Method and system for determining a parking space for an ego motor vehicle and motor vehicle

Abstract

The invention relates to a method and a system for determining a parking space (4) for an ego motor vehicle (1), wherein a parking space data record (5) characterizing the parking space (4) is detected by means of a detector vehicle (2) while driving past a free parking space (4) and provided to a control device (6), it is determined whether a third vehicle (3) will reach the parking space (4) before the ego motor vehicle (1), and - if yes, an availability probability value (7) of the parking space data record (5) is reduced by means of the control device (6), or - if not, the availability probability value (7) is maintained or increased by means of the control device (6). A parking space availability signal (11) based on the parking space data set (5) is provided in the ego motor vehicle (1) by means of a provision unit (10). Furthermore, the invention relates to a motor vehicle that has one or more of the features of the ego motor vehicle (1) and / or the detector vehicle (2) for carrying out the method.

Description

The present invention relates to a method for ascertaining a parking space for an ego motor vehicle. The invention also relates to a system which has devices for carrying out the method. The invention further relates to a motor vehicle, by means of which steps of the method can be carried out.In conventional parking assistance systems, a suitable parking space is sought for the motor vehicle to be parked while driving past potential parking spaces. However, in the case of running traffic, this leads to the need to brake relatively abruptly with the motor vehicle to be parked in order to be able to swivel into the found matching parking space. This is a stressful situation for a driver of the motor vehicle to be parked and represents a possibly surprising and / or unexpectedly strong braking maneuver for further road users. In addition, after stopping, the vehicle must be moved backward in the area of the appropriate parking space in order to be able to drive efficiently into the parking space, in particular if the parking space is a longitudinal parking space parallel to the roadway or a transverse parking space arranged perpendicular to the roadway. Even if reversing into / into the parking space is completely or partially taken over by a parking assistance system, space is required for this purpose at the rear of the motor vehicle to be parked, which space is or may not be blocked by following vehicles due to the comparatively rapid stop.There is therefore a need to determine, already at a further distance between the motor vehicle to be parked and a free area, whether the free area is a parking space suitable for the motor vehicle to be parked. For this purpose, U.S. Pat. No. 9,047,777 B2 discloses a method in which information about a parking space in a vehicle is provided by communication between vehicles. A communication adapter performs broadcast and unicast communication, and a navigation system provides information about the location of an available parking lot and other locations (such as locations of vehicles). By means of a navigation device, the position of an available parking space is displayed to guide a driver to the available parking space, a memory storing the information about a parking space and other information. A controller provides information on a parking space between vehicles based on the signals of a communication adapter, the navigation system, a parking brake switch, a vehicle speed sensor, and a shift lever position detector.DE 10 2019 215 131 A1 proposes a method for assisting in parking a vehicle. In this case, two parked vehicles are detected and their positions with respect to the vehicle to be parked are determined. Further, parking information is exchanged using wireless communication between the vehicle to be parked and one of the two parked vehicles at a first position of the vehicle to be parked and at a second position of the vehicle to be parked. Based on the electromagnetic signal propagation time of the wireless communication, a first distance between the one parked vehicle and the vehicle to be parked at the first position thereof and a second distance between the one parked vehicle and the vehicle to be parked at the second position thereof are determined. In addition, it is determined based on the first and second distances at which of the two parked vehicles this parking information has been exchanged. The parking information is assigned to this vehicle. Thereafter, assistance is performed in parking the vehicle to be parked based on the assigned parking information.U.S. Pat. No. 10,832,575 B2 discloses a system by means of which a driver of a vehicle is warned of parking conditions within a predetermined distance from a destination. The system includes a transceiver configured to receive from one or more other vehicles parking state data including vehicle speed data that is within the predetermined distance to the destination. Further, the system comprises an electronic control unit (ECU) of the vehicle connected to the transceiver and configured to determine a parking congestion level based on the vehicle speed data and to determine whether the parking congestion level exceeds a parking congestion level threshold. When the parking congestion level exceeds the parking congestion level threshold, an output device is driven by the electronic control unit to warn the driver of a parking congestion in the vicinity of the target.The approaches known from the prior art have the problem, however, that a free parking space can be occupied by a third vehicle before the motor vehicle to be parked reaches the parking space. This parking space would