wherein the driving device (101) is configured to determine the lateral positioning of the motor vehicle (100) on the roadway (130) as a function of a detection range (102) of an environment sensor (102), in particular an ultrasonic sensor, of the motor vehicle (100) for measuring one or more possible parking spaces (120). [7] Driving device (101) according to one of the preceding claims, wherein the driving device (101) is arranged - based on sensor data from one or more environmental sensors (102) of the motor vehicle (100), to detect one or more vehicles (110) that are parked at an edge of the roadway (130) at which one or more possible parking spaces (120) can be or are arranged; and - to determine the lateral positioning of the motor vehicle (100) on the roadway (130) as a function of the one or more detected vehicles (110), in particular to ensure that the motor vehicle (100) has a predefined lateral distance (201) from the one or more detected vehicles (110) when traveling along the roadway (130). [8] Driving device (101) according to one of the preceding claims, wherein the driving device (101) is arranged - to determine a travel trajectory (200) for the journey along the roadway (130) on the basis of the roadway information; wherein the travel trajectory (200) indicates a course of the lateral positioning of the motor vehicle (100) on the roadway (130), in particular as a function of time and / or the position along the roadway (130); and - to cause the motor vehicle (100) to be positioned on the roadway (130) by automated lateral guidance when traveling along the roadway (130) in accordance with the determined travel trajectory (200). [9] Driving device (101) according to one of the preceding claims, wherein the driving device (101) is arranged - to detect, on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100), a first possible parking space (120) ahead in the direction of travel of the motor vehicle (100) at a first edge of the roadway (130); and - to determine the lateral positioning of the motor vehicle (100) for measuring the first possible parking space (120) as a function of a position of the first possible parking space (120) along the roadway (130). [10] Driving device (101) according to claim 9, wherein the driving device (101) is configured to determine the lateral positioning of the motor vehicle (100) for the measurement of the first possible parking space (120) in such a way that - the motor vehicle (100) at the first possible parking space (120) has a defined lateral distance (201) from a parked vehicle (110) adjacent to the first possible parking space (200); or - the motor vehicle (100) has a defined lateral distance from the first edge of the roadway (130) at the first possible parking space (120). [11] Driving device (101) according to one of claims 9 to 10, wherein the driving device (101) is arranged - to detect, on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100), a second possible parking space (120) located ahead in the direction of travel of the motor vehicle (100) at a second edge of the roadway (130); and - to change the lateral positioning of the motor vehicle (100) for measuring the second possible parking space (120) as a function of a position of the second possible parking space (200) along the roadway (130) compared to the lateral positioning of the motor vehicle (100) for measuring the first possible parking space (120). [12] Driving device (101) according to claim 11, wherein - the driving device (101) is configured to determine a driving trajectory (200) for the journey along the first and the subsequent second possible parking space (120); - the travel trajectory (200) indicates a course of the lateral positioning of the motor vehicle (100) on the roadway (130), in particular as a function of time and / or the position along the roadway (130); and - the driving device (101) is configured to determine the travel trajectory (200) in such a way that - the motor vehicle (100) at the first possible parking space (120) has a defined lateral distance (201) from a vehicle (110) adjacent to the first possible parking space (200) and parked at the first edge of the roadway (130); and - the motor vehicle (100) at the second possible parking space (120) has the defined lateral distance (201) to a vehicle (110) adjacent to the second possible parking space (200) and parked at the second edge of the roadway (130). [13] Driving device (101) according to one of the preceding claims, wherein the driving device (101) is configured to, when driving along the roadway (130), on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100) - to detect one or more possible parking spaces (120); and - when driving past a detected parking space (120), to determine one or more geometric properties, in particular a width (121) and / or a length (122), of the detected possible parking space (120) in order to measure the detected possible parking space (120). [14] Driving device (101) according to claim 13, wherein the driving device (101) is arranged - to decide, on the basis of the one or more determined geometric properties of a detected possible parking space (120), that the detected possible parking space (120) is suitable for the motor vehicle (100); and - in response to - to issue an offer to carry out an automated parking maneuver into the detected possible parking space (120) via a user interface (104) of the motor vehicle (100); and / or - to carry out an automated parking maneuver into the detected possible parking space (120). [15] Driving device (101) according to one of the preceding claims, wherein the driving device (101) is arranged - to determine whether or not a suitable parking space (120) for the motor vehicle (100) is to be sought on the roadway (130) travelled by the motor vehicle (100); - to determine a lateral standard positioning of the motor vehicle (100) on the roadway (130) if it has been determined that no suitable parking space (120) for the motor vehicle (100) is to be found on the roadway (130) traveled by the motor vehicle (100); and - to determine, as a function of the roadway information, a lateral positioning of the motor vehicle (100) on the roadway (130) which deviates from the standard positioning and which is suitable for measuring one or more possible parking spaces (120) when driving along the roadway (130), if it has been determined that a suitable parking space (120) for the motor vehicle (100) is to be sought on the roadway (130) traveled by the motor vehicle (100). [16] Driving device (101) according to one of the preceding claims, wherein the driving device (101) is arranged to determine the road information, - based on sensor data from one or more environmental sensors (102) of the motor vehicle (100); and / or - based on a digital map for a road network travelled by the motor vehicle (100). [17] Method (300) for measuring one or more possible parking spaces (120) on a roadway (130) travelled by a motor vehicle (100) in the context of an automated journey with at least automated lateral guidance; wherein the method (300) comprises, - determining (301) roadway information relating to the roadway (130); - determining (302), on the basis of the roadway information, a lateral positioning of the motor vehicle (100) on the roadway (130) that is suitable for measuring one or more possible parking spaces (120) when traveling along the roadway (130); wherein the lateral positioning is variable depending on the roadway information; and - Initiating (303) the motor vehicle (100) to position the motor vehicle (100) on the roadway (130) with the determined lateral positioning by means of automated lateral guidance while driving along the roadway (130) and in the process measuring one or more possible parking spaces (120).

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