Computer-implemented method for assisting a driver in steering a vehicle into a parking space, computer program, computing device and vehicle

Abstract

Computer-implemented method for assisting a driver in steering a vehicle into a parking space, comprising the following steps: detecting at least one location of a parking space in the surroundings of the vehicle; determining a target trajectory from the current position of the vehicle to the detected location of the parking space; acquiring odometry data of the vehicle, wherein the acquired odometry data represents the position and / or movement of the vehicle; detecting the manual start of the parking process; and determining a deviation from the target trajectory based on the odometry data and the target trajectory.wherein an automatic control of at least the steering of the vehicle is carried out if the determined deviation exceeds a deviation threshold and / or a temporal change in the determined deviation exceeds a change threshold, wherein the automatic control at least reduces the deviation from the desired trajectory and guides the vehicle onto the desired trajectory;

Description

The present invention relates to a computer-implemented method for assisting a driver in the control of a vehicle in a parking space, wherein a deviation from a setpoint trajectory is determined and automatic control of at least the steering of the vehicle is carried out. The invention also relates to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method according to the invention. The invention furthermore relates to a computing device comprising at least one computing unit which is configured to carry out the steps of the method according to the invention. The invention furthermore relates to a vehicle comprising the computing device according to the invention.Prior ArtMethods are known in the prior art which indicate to a driver of a vehicle, in particular at low speeds of the vehicle, a distance between the vehicle and nearby objects in the environment, wherein the driver is warned acoustically and / or visually in particular of very nearby and / or potentially collision-relevant objects.The document DE 10 2004 055 584 A1 discloses a parking aid for a vehicle having a steering wheel and a steering torque control module, by means of which a steering torque can be impressed on the steering wheel, wherein the parking aid interacts with the steering torque control module and an additional steering torque is applied to the steering wheel, by means of which the driver of the vehicle is assisted during a parking process.Methods are also known in the prior art which fully automatically control the steering of a vehicle for parking, in particular after the driver has activated the parking assistance by a detected input of the driver. During such automatic steering for parking, the driver controls the drive, brakes, and gear of a transmission of the vehicle itself or manually.Furthermore, methods are known which fully automatically or autonomously control the steering and the drive of a vehicle for parking. The driver usually presses only one button to activate the parking process, in particular in front of a parking space found. The parking space is then sought by means of sensors for detecting the environment. After stopping the vehicle and an input for confirming the parking process in the found parking space, the parking process is then completely automatically controlled by the vehicle.DE 10 2020 211 548 B3 discloses a method for operating a motor vehicle for carrying out a parking process, wherein the motor vehicle has at least one parking assistance function and wherein an availability of assistance by the parking assistance function is signaled by at least temporary actoric exertion of at least one steering torque that can be perceived at a steering handle.The object of the present invention is to improve the assistance of a parking process, so that the assistance corresponds in particular better to the driver's intention and the activation of the parking process is advantageously more intuitive.Disclosure of the InventionThe above object is achieved according to the invention according to independent claims 1 and 9 to 11.The present invention relates to a computer-implemented method for assisting a driver in controlling a vehicle in a parking space. It can optionally be provided first that a parking situation is detected or determined as a function of a detected input of the user to a navigation destination in a navigation system and the detected current position of the vehicle. For example, the parking situation is detected as soon as the current position is at a distance less than a distance threshold value from the detected navigation destination. After a recognized or ascertained parking situation, it may be provided that a transmitting device of the vehicle automatically transmits a parking space request to a server device and / or by V2V or V2X communication data. As a further step, the method comprises in particular the acquisition of sensor data by means of at least one sensor of the vehicle, wherein the acquired sensor data represent the environment of the vehicle. The sensor data are advantageously captured by means of at least one ultrasonic sensor, a radar sensor and / or a lidar sensor and / or by means of at least one camera of the vehicle. The acquired sensor data therefore comprise in particular camera images and / or distance data. Distance data represents a distance between the vehicle and objects in the environment of