therefore no longer be available to the motor vehicle or its driver, although the corresponding system incorrectly continues to indicate a parking possibility to the driver. This can represent a very frustrating event for a driver, which is the destress level, which is already high due to a parking space search, very particularly in areas subject to heavy traffic, such as city cities, etc.The object of the invention is to assist a driver of a motor vehicle particularly efficiently when searching for a parking space.This object is achieved by the subject matters of the independent claims. Further possible embodiments of the invention are disclosed in the dependent claims, the description and the figures. Features, advantages and possible configurations which are set forth in the context of the description for one of the subjects of the independent claims are to be regarded, at least analogously, across all categories and embodiments as features, advantages and possible configurations of the respective subject of the other independent claims and of each possible combination of the subjects of the independent claims, optionally in conjunction with one or more of the dependent claims.According to the invention, a method and a system for ascertaining a parking space for a motor vehicle, which will be referred to below as an ego motor vehicle, are proposed. The system for ascertaining the parking space for the ego motor vehicle has means or devices for carrying out the method, which means that the system is designed to carry out the method. The devices are explained within the scope of the description of the method.In the method, a parking space data record characterizing the parking space is recorded by means of a detector vehicle different from the ego motor vehicle, which is a further motor vehicle, passing by a free parking space, and provided to a control device of the system, wherein a surroundings sensor system of the detector vehicle is used for recording the parking space or its characteristics. In order to provide the parking space data record, vehicle-to-vehicle data communication (Car2Car) and / or vehicle-to-infrastructure data communication (Car2X) is used in particular. For example, the detector vehicle is driving in front of the ego motor vehicle. However, it is also conceivable for the detector vehicle and the ego motor vehicle to travel towards one another. The method further determines whether a third-party vehicle different from the detector vehicle and the ego-motor vehicle (each motor vehicle that is not the detector vehicle and that is driving in the vicinity of the ego-motor vehicle is a third-party vehicle, which means that there are two or more third-party vehicles in the vicinity of the ego-motor vehicle) will reach or pass the parking space in front of the ego-motor vehicle. This determination can be made by means of the control device, which can be installed in particular in the ego motor vehicle or in the detector vehicle. Furthermore, a computer device, for example a cloud computing unit or a so-called backend, can be used for this purpose, wherein the control device can be designed as a module of the computer device. If it is determined in this determination that the third vehicle will reach the parking space in front of the ego vehicle, an availability probability value of the parking space data set is reduced by means of the control device. If, in contrast, it is determined in the above-mentioned determination that no third-party vehicle reaches the parking space in front of the ego motor vehicle, the availability probability value is at least kept the same by means of the control device. It can be provided that the availability probability value is increased in this case, for example with decreasing distance between the ego motor vehicle and the parking space. The availability probability value characterizes a probability that the parking space is still free or is available for the ego vehicle upon arrival of the ego vehicle at the parking space. For example, a high availability probability value (for example 1) characterizes that the parking space will highly likely still be free upon arrival of the ego motor vehicle, whereas a low availability probability value (for example 0) characterizes that the parking space will highly likely be occupied by another vehicle upon arrival of the ego motor vehicle. By means of a provision unit, which can be part of the control device or can be coupled to the control device for data transmission, a parking space availability signal based on the parking space data set is then provided in the ego motor vehicle. The providing unit may include a driver-directed output unit including, for example, a display, a sound / voice output unit, a lamp, a vibration element, etc. Alternatively or additionally, the provision unit can be coupled to a control unit of a parking steering assistance system which, as a function of the provided parking space availability signal, completely or partially carries out a parking of the ego motor vehicle into the parking space. Optionally, it is provided that the parking space availability signal is provided only when the ego motor vehicle and the parking space are spaced apart from one another by a distance which is less than a predefined limit distance.Due to the method and the system, the driver is particularly efficiently supported in the parking space search by providing the parking space availability signal. If a situation occurs in which both the ego motor vehicle and a further motor vehicle, i.e. one of the third-party vehicles, approach the parking space, this is reflected in the parking space availability signal, as a result of which the driver of the ego motor vehicle is kept on the fly about a probability