Method and device for performing a parking maneuver of a vehicle

Abstract

A device for assisting the user of a motor vehicle in performing a parking maneuver is described. The device is configured to detect that a special lane is located between a parking space and the lane for the motor vehicle, and to determine whether or not the special lane can be used for performing a parking maneuver. The device is further configured to perform a parking maneuver related to the parking space depending on whether or not the special lane can be used for performing a parking maneuver.

Description

[0001] The invention relates to a method and a corresponding device designed to assist the user of a vehicle in carrying out a parking maneuver.

[0002] A vehicle may have one or more driver assistance devices, each configured to automatically guide the vehicle longitudinally and / or transversely. In particular, the vehicle may have a parking assistance device configured to park the vehicle from the lane of a roadway occupied by the vehicle into a parking space using automated longitudinal and / or transverse guidance, or to exit the vehicle from the parking space onto a lane of the roadway using automated longitudinal and / or transverse guidance.

[0003] The reliability and / or convenience of the parking assistance device typically depend on the accuracy with which a parking space, in particular a parking gap, can be measured. Furthermore, the reliability and / or convenience of the parking assistance device may depend on the complexity, in particular the radius of curvature, of the vehicle's driving trajectory that must be followed for the parking or exiting maneuver.

[0004] This document addresses the technical task of increasing the reliability and / or comfort when performing a (possibly automated) parking maneuver.

[0005] 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.

[0006] According to one aspect, a device for assisting the user, in particular the driver, of a motor vehicle when performing a parking maneuver is described. The motor vehicle can, for example, be arranged in a lane of a roadway, and the motor vehicle can be parked in a parking space, in particular in a parking space, as part of the parking (entering) maneuver. Alternatively, the motor vehicle can be arranged in the parking space, in particular in the parking space, and the motor vehicle can be guided out of the parking space onto the lane of the roadway as part of the parking (exiting) maneuver.

[0007] The device can optionally be configured to detect the parking space based on sensor data from one or more environmental sensors (e.g., from at least one environmental camera) of the motor vehicle. Alternatively or additionally, the parking space can be detected based on a digital map of the road network traveled by the vehicle. Alternatively or additionally, the parking space can be indexed by a backend server.

[0008] The device is configured to detect that a special lane is located between the parking space and the lane for the motor vehicle. The special lane can be identified, for example, based on sensor data from one or more environmental sensors of the motor vehicle and / or based on the digital map. The special lane can extend along the direction of travel of the lane. It may therefore be necessary for the motor vehicle to cross the special lane for the parking maneuver (to drive from the parking space to the lane or from the lane to the parking space).

[0009] The special lane may be a section of the roadway that is not intended for use by motor vehicles. Alternatively or additionally, the special lane may be a section of the roadway reserved for one or more other road users. Alternatively or additionally, the special lane may be a section of the roadway reserved for a specific type of road user, in particular buses, bicycles, trams, taxis, carpool vehicles, or electric vehicles. The special lane may in particular be a bicycle path or a bus lane. Alternatively or additionally, the special lane may be reserved for road users who have one or more specific characteristics.

[0010] The device can be configured to determine the orientation of the parking space relative to the lane. The parking space can, in particular, be a longitudinal parking space (extending along the direction of travel of the lane, and on which the motor vehicle is positioned along the direction of travel of the lane) or a transverse parking space (extending transversely to the direction of travel of the lane, and on which the motor vehicle is positioned transversely or diagonally to the direction of travel of the lane).

[0011] Depending on the orientation of the parking space, the special lane may be used or not used for performing the parking maneuver related to the parking space. In particular, the device may be configured to determine, depending on the orientation of the parking space, whether using the special lane is advantageous or not when performing the parking maneuver, and / or whether the special lane should be used when performing the parking maneuver. It can then be checked (possibly only in response to the determination) whether the special lane may be used for performing the parking maneuver.

[0012] For example, in the case of a parallel parking space, it may not be necessary to use the special lane for a drive to measure the parking space. On the other hand, in the case of a transverse parking space, it may be advantageous (and possibly necessary) to use the special lane for a drive to measure the parking space.