the vehicle. Additionally or alternatively, it can optionally be provided that map data are provided by an electronic memory of the vehicle and / or are received by a server device and / or server data are received by the server device and / or V2V or V2X communication data are received by other vehicles or infrastructure devices, wherein the respective reception takes place in particular as a function of the ascertained parking situation or the transmitted parking space request. V2V or V2X communication data are transmitted in particular by means of a WLAN connection. The provided map data represent the surroundings of the vehicle. The received server data and / or the received V2V or V2X communication data comprise, in particular, a parking space in the environment of the vehicle, wherein they advantageously additionally represent the environment of the vehicle or the position of the parking space in the environment. For example, a transmitting device of a parking garage advantageously transmits a position of a parking space in a parking plane via a server communication link or a V2X communication link based on the transmitted parking space request. As another example, a vehicle that is being unparked could send a position of a parking space that is becoming free via V2V or V2X communication or a server communication, wherein the accuracy of the position information with respect to the parking space can be relatively low, for example + / - 10 meters. In a subsequent step of the method, at least one parking space in the surroundings of the vehicle is detected or ascertained, wherein in particular the position of the parking space relative to the vehicle is also ascertained. The parking space is preferably ascertained or recognized or its position at least based on the captured sensor data. Advantageously, a position of the parking space is determined for the detected parking space. It can be provided, for example, that the parking space is recognized as a function of at least one camera image and / or the distance data by a learned machine recognition method, in particular a neural network, and the position thereof with respect to the vehicle is determined on the basis of the acquired sensor data, in particular a sensory environment map determined on the basis of the acquired sensor data. The parking space is preferably detected in a predictive manner, that is to say without the need for the vehicle to pass the parking space completely. The parking space is detected in particular without visual contact with the parking space. Additionally or alternatively, the parking space is optionally detected as a function of the provided map data and / or as a function of the received server data and / or as a function of the V2V or V2X communication data. The parking space can thus optionally be recognized solely on the basis of the provided map data, the received server data and / or the received V2V or V2X communication data, for example if a parking space which is currently not visible from the vehicle by sensor technology or a more remote parking space is recognized on the basis of received server data and / or on the basis of the received V2V or V2X communication data, that is to say independently of captured sensor data of the vehicle. If a plurality of parking spaces have been detected, the parking space currently closest to the vehicle or the parking space closest to the detected navigation destination is advantageously automatically selected. A setpoint trajectory from the current position of the vehicle to the detected parking space is then determined, in particular based on the position of the detected parking space and the captured sensor data. The current position of the vehicle is advantageously determined by means of a satellite-assisted navigation system, for example GPS or Galileo. The setpoint trajectory comprises in particular one to two trains of travel in the current environment of the vehicle and in particular depicted by the captured sensor data. The setpoint trajectory optionally comprises a journey into another road and / or into another route of a large parking space and / or into a parking garage. The setpoint trajectory can thus optionally comprise cornering and turning processes in a currently as yet invisible environment of the vehicle. The determination of the setpoint trajectory takes place based on the detected parking space or the position of the detected parking space and as a function of the captured sensor data, the provided map data, the received server data and / or the received 2V or V2X communication data. The determined setpoint trajectory is at least partially displayed to the driver, in particular by means of a display device, for example by means of a display. Then odometry data of the vehicle are acquired, wherein the acquired odometry data represent the position and / or the movement of the vehicle. The odometry data included, for example, the steering angle of the vehicle, the acceleration of the vehicle and / or the speed of the vehicle in the longitudinal direction and / or the position of the vehicle, wherein the position of the vehicle is determined in particular by a satellite-supported navigation system. In a further step of the method, a detection or checking of the manual start of the parking process is carried out, in particular based on the captured odometry data of the vehicle and the determined setpoint trajectory and / or the detected parking space and / or the captured sensor data and / or the provided map data. In other words, it is