Method and parking assistance device for determining a parking space for a parking maneuver of a vehicle

Abstract

The invention relates to a method, in particular a computer-implemented method, for determining a parking space for a parking operation of a vehicle (1), comprising the method steps: - Detection of the vehicle's surroundings (1) using a sensor unit (3), - Detection of a potentially usable parking space (Pgeo) in the recorded vehicle environment using a geometric planning method, - Detection of a potentially usable parking space (Pnn) in the detected vehicle environment using a trained neural network-based planning method, - Verification of a parking space detected by the geometric planning method (Pgeo) using a parking space detected by the trained neural network-based planning method (Pnn) or vice versa, - Designation of the verified parking space (P) as a potential parking option.

Claims

[1] Method, in particular a computer-implemented method, for determining a parking space for a parking process of a vehicle (1), comprising the method steps: - detecting a vehicle environment of the vehicle (1) using a sensor unit (3) (S100), - Detection of a potentially usable parking space (Pgeo) in the detected vehicle environment using a geometric planning method (S200), - Detection of a potentially usable parking space (Pnn) in the detected vehicle environment using a trained neural network-based planning method (S300), - Verification of a parking space detected by the geometric planning method (Pgeo) using a parking space detected by the trained neural network-based planning method (Pnn) or vice versa (S400), - Specifying the verified parking space (Pver) as a potential parking option (S500). [2] Method according to claim 1, characterized by that the verification is carried out by comparing the respective parking space positions, relative position to the own vehicle (1), orientation and / or the parking space type. [3] Method according to claim 1 or 2, characterized by that the potentially usable parking space (Pgeo) determined by the geometric planning method is optimized based on the potentially usable parking space (Pnn) determined by the neural network-based planning method. [4] Method according to claim 1 or 2, characterized by that the potentially usable parking space (Pnn) determined by the neural network-based planning method is optimized based on the potentially usable parking space (Pgeo) determined by the geometric planning method. [5] Method according to claim 3 or 4, characterized bythat in order to optimize the determined parking space (Pnn / Pgeo), a parking area contour is adjusted in size and / or rotated around a vertical axis and / or the parking area contour is shifted and / or the parking space type is changed. [6] Method according to claim 4 or 5, characterized bythat by means of the geometric and neural network-based planning method, an initial parking space contour and an initial parking space orientation are determined for the initially detected, potentially usable parking space (Pnn / Pgeo), whereby a quality criterion for the potentially usable parking space (Pnn / Pgeo) is calculated, whereby to determine the verified parking space (Pver), the initial parking space orientation and / or initial parking space contour determined by means of the neural network-based planning method is adapted, whereby the adaptation is carried out on the basis of the initial parking space orientation and / or initial parking space contour determined by the geometric planning method, whereby a modified quality criterion is calculated based on the adapted parking space orientation and / or parking space contour, whereby it is checked whether the quality criterion has improved based on the adapted parking space orientation and / or parking space contour,whereby a parking space with a final adjusted parking area contour and / or final adjusted parking area orientation is defined as a verified parking space (Pver) based on the highest quality criterion determined. [7] Method according to one of the preceding claims, characterized by that the potentially usable parking space (Pgeo, Pnn) of the geometric or the neural network-based planning method is defined as a potential parking option, depending on which of the planning methods provides the initially determined parking space more quickly, whereby the potentially usable parking space (Pgeo, Pnn) is replaced by the verified parking space (Pver) after verification has been completed. [8] Method according to one of the preceding claims, characterized by that if one of the two planning procedures fails, the detected potentially usable parking space (Pgeo, Pnn) of the other planning procedure is defined as a potential parking option. [9] A computer program comprising program code for carrying out a method according to any one of the preceding claims when the computer program is executed by a computer. [10] A machine-readable storage medium on which the computer program according to claim 9 is stored. [11] Parking assistance device (2) which is arranged to carry out the method according to one of claims 1 to 8.

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