[0013] The device is further configured to determine whether the special lane can (in particular may) be used to perform a parking maneuver. The use of the special lane for performing the parking maneuver may extend beyond simply crossing the special lane. The special lane may, for example, be used for a drive to measure the parking space (e.g., to measure the width and / or length and / or depth of the parking space), so that the quality of the measurement can be improved due to the reduced distance to the parking space. Alternatively or additionally, the special lane can be used as an intermediate (stopping) position for the parking maneuver (to improve the quality of the driving trajectory of the parking maneuver).

[0014] The device can be configured to determine, on the basis of one or more traffic regulations that apply at the location (e.g. in the country and / or in the city) where the special lane is located, whether the special lane can (in particular may) be used to carry out a parking maneuver or not. Alternatively or additionally, the device can be configured to determine, on the basis of sensor data from one or more environmental sensors of the motor vehicle, whether the special lane can (in particular may) be used to carry out a parking maneuver or not. Alternatively or additionally, the device can be configured to determine, on the basis of the digital map for the road network traveled by the motor vehicle, whether the special lane can (in particular may) be used to carry out a parking maneuver or not.

[0015] The device can be configured to determine one or more properties of the special lane (e.g., based on the sensor data of the one or more environmental sensors and / or based on the digital map). The one or more properties of the special lane can include, • the width of the special lane transverse to the direction of travel of the motor vehicle and / or the lane; and / or • the type of special lane, in particular the type of road users for whom the special lane is reserved (e.g. cycle path or bus lane).

[0016] It can then be determined in a particularly precise manner, on the basis of one or more properties of the special lane, whether the special lane can (in particular may) be used to carry out a parking maneuver or not.

[0017] For example, based on the type of special lane, it can be determined whether the special lane may or may not be used for a parking maneuver in the country in which the motor vehicle is located.

[0018] The device can be configured to check whether one or more other road users are located on the special lane. This can be detected based on the sensor data from one or more of the vehicle's environmental sensors. The use of the special lane can be prevented and / or prohibited if one or more other road users are located on the special lane (who typically have right of way). The device can be configured to determine whether the special lane will be free (at the latest) after a certain (maximum permissible) waiting time has elapsed. For this purpose, it can be predicted when the one or more other road users on the special lane will have passed the parking space (so that the special lane is free).

[0019] If it is determined that the special lane will be free (at the latest) after the (maximum permissible) waiting time has elapsed, the device can cause the vehicle to wait at a stop position in the lane until the special lane becomes free. Furthermore, the device can initiate a change to the special lane (e.g., to measure the parking space) as soon as it is detected that the special lane is free.

[0020] The device can be configured to determine the (maximum permissible) waiting time, in particular based on the current traffic situation in the lane (which can be determined using the sensor data from one or more environmental sensors). The (maximum permissible) waiting time can be reduced, for example, with increasing traffic density in the lane. Alternatively or additionally, the (maximum permissible) waiting time can be reduced if (based on the sensor data from one or more environmental sensors) another vehicle is detected behind the motor vehicle.

[0021] The device is further configured to perform the parking maneuver (entering or exiting) related to the parking space depending on whether the special lane can be used (in particular, may be used) for performing a parking maneuver or not. In particular, a driving trajectory of the motor vehicle for the parking maneuver can be determined depending on whether the special lane can be used (in particular, may be used) for performing a parking maneuver or not.

[0022] The device may be arranged, if it has been determined that the special lane can be used (in particular may be used) to carry out a parking maneuver, to cause • the motor vehicle is moved past the parking space along a driving trajectory from the lane to the special lane to measure the parking space (so that the motor vehicle drives past the parking space on the special lane); and / or • the motor vehicle is guided from the lane to a starting position for a parking maneuver on the parking space, the starting position being located on the special lane; and / or • the motor vehicle is guided out of the parking space to a final position for a parking manoeuvre, the final position being located on the special lane.

[0023] On the other hand, if it has been determined that the special lane cannot (in particular must not) be used to carry out a parking maneuver, the device can be arranged to cause • the parking space is guided past the parking space along a driving trajectory running on the lane in order to measure the parking space (so that the motor vehicle drives past the parking space on the lane); and / or • a driving trajectory for a parking maneuver into the parking space is determined starting from a starting position located on the lane; and / or • a driving trajectory for a parking maneuver from the parking space to an end position is determined, which is arranged on the lane.