detected or checked in particular on the basis of a sensor whether the driver actually wishes to park the vehicle in the detected parking space. At this point, it can advantageously be provided to capture an input by means of a microphone and / or by means of a button or touchscreen for cancelling the parking process by the user if the user desires to cancel the parking process. The detection or checking of the manual start of the parking process can be carried out, for example, by observing a following of the setpoint trajectory without detected input by the user for stopping the parking process for a predefined checking time period. After the manual start of the parking process has been detected, a deviation from the setpoint trajectory is ascertained on the basis of the odometry data and the setpoint trajectory, wherein the deviation represents in particular a distance from the setpoint trajectory and / or a difference with respect to the currently engaged steering angle of the steering device of the vehicle and the setpoint steering angle for travel on the setpoint trajectory. The determined deviation and / or correction instructions for reducing the deviation are advantageously displayed to the driver. According to the invention, if the determined deviation exceeds a deviation threshold value and / or a change over time in the determined deviation exceeds a change threshold value and / or it is detected that the driver takes his hands off the steering device, automatic control of at least the steering of the vehicle is carried out, wherein in particular the drive of the vehicle and / or at least one brake of the vehicle are additionally controlled. The automatic control advantageously reduces at least the deviation from the setpoint trajectory and / or guides the vehicle in particular onto the setpoint trajectory. In other words, the automatic control is carried out in particular on the basis of the determined deviation and on the setpoint trajectory and / or if it is detected that the driver is taking his hands off the steering device. In other words, the automatic control begins as soon as the manual control of the driver deviates from the setpoint trajectory by the deviation threshold value based on the odometry data or threatens to deviate and / or detects that the driver takes his hands from the steering device based on the change over time of the determined deviation, wherein the automatic control leads in particular to the setpoint trajectory. Advantageously, the driver again assumes the guidance of the vehicle when the setpoint trajectory is reached and the automatic control is deactivated. The imminent deactivation is indicated, for example, by a vibration of the steering device of the vehicle. The driver can decide to dispense with the deactivation, that is to say it can alternatively be provided that the automatic controller then guides the vehicle along the setpoint trajectory as far as the parking space. The omission of the deactivation can be detected by an input of the driver and / or a lack of takeover of the steering device by the user. The assistance of the parking process corresponds reliably to the driver's wish and the parking process is assisted without the necessary activation of a parking assistant, wherein the manual guidance and the activation of the automatic parking process are simultaneously facilitated. In addition, server-based information and V2V or V2X communication can be implemented or used in a simple manner for parking space search, with the result that the driver is also supported for reaching parking spaces which are not currently visible to him.In one embodiment of the invention, the driver is informed about the imminent automatic control, in particular visually and / or acoustically, for a predefined period of time, prior to the automatic control on the basis of the ascertained deviation and / or the deviation threshold value and / or the change threshold value. As a result, the driver is not surprised by the automatic controller and he can thus ensure the automatic takeover of the controller in a relaxed manner and, if appropriate, decide for the complete automatic guidance of the vehicle as far as the detected parking space.In one embodiment of the invention, an additional torque impressed on the steering device of the vehicle is generated for the predefined time period by means of an electric motor, which perceptibly counteracts the increasing deviation from the setpoint trajectory for the driver on the steering device. This informs the driver of the deviation from the desired trajectory before the automatic control, so that he can maintain manual control by appropriate counter steering if desired.Furthermore, it can be provided that the deviation threshold value and / or the change threshold value are adapted to the current position of the vehicle with respect to or along the desired trajectory. For example, the deviation threshold value and / or the change threshold value are adapted to the setpoint steering angle or the curvature of the setpoint trajectory at the current position along the setpoint trajectory. As a result, the determined deviation is advantageously compensated by the automated control, in particular without exceeding a predefined maximum steering angle and / or without dropping below a predefined desired parking speed, so that the driver feels the automatic control as efficient and pleasant.In a preferred development of the invention, the automatic control reduces the deviation from the setpoint trajectory and guides