that a parking space is still available upon arrival. Thus, the driver is not surprised by the third-party vehicle driving in front of him in / onto the parking space. This contributes to a previously not present predictable or calculability of the road traffic in connection with a search for a parking space, which leads to less destress of the driver. Furthermore, a slower approach to the parking space is favored because the parking space can already be classified as suitable at a further distance, instead of having to be in sensor range or visibility range to the parking space in order to be able to carry out such classification.A further possible configuration provides that, for the detection of the parking space data record by means of the detector vehicle, a parking space restriction is detected or more parking space restrictions are detected, and the parking space availability signal is provided on the basis of an evaluation of the parking space restriction or restrictions, from which it can be seen that parking with the ego motor vehicle in the parking space is permitted and possible, that is to say safe without accidents. In particular, it is conceivable for the corresponding parking space restriction to be delivered to the detector vehicle or to be called up by means of the detector vehicle by means of Car2X data communication. Furthermore, traffic sign recognition and recourse to navigation data are conceivable for this purpose. For example, the following parking space restrictions are conceivable:Restriction in the longitudinal, transverse and / or height extent of the parking space; if the ego motor vehicle is a comparatively voluminous motor vehicle, or if it has external fittings, such as luggage carriers, working tools or the like, the parking space detected by means of the detector vehicle can be too small to use the parking space with the ego motor vehicle without an accident.restricting the alignment of the parking space with respect to a feeder roadway adjacent to the parking space, i.e. whether the parking space is a longitudinal parking space parallel to the roadway, a transverse parking space arranged perpendicular to the roadway or a helical parking space arranged obliquely to the roadway. Thus, for example, a conventional perpendicular parking space cannot be used with an ego motor vehicle of particularly long design, for example if the ego motor vehicle is designed as a small transporter or as a truck or forms a towing vehicle of a combination.restricting the permissible parking to a specific useful life, for example on the basis of temporarily effective parking prohibitions (a clearance area permanently occupied by a parking prohibition is not considered a parking space here).restricting permissible parking to a specific vehicle class; parking spaces can thus prevent parking for trucks, but can be parked in the same parking space using a passenger car.restricting permissible parking to vehicles having a specific special feature; to be mentioned here are, in particular, vehicles which can be driven purely or hybrid-electrically and whose traction battery can be charged by means of a charging cable having an infrastructure charging point. In this context, if the parking spot has such a charging point, parking may be prohibited for vehicles whose traction battery is not charged or which do not have a traction battery.restricting permissible parking to vehicles of a specific group of people, for example if the parking space is officially identified as a parking space for people with particular physical requirements.This makes it possible for the driver and / or the parking steering assistance system of the ego motor vehicle to be offered a more precise selection from possible parking spaces. In this case, it is conceivable for user-defined and / or design-related specifications to be stored in the control device, which are matched to the parking space restrictions in order to enable as efficient and convenient a parking in the parking space as possible.According to a possible development, during the method, when providing the parking space data set, the control device is provided-in particular with the aid of Car2Car and / or Car2X data communication-with a detector vehicle identification value, on the basis of which the detector vehicle is unambiguously identifiable. In addition, a vehicle identification value of a motor vehicle travelling directly in front of the ego vehicle is determined by means of the ego vehicle and provided to the control device. The two identification values are compared with one another by means of the control device, whereby it is determined whether the motor vehicle travelling directly in front of the ego motor vehicle is the detector vehicle or another vehicle, in particular one of the possibly multiple third-party vehicles. If the identification values match, the motor vehicle travelling directly in front of the ego motor vehicle is the detector vehicle, whereas the motor vehicle travelling directly in front of the ego motor vehicle is one of the third-party vehicles if the identification values deviate from one another. In this way, it is determined in a particularly reliable manner whether or not the motor vehicle travelling directly in front of the ego motor vehicle is the detector vehicle. As a result, the availability probability value is particularly efficiently adapted.An idea of a particularly high level of data protection for road users is taken into account with a further possible embodiment in which the respective identification value does not allow any conclusion to be drawn about a driver or owner of the corresponding motor vehicle. For this purpose, in order to determine whether the motor vehicle travelling directly in front of the ego