[0024] The longitudinal and / or lateral guidance of the motor vehicle can be effected automatically by the motor vehicle for carrying out the parking maneuver. The driving trajectory for carrying out the parking maneuver can be determined by the device. The driving trajectory can depend on whether the special lane can (in particular may) be used for carrying out a parking maneuver. The determined driving trajectory can be used for the automated longitudinal and / or lateral guidance of the motor vehicle. Alternatively or additionally, the determined driving trajectory can be output to the user, in particular to the driver, of the motor vehicle via a user interface of the motor vehicle, in particular to enable the driver to drive at least partially or completely manually along the output driving trajectory.

[0025] By taking a special lane into account when carrying out a (possibly automated) parking maneuver, the reliability and comfort of the parking maneuver can be increased.

[0026] 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 device described in this document.

[0027] According to one aspect, a method for assisting the user of a motor vehicle in performing a parking maneuver is described. The method comprises detecting that a special lane is located between a parking space and the lane for the motor vehicle. The method further comprises determining whether the special lane can (in particular, may) be used for performing a parking maneuver or not, and performing a parking maneuver related to the parking space depending on whether the special lane can (in particular, may) be used for performing a parking maneuver or not.

[0028] It should be noted that the aspects described in connection with the device, in particular the claims described in connection with the device, are also to be applied to the method as corresponding method features.

[0029] 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 control unit of a vehicle) and thereby to carry out the method described in this document.

[0030] According to a further aspect, a storage medium is described. The storage medium may comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0031] 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.

[0032] The invention will be described in more detail below with reference to exemplary embodiments. Fig. 1a exemplary components of a vehicle; Fig. 1b an example parking situation of the vehicle; Fig. 2a to 2d different driving trajectories when performing a parking maneuver; and Fig. 3 a flowchart of an exemplary method for performing a parking maneuver of a vehicle.

[0033] As stated at the beginning, this document deals with increasing the comfort and / or reliability of a vehicle's (possibly automated) parking maneuver. In this context, Fig. 1a shows an exemplary vehicle 100 with one or more environmental sensors 102, each configured to capture 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.

[0034] 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.

[0035] The device 101 can be configured to effect an automated parking maneuver of the vehicle 100, in particular to automatically park the vehicle 100 in a parking space (or, if necessary, to automatically drive away from the parking space). Based on the sensor data from the one or more environmental sensors 102, a parking space can be detected and / or measured. Based on the measurement of the parking space, a decision can be made as to whether the parking space is suitable for the vehicle 100 (in particular, whether the parking space is sufficiently large for the vehicle 100). If a suitable parking space has been detected, an offer for a parking maneuver into the detected parking space can be issued to the user of the vehicle 100 via a user interface 104.

[0036] If the offer is accepted by the user (through a user input at the user interface 104), a travel trajectory for the vehicle 100 can be determined (based on the sensor data from the one or more environmental sensors 102), along which the vehicle 100 can be (automatically) guided longitudinally and / or transversely from the current starting position to an end position in the parking space. Furthermore, if necessary, the vehicle 100 can be automatically guided longitudinally and / or transversely along the determined travel trajectory in order to park the vehicle 100 in the parking space.

[0037] Fig. 1b shows an exemplary parking situation in which a special lane 111 is arranged between the parking space 112 for the vehicle 100 and the lane 110 of a roadway used by the vehicle 100, wherein the special lane 111 is not intended to be used by the vehicle 100. Examples of a special lane 111 are a bicycle path or a bus lane.

[0038] The fact that a special lane 111 is located between lane 110 and parking space 112 can result in the vehicle 100 driving past parking space 112 at a relatively large distance in order to measure parking space 112. The relatively large distance can lead to a relatively high measurement inaccuracy, which can impair the reliability and / or convenience of parking assistance device 101. Furthermore, the relatively large distance between lane 110 and parking space 112 can lead to a relatively unfavorable driving trajectory for the parking maneuver, which can also impair the reliability and / or convenience of parking assistance device 101.