the vehicle onto the setpoint trajectory. This assists the driver in parking.Particularly preferably, the automatic control is deactivated as soon as the determined deviation from the setpoint trajectory falls below a predefined tolerance threshold value. In this embodiment, the automatic guidance serves to assist the manual guidance of the parking process.Preferably, in an optional embodiment, an intention of the driver to grip the steering device or a contact between at least one hand of the driver and the steering device of the vehicle is detected. Advantageously, it is determined whether the driver holds the steering wheel firmly at least with one hand. Subsequently, the automatic control is deactivated only when it is detected that the driver contacts the steering device with at least one hand or he intends to grip the steering device. In other words, the automatic control takes place along the setpoint trajectory up to the parking space if it is detected that the driver does not contact the steering device with at least one hand and / or no intended gripping of the steering device is detected. In other words, the automatic control is performed for the vehicle along the target trajectory to the detected parking space depending on the detected intention of the driver to grip the steering device or depending on the detected contact between the hand of the driver and the steering device. This embodiment advantageously reliably activates or assumes the automatic control of the parking process for parking as far as into the parking space. This embodiment allows the driver to intuitively activate the automatic guidance of the vehicle as far as the parking space by simply taking his hands from the controller.In a development of this embodiment, the determination of the intention of the driver to grip the steering device or the determination of the contact between the hand of the driver and the steering device is determined as a function of at least one camera image which was captured by means of an interior camera of the vehicle. The camera image preferably images at least the interior of the vehicle around the steering device. This embodiment reliably recognizes that the driver has taken his hands off the controller. In addition, an intended contact of the steering wheel or a driver's intention for manual control after automatic control can also be detected.In an optional further development of the embodiment, alternatively or additionally the contact between the hand of the driver and the steering device is determined on the basis of the required motor force for changing the steering torque and / or by means of a contact determination sensor on the steering wheel. This embodiment particularly reliably recognizes that the driver has taken his hands off the controller.The invention also relates to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method according to one of the preceding claims.The invention furthermore relates to a computing device, in particular a central computing device or a control device. The computing device comprises at least one signal input for providing an input signal which represents odometry data detected by means of at least one odometry sensor, wherein the detected odometry data represent the position and / or the movement of the vehicle. Furthermore, the computing device comprises a signal output for outputting a control signal for at least one electric motor, which is configured to adapt the steering angle of the vehicle. The computing device also has a computing unit, in particular a processor, which is configured such that the computing unit executes the steps of the method according to the invention.The invention also relates to a vehicle comprising the computing device according to the invention.Further advantages result from the following description of exemplary embodiments with reference to the figures. FIG. 1 : Flow diagram of the method as a block diagram FIG. 2 shows an alternative flow diagram of the method as a block diagram FIG. 3 : Schematic illustration of the setpoint trajectory and of the deviationExemplary EmbodimentsFIG. 1 schematically shows a flow diagram of the example of the method as a block diagram. The method begins with the (optional) acquisition 110 of sensor data. The sensor data are advantageously acquired by means of at least one vehicle sensor and represent the environment of the vehicle. The vehicle sensor comprises, for example, an ultrasonic sensor, a radar sensor and / or a camera sensor. It can be provided that in step 115, not shown, a sensory environment map is determined based on the sensor data. Subsequently, in step 120, at least one parking space or a position of a parking space in the environment of the vehicle is determined or recognized, advantageously based on the captured sensor data, in particular based on the determined sensory environment map. Subsequently, in step 130, a setpoint trajectory from the current position of the vehicle to the recognized parking space or to the position of the parking space is ascertained. Furthermore, odometry data of the vehicle are acquired in step 140, wherein the acquired odometry data represent the position and / or movement of the vehicle. The recorded odometry data comprise, for example, the position of the vehicle, the steering angle of the vehicle and / or the speed of the vehicle. In a step 150, the manual start of the parking process is detected. The parking process can in this case comprise one or more straight exits and / or one or more cornering and / or