motor vehicle is the detector vehicle or the third-party vehicle, a first hash value is calculated with the aid of a hash function on the basis of an individual alphanumeric identifier (in particular on an official motor vehicle identifier) of the detector vehicle. With the aid of the same hash function, a second hash value is also calculated on the basis of an individual alphanumeric identifier of the motor vehicle travelling directly in front of the ego motor vehicle. For example, the control device is provided with the alphanumeric identifier of the detector vehicle or ego motor vehicle, whereupon the first or the second hash value is calculated by means of the control device. Alternatively, the first or second hash value can be calculated on board the detector vehicle or ego motor vehicle and provided to the control device. In any case, the first hash value is further treated as the detector vehicle identification value by means of the control device, wherein the second hash value is further treated as the vehicle identification value.In a further possible embodiment, it is provided that the vehicle identification value or the individual alphanumeric identifier of the motor vehicle travelling directly in front of the ego motor vehicle is read by means of an image acquisition unit of the ego motor vehicle and provided to the control device. This ensures that even motor vehicles which do not participate in a communication group by means of which the ego motor vehicle and the detector vehicle communicate with one another are taken into account as a third-party vehicle in the method or by means of the system. In such a motor vehicle, for example, its user may have deactivated a communication functionality, or the motor vehicle has no communication device or communication device insufficient for the method, for example as a historical vehicle. Furthermore, it is conceivable that such a vehicle does not participate in the communication group due to a defect in the communication device.The adaptation of the availability probability value is further refined if - as shown in a further possible embodiment - a parking intention value is determined which characterizes a parking space search operation of the third vehicle. Based on the parking intention value, the availability probability value is adjusted accordingly by means of the control device. In this case, it is provided in particular that the parking intention value is detected by means of the detector vehicle, for example by detecting that the third vehicle is travelling at a low speed and / or a direction indicator of the third vehicle is activated. Alternatively or additionally, the information that the third vehicle is operated in the parking space search mode, i.e. the parking intention value, can be provided to the control device by means of the third vehicle itself, for example by means of vehicle-to-vehicle data communication (Car2Car) and / or by means of vehicle-to-infrastructure data communication (Car2X). If the ascertained parking intention value characterizes the parking space search operation of the third-party vehicle, the availability probability value is reduced, because the probability is then high that the third-party vehicle will enter the parking space and thereby block it for the ego-motor vehicle. In contrast, the availability probability value is increased or kept the same if the ascertained parking intention value characterizes a different operating mode than the parking space search operation of the third-party vehicle. This is because it is then not to be assumed, or only with a low probability, that the third-party vehicle will be driving into the parking space.According to a further possible specific embodiment, a third-vehicle parking signal is provided to the control device-for example, by means of the detector vehicle and / or by means of the third-vehicle via Car2Car and / or Car2X-when it is detected that the third-vehicle is parking in the parking space. The availability probability value is then set by means of the control device to a value which characterizes the occupied parking space, for example to zero. If a parking space availability signal was previously provided in the ego motor vehicle by means of the provision unit, the provision is ended. If the parking space availability signal is provided only when the ego motor vehicle and the parking space are spaced apart from one another by a distance which is less than a predefined limit distance, the provision of the parking space availability signal can be omitted when / after the limit distance is undershot if it was previously detected that the third vehicle is driving into the parking space.Since at least one of the devices of the system is installed in the ego vehicle and at least one other of the devices in the detector vehicle, the system is a distributed system. In a possible development of the system, it is provided that one or more of the devices is / are arranged both externally of the ego motor vehicle and externally of the detector vehicle. This can apply, for example, to the control device, which can be designed as a device of the system external to the motor vehicle. As a result, the system can be maintained and updated in a particularly simple and centralized manner. In addition, computing power which is to be applied for carrying out the method is bundled outside the motor vehicle, so that no computing power has to be branched off from other on-board systems, in particular security systems, of the motor vehicles.According to the invention, a motor vehicle is furthermore proposed which, for carrying out steps of the method, has one or more of the features of the ego motor vehicle and / or one or more of the features of the detector vehicle. For