[0039] The (control) device 101 may be configured to determine whether or not the special lane 111 can be used by the vehicle 100 for the parking maneuver. For this purpose, one or more traffic regulations that legally define the possibilities for using a special lane 111 by a motor vehicle 100 may be taken into account. The one or more traffic regulations may depend on the location (e.g., the country or city) where the parking space 112 is located.

[0040] Alternatively or additionally, based on the sensor data from one or more environmental sensors 102, it can be checked whether the special lane 111 is being used by one or more road users 115 or not. The density and / or frequency of road users 115 (e.g., bicycles or buses) on the special lane 111 can also be determined. Based on this information, it can be determined whether the special lane 111 can be used for the parking maneuver or not. The special lane 111 can only be used if no road user 115 is on the special lane 111.

[0041] The use of the special lane 111 may go beyond simply crossing the special lane 111 during the parking maneuver. In particular, it may be checked whether the special lane 111 can be used for a drive to measure the parking space 112 and / or as an intermediate (stopping) position for the parking maneuver.

[0042] If it is determined that the special lane 111 can be used for the parking maneuver, for example (as exemplified in Fig. 2b), the vehicle 100 can be caused to travel on the special lane 111 to measure the parking space 112, thereby reducing the lateral distance to the parking space 112. For this purpose, the vehicle 100 can be guided along a specific travel trajectory 210 onto the special lane 111 and past the parking space 112. Thus, the parking space 112 can be measured precisely to increase the reliability and / or convenience of the parking maneuver.

[0043] Fig. Figure 2b shows an example in which the vehicle 100 is guided along a travel trajectory 220 (possibly automated) to an initial position 221 on the special lane 111 (and stops there). Starting from the initial position 221, the parking maneuver can then be initiated into the parking space 112 along the travel trajectory 222. Due to the fact that the initial position 221 is located on the special lane 111 and thus relatively close to the parking space 112, a particularly reliable and / or comfortable travel trajectory 222 can be determined and used for the parking maneuver.

[0044] If, on the other hand, it is determined that the special lane 111 cannot be used for the parking maneuver, the device 101 may determine a driving trajectory 232 for the parking maneuver that leads directly from the lane 110 of the roadway to the parking space 112 (see Fig. 2c). Due to the fact that the starting position for this driving trajectory 232 is relatively far away from the parking space 112, the reliability and / or comfort of the parking maneuver may be impaired.

[0045] Fig. Figure 2d shows an example in which the special lane 111 is used for a parking maneuver from parking space 112. The vehicle 100 can be guided along the travel trajectory 240 from the parking space 112 to a stopping position 241 on the special lane 111. Starting from the stopping position 241, the vehicle 100 can be guided along a further travel trajectory 242 (possibly automated) onto the lane 110. This allows for a particularly reliable and safe parking maneuver.

[0046] This makes it possible to use a special lane 111 for a parking maneuver depending on one or more criteria or conditions. The one or more criteria or conditions may include or concern, • the width of the special lane 111; based on this and, if applicable, on the detection range of the one or more environmental sensors 102, it can be checked whether the use of the special lane 111 is actually advantageous and / or necessary; • the type of parking space 111 (parallel parking space or perpendicular parking space; typically, the distance between the vehicle 100 and the parking space 112 should be as small as possible when measuring a perpendicular parking space in order to be able to measure the relatively large depth of the perpendicular parking space); and / or • one or more traffic rules that, for example, specify one or more situations in which a special lane 111 may be used.

[0047] In addition, it can be checked whether a relevant road user 115 (e.g., a bicycle or a bus) is currently on the special lane 111. This road user 115 typically has priority over vehicle 100.

[0048] By using the special lane 111 for a parking maneuver, lane 110 of vehicle 100 can be cleared for following traffic, so that traffic is less disrupted by the parking maneuver. Furthermore, precise parking space measurement can be enabled.

[0049] If the special lane 111 is required for measuring the parking space 112, or if it is advantageous to use the special lane 111 for measuring the parking space 112, (as exemplified in Fig. 2a) the special lane 112 is monitored for other road users 115 on the basis of the sensor data of the one or more environmental sensors 102 (whereby the one or more other road users 115 are typically given priority).