one or more changes in travel direction or travel trains. The detection 150 of the parking process is preferably carried out in that a following of the setpoint trajectory is detected or determined on the basis of the detected odometry data. In other words, it is preferably checked in step 150 whether the current movement of the vehicle matches the determined setpoint trajectory on the basis of the odometry data, regardless of which length and / or which shape the setpoint trajectory has. If a match is detected for a predefined checking period, the start of the parking process is detected, for example, in step 150. Subsequently, a determination 160 of a deviation from the setpoint trajectory is continuously carried out on the basis of the odometry data and the setpoint trajectory. In optional step 165, a deviation threshold value and / or a change threshold value are adapted to the current position of the vehicle with respect to the desired trajectory. Subsequently, in step 170, it is checked whether the determined deviation exceeds the predefined or adapted deviation threshold value and / or a change over time of the determined deviation exceeds the predefined or adapted change threshold value. If the deviation ascertained in step 170 exceeds the deviation threshold value and / or a change over time in the ascertained deviation exceeds the change threshold value, the driver is informed about an imminent automatic control, in particular visually and / or acoustically, for a predefined period of time in optional step 180. It can be provided that in step 180, the user or driver is alternatively or additionally informed in that an additional torque impressed on the steering device of the vehicle is generated by means of an electric motor for the predefined time period. The generated torque advantageously perceptibly counteracts the increasing deviation from the setpoint trajectory for the driver on the steering device. Subsequently, in step 190, if the determined deviation exceeds the deviation threshold value and / or a change over time in the determined deviation exceeds the change threshold value and / or it is detected that the driver takes his hands off the steering device, the automatic control is carried out, wherein the automatic control advantageously reduces at least the deviation to the desired trajectory and guides the vehicle to the desired trajectory. The automatic controller 190 at least steers the vehicle by means of an electric motor or the steering motor. In optional step 195, an intention of the driver to grip the steering device, in particular the steering wheel, or a contact between at least one hand of the driver and the steering device of the vehicle is detected. In particular, in step 195, it is determined whether the driver holds the steering wheel firmly at least with one hand. Step 195 may be performed prior to automatic control. The intention of the driver to grip the steering device or the contact is preferably determined in the optional step 195 as a function of at least one camera image. The camera image is advantageously captured by means of an interior camera of the vehicle and images at least the interior of the vehicle around the steering device. Alternatively or additionally, in step 195, the contact between the hand of the driver and the steering device can be determined on the basis of the required motor force for changing the steering torque and / or by means of a contact determination sensor on the steering wheel. Subsequently, in optional step 196, the automatic control is deactivated, in particular if the determined deviation from the setpoint trajectory falls below a predefined tolerance threshold value. Alternatively, in optional step 197, it may be provided in step 196 that the automatic control takes place along the setpoint trajectory up to the parking space if it is detected in step 195 that the driver does not contact the steering device with at least one hand and / or no intended gripping of the steering device or no manual take-over request for the guidance of the vehicle is detected. It can be provided that the automatic control is continued along the setpoint trajectory in step 197 until the parking space reaches or the intention of the driver to grip the steering device or the contact between the hand and the steering device is detected in optional step 195.FIG. 2 schematically shows an alternative flow diagram of the method as a block diagram. In this example, an input of the user to a navigation destination is initially detected in a navigation system in optional step 101. Subsequently, in optional step 102, the current position of the vehicle is determined, in particular based on a satellite-assisted navigation system. In optional step 103, navigation instructions are then displayed to the user on the basis of the detected input of the user to the navigation destination. In optional step 104, automatic guidance of the vehicle to the navigation destination may be carried out. In optional step 105, a parking situation is detected as a function of the detected input to the navigation destination and the detected current position of the vehicle, as soon as the current position of the vehicle is at a distance less than a distance threshold value from the navigation destination. In the case of the detected parking situation, the vehicle automatically sends a parking space request to a server device and / or by V2V or V2X communication in optional step 106. In optional step 107, server data are then received from the server apparatus