example, the motor vehicle according to the invention can be configured as the ego motor vehicle or as the detector vehicle, or as a combination of both. The motor vehicle according to the invention is in particular part of the system for ascertaining a parking space for the ego motor vehicle.Further features of the invention can be derived from the following description of the figures and from the drawing. The features and combinations of features mentioned above in the description and the features and combinations of features shown below in the description of the figures and / or in the figures alone can be used not only in the respectively specified combination but also in other combinations or alone without departing from the scope of the invention.The drawing shows in FIG. 1 shows a schematic view of a traffic situation in which the method or the system is used, steps of the method being drawn in, in order to clarify a method and a system for ascertaining a parking space for an ego motor vehicle, and FIG. 2 shows a schematic view of a further traffic situation in which the method or the system is used.In the following, a method for ascertaining a parking space for an ego motor vehicle and a system configured to execute the method and a motor vehicle configured to execute at least one step of the method are explained in common description. Identical or functionally identical elements are provided with the same reference numerals in the figures.In the traffic situation shown in FIG. 1, a motor vehicle which is an ego motor vehicle to be parked is identified by the reference symbol 1. Reference numeral 2 denotes a detector vehicle, and reference numeral 3 denotes a third-party vehicle. In the method, a parking space data set 5 characterizing the parking space 4 is recorded by means of the detector vehicle 2 while passing a free parking space 4 and provided to a control device 6 of the system. For detecting the parking space 4 or its characteristics, a surroundings sensor system of the detector vehicle 2 is used, and for providing the parking space data record, vehicle-to-vehicle data communication (Car2Car) and / or vehicle-to-infrastructure data communication (Car2X). The parking space dataset 5 acquired by means of the detector vehicle 2 contains at least one availability probability value 7. in the present example, the parking space dataset 5 additionally contains a parking space restriction 8 or more parking space restrictions 8, in particulara restriction in the longitudinal, transverse and / or height extent of the parking space 4,a restriction with regard to an orientation of the parking space 4 with respect to a feeder roadway 16 adjoining the parking space 4, i.e. whether the parking space 4 is a longitudinal parking space parallel to the roadway, a transverse parking space arranged perpendicular to the roadway or an oblique parking space arranged obliquely to the roadway,restricting the permissible parking to a specific useful life, for example on the basis of temporarily effective parking prohibiteds,restricting the permissible parking to a specific vehicle class,restricting permissible parking to vehicles having a specific special feature and / orrestricting permissible parking to vehicles of a specific group of people.It can also be seen in FIG. 1 that the detector vehicle 2 is travelling in front of the ego motor vehicle 1, wherein the third vehicle 3 is travelling between the detector vehicle 2 and the ego motor vehicle 1. A determination of the method carried out by means of the control device 6 as to whether the third vehicle 3 will reach the parking space 4 in front of the ego vehicle 1 thus yields a positive result, whereupon the availability probability value 7 of the parking space data set 5 is reduced by means of the control device. If, in contrast, it is determined in the above-mentioned determination that no third-party vehicle 3 reaches the parking space 4 in front of the ego-motor vehicle 1, the availability probability value 7 is at least kept the same or-in particular with decreasing distance between the ego-motor vehicle 1 and the parking space 4-increased by means of the control device 6. The changed, i.e. reduced or held constant or increased availability probability value 9 is supplied by means of the control device 6 to a provision unit 10, by means of which a parking space availability signal 11 based on the parking space data set 5 is provided in the ego vehicle 1. The providing unit 10 may include a driver-directed output unit including, for example, a display, a sound / voice output unit, a lamp, a vibration element, etc. Alternatively or additionally, the provision unit 10 can be coupled to a control unit of a parking steering assistance system integrated into the ego-motor vehicle 1, which system completely or partially carries out a parking of the ego-motor vehicle 1 into the parking space 4 as a function of the parking space availability signal 11 provided. In the present case, it is provided that parking space availability signal 11 is provided only when ego motor vehicle 1 and parking space 4 are spaced apart from one another by a distance that is less than a predefined limit distance.Furthermore, according to the present example, parking space availability signal 11 is provided on the basis of an evaluation of parking space restriction 8 or restrictions 8, from which it can be seen that parking using ego vehicle 1 in the parking space is permitted 4 and traffic-safe. In this case, user-defined and / or design-related specifications are stored in the control device 6, which are matched to the parking space restrictions 8.In addition, in the example of the control device 6, when the parking space data set is provided, a detector vehicle identification value 12 is