[0050] If the parking space 112 in the direction of travel in front of the vehicle 100 still needs to be measured (more precisely), the vehicle 100 can decelerate in the current lane 110 if necessary (e.g., to allow a road user 115 to pass in the special lane 111). The vehicle 100 can, if necessary, assume a waiting position in the lane 110. As soon as the special lane 111 is free, the special lane 111 can be used for a drive to measure the parking space 112 (as represented by the drive trajectory 210). If no road user 115 is detected in the special lane 111, the special lane 111 can be used immediately for the drive to measure the parking space.

[0051] The device 101 of the vehicle 100 can be configured to detect a possible parking space 112 based on information from a backend server, based on the sensor data of the one or more environmental sensors 102 and / or based on an input from the driver of the vehicle 100.

[0052] Fig. Figure 2b shows a situation in which the special lane 111 is used (possibly only) as a starting position 221 for a parking maneuver. Using a starting position 221 for the parking maneuver on the special lane 111 has the advantage of creating space for flowing traffic on the lane 110 and, if necessary, allowing unhindered parking. Furthermore, a standard driving trajectory 222 can be used to park the vehicle 100. The standard driving trajectory 222 typically has a relatively short travel path.

[0053] If approaching a starting position 221 for the parking maneuver on the special lane 111 is not possible or permissible (but a measurement of the parking space 112 has been carried out), then (as exemplified in Fig. 2c), an adapted driving trajectory 232 can be determined which leads the vehicle 100 directly from a starting position on the lane 110 via the special lane 111 into the parking space 112.

[0054] Fig. Figure 2d shows a situation in which the special lane 111 (if permitted and if no road user 115 is detected) is used as an intermediate position 241 during a parking maneuver, e.g., to wait for a suitable time to merge into lane 110. This allows for a particularly comfortable and safe parking maneuver.

[0055] For the use of the special lane 111, the following can be taken into account: • Information relating to the width and / or type of special lane 111 (which can be determined, for example, from a digital map of the road network and / or which was determined when parking in the parking space 112); • Information regarding the traffic on lane 110 (e.g. to determine the time for the parking manoeuvre); and / or • Information about an approaching road user 115 on the special lane 111.

[0056] If necessary, a partial feeling out of the parking space 112 can be effected (e.g. if the special lane 111 is wide enough and if the one or more road users 115 on the special lane 111 have enough space to avoid the vehicle 100).

[0057] Fig.3 shows a flowchart of a (possibly computer-implemented) method 300 for assisting the user, in particular the driver, of a motor vehicle 100 in performing a parking maneuver. The method 300 can be executed by a control device 101 of the motor vehicle 100.

[0058] The method 300 comprises detecting 301 that a special lane 111 is arranged between a parking space 112, in particular a parking space, and a lane 110 for the motor vehicle 100. The motor vehicle 100 can be arranged in the parking space 112 or in the lane 110. The motor vehicle 100 must therefore cross the special lane 111 for the parking maneuver. The reliability and / or convenience of the parking maneuver can possibly be increased by not only crossing the special lane 111, but by using the special lane 111 to carry out the parking maneuver, e.g., for a drive to measure the parking space 112 and / or as an intermediate (stopping) position 221, 241 when entering or exiting the parking space 112.

[0059] The method 300 further includes determining 302 whether or not the special lane 111 can be used to perform a parking maneuver. This can be determined based on one or more properties of the special lane 111 (e.g., based on the width of the special lane 111 and / or based on the type of the special lane 111 (e.g., bicycle path or bus lane)). In particular, it can be determined whether or not the special lane 111 can be used to perform the parking maneuver beyond simply crossing the special lane 111.

[0060] In this case, it can be checked (based on the sensor data of the one or more environmental sensors 102) whether the special lane 111 is free (and thus no relevant road user 115 is on the special lane 111), and the special lane 111 can thus be used to carry out the parking maneuver.

[0061] Furthermore, the method 300 comprises performing 303 the parking maneuver related to the parking space 112 depending on whether the special lane 111 can be used for performing a parking maneuver or not. As part of the execution of the parking maneuver, • a (possibly automated) journey of the motor vehicle 100 to measure the parking space 112; • a (possibly automated) parking maneuver starting from a starting position 221 on the special lane 111 to the parking space 112; and / or • a (possibly automated) parking maneuver from parking space 112 to a final position 241 on the special lane 111 can be effected.