and / or V2V or V2X communication data from other vehicles or infrastructure devices as a function of the parking space request sent. In optional step 108, additionally or alternatively, it may optionally be provided that map data are provided by an electronic memory of the vehicle and / or are received by a server device. Thereafter, the determination or recognition 120 of the at least one parking space in the environment of the vehicle takes place as a function of the received server data and / or the received V2V or V2X communication data. In this exemplary embodiment, ascertainment 130 of the setpoint trajectory from the current position of the vehicle to the recognized parking space is then carried out on the basis of the recognized parking space and the provided or received map data. The remaining steps 140 to 197 proceed analogously to the description of FIG. 1, wherein after an approach to the parking space, i.e., for example, as soon as it is within the range of vision of the vehicle sensor, the existence of the position of the parking space is advantageously validated on the basis of captured sensor data in optional step 198, or the detected position of the parking space is adapted. The automatic controller 197 is continued only as far as the parking space if the parking space is recognized or validated on the basis of captured sensor data.In FIG. 3, the vehicle 310 at a first position 310 aat a first point in time, a setpoint trajectory 330 determined at the first point in time for a recognized parking space P between two other vehicles 320, an actual trajectory 340 of the vehicle 310 and the determined deviations 350 aand 350 bat two different points in time are schematically illustrated in plan view from above. Typically, the vehicle 310 travels along a road and searches a parking space P by means of vehicle sensors. The parking search can be activated manually. However, a parking situation is preferably automatically detected as a driving situation, for example based on the detected navigation destination of the vehicle and as soon as a distance to the detected navigation destination falls below a distance threshold value and / or the speed falls below a speed threshold value. The at least one vehicle sensor for capturing sensor data comprises, for example, an ultrasonic sensor, a radar sensor and / or a camera. Based on the sensor data acquired by means of the at least one vehicle sensor, the position of the parking space P is detected or determined at the position 310 aof the vehicle 310 at the first point in time when a parking situation is detected. As soon as the position of the parking space P has been ascertained, the setpoint trajectory 330 between the current position 310 aof the vehicle and the ascertained position of the parking space P is determined. Setpoint trajectory 330 is displayed to the driver preferably on a display device of the vehicle, for example as being superimposed or overlay via a camera image and / or a virtual environment model. In this exemplary embodiment, the determined setpoint trajectory 330 comprises two subareas 330 aand 330 b. The first sub-region 330 arepresents a straight vehicle drive in forward travel. The second subregion 330 brepresents a vehicle 310 vehicle's train in reverse travel with steering angles varying over the subregion or varying steering angle until the vehicle 310 parks in the longitudinal parking space P between the parked other vehicles. At the later second point in time or at the second position 310 bof the vehicle, the vehicle 310 has arrived at the end of the first subregion 330 aof the setpoint trajectory. The vehicle has accordingly moved between the first position 310 aand the second position 310 balong the first subregion 330 aof the setpoint trajectory by manual guidance of the driver, wherein a shortest distance between the movement path of the vehicle and the corresponding position on the setpoint trajectory 330 has not been exceeded in particular. In other words, the vehicle 310 has been moved substantially along the first subregion 330 aof the desired trajectory. During travel along the first subregion 330 a, the driver has the opportunity to abort the parking process by a detected abort input. The break input can be effected, for example, by acoustic input or by the actuation of a button. An abort input can also be detected by continuing to travel in the forward direction at the end of the first subregion 330 a, i.e. a lack of stop. At the end of the first sub-region 330 a, the driver stops the vehicle and starts driving backwards along the second sub-region 330 bof the desired trajectory. After a certain time, however, the trajectory 340 of the vehicle deviates from the second sub-region 330 bof the setpoint trajectory. This can be done intentionally or unintentionally by the driver. During the travel of the vehicle along the setpoint trajectory 330, 330 a, 330 b, a deviation 350 a, 350 bbetween the movement path 340 of the vehicle or the current position of the vehicle and the setpoint trajectory is ascertained continuously. This determined deviation corresponds, for example, to the shortest distance between the current position of the vehicle and the setpoint trajectory. The position of the vehicle or the trajectory of the vehicle is determined based on the acquired odometry data of the vehicle. If the determined deviation 350 a, 350 bexceeds a deviation threshold value and / or a change over time in the determined deviation exceeds a change threshold value and / or it is detected that the driver