provided here, on the basis of which the detector vehicle 2 can be unambiguously identified. In addition, a vehicle identification value 13 of a motor vehicle (here of the third vehicle 3) travelling directly in front of the ego vehicle 1 is determined by means of the ego vehicle 1 and provided to the control device 6. The two identification values 12, 13 are compared with one another by means of the control device 6, whereby it is determined whether the motor vehicle travelling directly in front of the ego motor vehicle 1 is the detector vehicle 2 or another vehicle. If the identification values 12, 13 match, the motor vehicle travelling directly in front of the ego motor vehicle 1 is the detector vehicle 2, whereas the motor vehicle travelling directly in front of the ego motor vehicle 1 is the third vehicle 3 if the identification values 12, 13 deviate from one another, as illustrated in FIG. 1.In order to determine whether the motor vehicle travelling directly in front of the ego motor vehicle 1 is the detector vehicle 2 or the third-party vehicle 3, a first hash value is calculated with the aid of a hash function on the basis of an individual alphanumeric identifier of the detector vehicle 2. With the aid of the same hash function, a second hash value is also calculated on the basis of an individual alphanumeric identifier of the motor vehicle 3 travelling directly in front of the ego motor vehicle 1. The first hash value is further treated by means of the control device 6 as the detector vehicle identification value 12, wherein the second hash value is further treated by means of the control device 6 as the vehicle identification value 13. The hash values are thus used to determine whether the motor vehicle travelling directly in front of the ego motor vehicle 1 is the detector vehicle 2 or the third-party vehicle 3.In the present example, it is furthermore provided that the vehicle identification value 13 or the individual alphanumeric identifier of the motor vehicle 3 travelling directly in front of the ego motor vehicle 1 is read by means of an image acquisition unit of the ego motor vehicle 1 and provided to the control device 6. This ensures that even motor vehicles which do not participate in a communication group by means of which the ego motor vehicle 1 and the detector vehicle 2 communicate with one another are taken into account in the method or by means of the system as the third-party vehicle 3.Moreover, in this example, a parking intention value 14 is determined which characterizes a parking space search operation of the third-party vehicle 3. Based on the parking intention value 14, the availability probability value 7 is adjusted accordingly by means of the control device 6. It is provided here that parking intention value 14 is detected by means of detector vehicle 2, for example by detecting by means of a corresponding sensor system of detector vehicle 2 that third-party vehicle 3 is traveling at a low speed and / or a direction indicator of third-party vehicle 3 is activated. Alternatively or additionally, the information that the third vehicle 3 is operated in the parking space search mode, i.e. the parking intention value 14, can be provided to the control device 6 by means of the third vehicle 3, for example by means of vehicle-to-vehicle data communication (Car2Car) and / or by means of vehicle-to-infrastructure data communication (Car2X). If the ascertained parking intention value 14 characterizes the parking space search operation of the third vehicle 3, the availability probability value 7 is reduced, whereas the availability probability value 7 is increased or kept the same if the ascertained parking intention value 14 characterizes a different operating mode than the parking space search operation of the third vehicle 3.FIG. 2 shows that, according to the example described here, a third-vehicle parking signal 15 is provided to the control device when it is detected that the third-vehicle 3 is parking in the parking space 4. FIGS. 1 and 2 show a respective current trajectory with dashed arrows 1 a, 2 a, 3 a. It can be seen from FIG. 2 that the third-party vehicle 3 travels along a trajectory 3 ato enter the parking space 4. This is detected by means of the detector vehicle 2 and / or provided by means of the third vehicle 3 itself. The availability probability value 7 is then set by means of the control device 6 to a value which characterizes the occupied parking space 4, for example to zero. If a parking space availability signal 11 has been previously provided in the ego motor vehicle 1 by means of the provision unit 10, the provision is ended. If parking space availability signal 11 is provided only when ego vehicle 1 and parking space 4 are spaced apart from one another by a distance that is less than the limit distance, the provision of parking space availability signal 11 may be omitted when / after the limit distance is undershot, if it was previously detected that third-party vehicle 3 is driving into the parking space.Since at least one of the facilities of the system is installed in the subject vehicle 1 and at least another of the facilities in the detection vehicle 2, the system is a distributed system. In a possible development of the system, it is provided that one or more of the devices is / are arranged both externally of the ego motor vehicle 1 and externally of the detector vehicle 2. This can apply, for example, to the control device 6, which can be designed as a device of the system external to the motor vehicle.The method and the system for ascertaining a parking space for a motor vehicle and the motor vehicle embodied as an ego motor vehicle 1 and / or detector vehicle 2 show a respective possibility of how a driver of a motor vehicle is supported particularly efficiently when searching for a parking space.List of reference characters1 Ego-motor vehicle 1 a Trajektorie 2 Detektor 2 a Trajektorie 3 Dritt 3 a Trajektorie 4 Parkplatz 5 Parkplatz dataset 6 Control device 7 Verfügbarkeit probability value 8 Parkplatz restriction 9 Geändert probability value 10 Provisioning unit 11 Parkplatz availability signal 12 Detektor vehicle identification value 13 Vehicle identification value 14 Park intent value 15 Dritt vehicle parking signal 16 Feeder laneReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedU.S. Pat. No. 9,047,777 B2