[0062] The measures described in this document can increase the reliability and / or convenience of (possibly automated) parking maneuvers.

[0063] 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] Device (101) for assisting a user of a motor vehicle (100) in performing a parking maneuver; wherein the device (101) is configured - to detect that a special lane (111) is arranged between a parking space (112) and a lane (110) for the motor vehicle (100); - to determine whether or not the special lane (111) can be used to carry out a parking manoeuvre; and - to carry out a parking manoeuvre related to the parking space (112) depending on whether the special lane (111) can be used for carrying out a parking manoeuvre or not. [2] Device (101) according to claim 1, wherein the device (101) is arranged to determine whether or not the special lane (111) can be used to perform a parking maneuver based on one or more traffic rules that apply at a position where the special lane (111) is arranged. [3] Device (101) according to one of the preceding claims, wherein the device (101) is configured to determine, on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100), whether or not the special lane (111) can be used to carry out a parking maneuver. [4] Device (101) according to one of the preceding claims, wherein the device (101) is configured to determine, on the basis of a digital map for a road network traveled by the motor vehicle (100), whether or not the special lane (111) can be used for carrying out a parking maneuver. [5] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine one or more properties of the special strip (111); wherein the one or more properties of the special strip (111) comprise, - a width of the special lane (111) transverse to a direction of travel of the motor vehicle (100); and / or - a type of special lane (111), in particular a type of road user (115) for whom the special lane (111) is reserved; and - to determine, on the basis of one or more properties of the special lane (111), whether the special lane (111) can be used to carry out a parking maneuver or not. [6] Device (101) according to one of the preceding claims, wherein - the special lane (111) is a section of a roadway that is not intended to be used by the motor vehicle (100); and / or - the special lane (111) is a section of a carriageway reserved for one or more other road users (115); and / or - the special lane (111) is a section of a carriageway reserved for a specific type of road user (115), in particular for buses or for bicycles or for a tram or for taxis or for carpool vehicles or for electric vehicles. [7] Device (101) according to one of the preceding claims, wherein the device (101) is configured, when it has been determined that the special lane (111) can be used for carrying out a parking maneuver, to cause the motor vehicle (100) to be guided past the parking space (112) along a travel trajectory (210) from the lane (110) onto the special lane (111) in order to measure the parking space (112). [8] Device (101) according to one of the preceding claims, wherein the device (101) is configured, when it has been determined that the special lane (111) can be used for carrying out a parking maneuver, to cause the motor vehicle (100) to be guided from the lane (110) to a starting position (221) for a parking maneuver onto the parking space (112); wherein the starting position (221) is arranged on the special lane (111). [9] Device (101) according to one of the preceding claims, wherein the device (101) is configured, when it has been determined that the special lane (111) can be used for carrying out a parking maneuver, to cause the motor vehicle (100) to be guided out of the parking space (112) to an end position (241) for a parking maneuver; wherein the end position (241) is arranged on the special lane (111). [10] Device (101) according to one of the preceding claims, wherein the device (101) is arranged, when it has been determined that the special lane (111) cannot be used for carrying out a parking maneuver, to cause - the parking space (112) is guided past the parking space (112) along a travel trajectory running on the lane (110) in order to measure the parking space (112); and / or - a driving trajectory for a parking maneuver onto the parking space (112) is determined starting from a starting position arranged on the lane (110); and / or - a driving trajectory for a parking manoeuvre from the parking space (112) to an end position which is arranged on the lane (110) is determined. [11] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine an orientation of the parking space (112) relative to the lane (110), and - to use or not to use the special lane (111) depending on the orientation of the parking space (112) for carrying out the parking manoeuvre related to the parking space (112). [12] Method (300) for assisting a user of a motor vehicle (100) in performing a parking maneuver; the method (300) comprising - detecting (301) that a special lane (111) is arranged between a parking space (112) and a lane (110) for the motor vehicle (100); - determining (302) whether the special lane (111) can be used to perform a parking maneuver or not; and - Carrying out (303) a parking maneuver related to the parking space (112) depending on whether the special lane (111) can be used for carrying out a parking maneuver or not.

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