is taking his hands off the steering device, the automatic control of the vehicle takes place. The automatic control advantageously reduces at least the deviation 350 a, 350 bfrom the setpoint trajectory and preferably guides the vehicle onto the setpoint trajectory. It can be provided that the driver then takes over the manual guidance of the vehicle again when reaching the setpoint trajectory, which deactivates the automatic guidance. In a preferred embodiment of the invention, the vehicle is automatically controlled or guided as far as the detected parking space if the driver takes his hands from the controller or from the steering device or the steering wheel before or after the beginning of the automatic control. Whether the hands are on the steering wheel or not is detected in particular on the basis of a camera. For this purpose, an interior camera is advantageously arranged in the vehicle, which is configured to capture the region of the driver and the steering device. For this purpose, the interior camera can be arranged, for example, on the ceiling in the front region of the vehicle and oriented downward.References 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 citedDE 10 2004 055 584 A1

[0003] DE 10 2020 211 548 B3

[0006]

Claims

Computer-implemented method for assisting a driver in the control of a vehicle in a parking space, comprising the following steps • detection (120) of at least one position of a parking space in the environment of the vehicle, • determination (130) of a setpoint trajectory from the current position of the vehicle to the detected position of the parking space, • detection (140) of odometry data of the vehicle, wherein the detected odometry data represent the position and / or movement of the vehicle, • detection (150) of the manual start of the parking process, and • determination (160) of a deviation from the setpoint trajectory based on the odometry data and the setpoint trajectory, characterized in that the following step is carried out • automatic control (190) of at least the steering of the vehicle, if the determined deviation exceeds a deviation threshold value and / or a change over time in the determined deviation exceeds a change threshold value and / or it is detected that the driver takes his hands from the steering device, wherein the automatic control advantageously reduces at least the deviation from the target trajectory and / or guides the vehicle in particular to the target trajectory.Method according to claim 1, wherein the driver is informed about the imminent automatic control, in particular visually and / or acoustically, prior to the automatic control (190) on the basis of the determined deviation and / or the deviation threshold value and / or the change threshold value for a predefined period of time.Method according to Claim 2, wherein, for the predefined time period, an additional torque which is impressed on the steering device of the vehicle is generated by means of an electric motor which perceptibly counteracts the increasing deviation from the setpoint trajectory for the driver on the steering device.Method according to one of the preceding claims, wherein the deviation threshold value and / or the change threshold value are adapted to the current position of the vehicle with respect to the desired trajectory.Method according to one of the preceding claims, wherein the following step is carried out • deactivation (196) of the automatic control system as soon as the determined deviation from the setpoint trajectory falls below a predefined tolerance threshold value.Method according to one of the preceding claims, wherein the following step is carried out • detection (195) of an intention of the driver to grip the steering device or a contact between at least one hand of the driver and the steering device of the vehicle, in particular it is determined whether the driver holds the steering wheel firmly at least with one hand, and • automatic control (197) along the setpoint trajectory up to the parking space if it is detected that the driver does not contact the steering device with at least one hand and / or no intended gripping of the steering device is detected.Method according to Claim 6, wherein the intention of the driver to grasp the steering device or the contact is determined as a function of at least one camera image which is captured by means of an interior camera of the vehicle and images at least the interior region of the vehicle around the steering device.Method according to claim 6 or 7, wherein the contact between the hand of the driver and the steering device is determined based on the required motor force for changing the steering torque and / or by means of a contact determination sensor on the steering wheel.A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method according to any one of the preceding claims.Computing device, in particular central computing device or control device, comprising at least the following components • a signal input for providing an input signal which represents odometry data detected by means of at least one odometry sensor, wherein the detected odometry data represent the position and / or the movement of the vehicle, • a signal output for outputting a control signal for at least one electric motor which is configured to adapt the steering angle of the vehicle, and • a computing unit which is configured such that it carries out the steps of the method according to one of Claims 1 to 8.A vehicle comprising a computing device according to claim 10.

Images