[0003] DE 10 2019 131 A1

[0004] U.S. Pat. No. 10,832,575 B2

[0005]

Claims

Method for determining a parking space (4) for an ego vehicle (1), wherein - a parking space data record (5) characterizing the parking space (4) is detected by means of a detector vehicle (2) while passing by a free parking space (4) and provided to a control device (6), - it is determined whether a third vehicle (3) will reach the parking space (4) in front of the ego vehicle (1), and - if yes, an availability probability value (7) of the parking space data record (5) is reduced by means of the control device (6), or - if no, the availability probability value (7) is held the same or increased by means of the control device (6), - a parking space availability signal (11) based on the parking space data record (5) is provided by means of a provision unit (10) in the ego vehicle (1).Method according to Claim 1, characterized in that, for the purpose of detecting the parking space data record (5) by means of the detector vehicle (2), one or more of the following parking space restrictions (8) is / are detected: - restriction in the longitudinal, transverse and / or height extent of the parking space (4), - restriction with respect to an orientation of the parking space (4) with respect to a feeder lane (16) adjoining the parking space (4), - restriction of the permissible parking to - a specific useful life, - a specific vehicle class, - vehicles having a specific special feature, - vehicles of a specific group of persons; wherein the parking space availability signal (11) is provided on the basis of an evaluation of the parking space restriction (8) or restrictions (8) from which it can be seen that parking with the ego motor vehicle (1) in the parking space (4) is permissible and safe.Method according to Claim 1 or 2, characterized in that - when the parking space data record (5) is provided, the control device (6) is provided with a detector vehicle identification value (12), on the basis of which the detector vehicle (2) can be unambiguously identified, - a vehicle identification value (13) of a motor vehicle travelling directly in front of the ego vehicle (1) is determined by means of the ego vehicle (1) and provided to the control device (6), - the identification values (12, 13) are compared by means of the control device (6), as a result of which it is determined that the motor vehicle travelling directly in front of the ego vehicle (1) is the detector vehicle (2) - if the identification values (12, 13) match, or - if the identification values (12, 13) deviate from one another, the third vehicle (3) is.Method according to Claim 3, characterized in that - a first hash value is calculated with the aid of a hash function on the basis of an individual alphanumeric identifier of the detector vehicle (2), said first hash value being further treated as the detector vehicle identification value (12), - a second hash value is calculated with the aid of the hash function on the basis of an individual alphanumeric identifier of the motor vehicle travelling directly in front of the ego motor vehicle (1), said second hash value being further treated as the vehicle identification value (13).Method according to Claim 3 or 4, characterized in that the vehicle identification value (13) or the individual alphanumeric identifier of the motor vehicle travelling directly in front of the ego motor vehicle (1) is read by means of an image acquisition unit of the ego motor vehicle (1) and provided to the control device (6).Method according to one of the preceding claims, characterized in that a parking intention value (14) characterizing a parking space search operation of the third vehicle (3) is determined and, on the basis thereof, the availability probability value (7) is reduced by means of the control device (6), - if the determined parking intention value (14) characterizes the parking space search operation of the third vehicle (3), or - if the determined parking intention value (14) characterizes a different operating mode than the parking space search operation of the third vehicle (3), the availability probability value (7) is increased or kept the same.Method according to one of the preceding claims, characterized in that a third-vehicle parking signal (15) is provided to the control device (6) if it is detected that the third-vehicle (3) is parking in the parking space (4), and the availability probability value (7) is set to a value characterizing the occupied parking space (4) by means of the control device (6).System for determining a parking space (4) for an ego motor vehicle (1), wherein the system has devices for carrying out the method carried out according to one of the preceding claims.The system according to claim 8, characterized in that one or more of the devices is / are arranged both external to the ego motor vehicle (1) and external to the detector vehicle (2).Motor vehicle which, for carrying out steps of the method designed according to one of Claims 1 to 7, has one or more of the features of the ego motor vehicle (1) and / or one or more of the features of the detector vehicle (2).

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