Method for correcting a parking position of a motor vehicle and motor vehicle

Abstract

The invention relates to a method for correcting a parking position of a motor vehicle (10) manually controlled by a driver by means of an electronic vehicle guidance system (12), comprising an environmental sensor system (14) and a computing device (16). When the motor vehicle (10) approaches the parking position, the environmental sensor system (14) acquires environmental data describing a parking space situation in the vicinity of the parking position, wherein the parking space situation contains at least one boundary condition (22) for parking the motor vehicle (10) in the vicinity. The computing device (16) then checks whether the motor vehicle (10) complies with the at least one boundary condition (22) after reaching the parking position, and the electronic vehicle guidance system (12) triggers a corrective measure for correcting the parking position if the motor vehicle (10) violates the at least one boundary condition (22) in the parking position.

Description

[0001] The invention relates to a method for correcting a parking position of a motor vehicle manually controlled by a driver using an electronic vehicle guidance system, to such a vehicle guidance system, and to a motor vehicle having such a vehicle guidance system. Further aspects of the invention relate to a computer program with instructions which, when executed by a computing device, in particular by a computing device of an electronic vehicle guidance system, cause the computing device to execute method steps of the method according to the invention, and to a computer-readable storage medium having such a computer program.

[0002] When a driver manually parks a motor vehicle, situations can arise in which the motor vehicle is parked in a position in which it should not or must not remain due to local conditions or the parking space situation in the vicinity of the parking position. This can be the case, for example, if the motor vehicle is parked over a parking space marking in the targeted parking position. The parking space marking can, for example, be a line on a road surface. If the motor vehicle is parked over this line, it may block two adjacent parking spaces, making parking difficult or impossible for other road users. In this case, the parking space marking can form or describe a boundary condition of the parking space situation in the vicinity of the parking position, which the motor vehicle should or must adhere to.

[0003] It may also happen that a motor vehicle is manually parked in a position for which the driver is not authorized, for example, in a family parking space, a so-called women's parking space, or a disabled parking space. Therefore, such a parking space is subject to conditions regarding use that could be violated by the motor vehicle parked there.

[0004] In the field of remote-controlled operation of autonomous motor vehicles, it is known to have an autonomous motor vehicle taken over by a teleoperator when it is detected that the vehicle has made an unscheduled stop. In this context, it is known from US 1821 / 0125427 A1 that the detection of an autonomous motor vehicle stopping is possible. An image is then transmitted to the teleoperator, which sends a control command to the motor vehicle containing instructions to resolve the undesirable situation.

[0005] The invention is based on the object of effectively and reliably reducing the number of motor vehicles that have been manually parked incorrectly or incorrectly by a driver.

[0006] The problem is solved by the subject matter of the independent patent claims. Advantageous developments of the invention are described by the dependent patent claims, the description, and the figures.

[0007] The invention provides a method for correcting a parking position of a motor vehicle, manually controlled by a driver, by means of an electronic vehicle guidance system comprising an environment sensor system and a computing device. In the context of the present disclosure, the parking position refers to the location in an environment at which the motor vehicle is parked or left parked for a longer period of time, for example, more than 10 minutes. The parking position can also be co-determined or described by an orientation of the motor vehicle at this location in the parked or left parked state. The parking position therefore contains not only the location where the motor vehicle was parked, but preferably also its orientation or alignment at this location (in short: the pose of the motor vehicle).

[0008] According to the invention, when the motor vehicle approaches the parking position, the environmental sensor system or its sensors acquires environmental data that describe a parking space situation in the vicinity of the parking position. In other words, the environmental sensor system becomes active and acquires the environment while the motor vehicle is moving toward the targeted parking position. During the approach, the sensors of the environmental sensor system acquire the entire current parking space situation, i.e., also a context in which the parking position is located. The parking space situation contains at least one boundary condition for parking the motor vehicle in the surrounding area. The boundary condition can be parking space boundaries recorded on a road surface and / or usage restrictions of existing parking spaces. Further examples of possible boundary conditions can be found later in the present disclosure.The boundary condition in the sense of the present invention generally relates to a restriction for the motor vehicle in the current parking space situation.

[0009] According to the invention, after the motor vehicle has reached the parking position, the computing device checks whether the motor vehicle complies with at least one boundary condition. In other words, the observations of the environment sensor system are transmitted to the computing device, which, after reaching the parking position, carries out a comparison to determine whether the motor vehicle in the parking position is not complying with or violating one of the boundary conditions. To do this, the computing device can preferably access position sensors of the motor vehicle, which can, for example, be part of an inertial measurement unit (IMU for short) of the motor vehicle. The data from the position sensors can provide the computing device with information about the orientation of the motor vehicle in the parking position. This is particularly advantageous if the boundary condition is that parking in the parking position is only permitted backwards or only forwards.Alternatively or additionally, the computing device can access camera sensors of the motor vehicle, whereby camera data from the camera sensors can describe an image of the surroundings of the motor vehicle in the parked position. For example, the computing device can detect whether the motor vehicle in the parked position is above a parking space boundary drawn on the road surface, for example, above a line between two adjacent parking spaces.

[0010] If it is determined that the motor vehicle in the parking position does not comply with or violates at least one boundary condition, according to the invention the electronic vehicle guidance system triggers a corrective measure to correct the parking position.

[0011] The invention offers the advantage that the corrective action can at least alert the driver of the motor vehicle to their illegal parking. They then have the opportunity to park the vehicle correctly, thus complying with the existing constraints. This can effectively reduce the number of manually incorrectly parked vehicles.

[0012] The invention also includes embodiments which provide additional advantages.

[0013] One embodiment provides that as the motor vehicle approaches the parking position, a travel trajectory is recorded along which the motor vehicle is moved towards the parking position, wherein the travel trajectory is used to check whether the motor vehicle complies with at least one boundary condition after reaching the parking position. In other words, all driving actions of the motor vehicle on the way to the parking position are recorded and compiled into the travel trajectory. This includes the current steering wheel angle of the motor vehicle at each point along the path and / or the current wheel positions and / or the current orientation and / or the current travel speed. Alternatively or additionally, the travel trajectory can be reconstructed using the camera data recorded by the camera sensors of the environment sensor system during the approach.The camera data can be processed by an image analysis program or a computer vision algorithm. This allows objects along the approach path to be detected, which can then be used to reconstruct the driving trajectory.

[0014] Algorithms for automatic visual perception, which can also be referred to as computer vision algorithms, machine vision algorithms, or machine vision algorithms, can also be used to detect the parking space situation. They can be viewed as computer algorithms for automatically performing a visual perception task. A visual perception task, also referred to as a computer vision task, can be understood, for example, as a task for extracting visual information from image data. In particular, the visual perception task can, in principle, in some cases be performed by a human who is able to visually perceive an image corresponding to the image data. In the present context, however, visual perception tasks are also performed automatically, without the need for human assistance.

[0015] A computer vision algorithm may, for example, include an image processing algorithm or an image analysis algorithm that is or has been trained by machine learning and may, for example, be based on an artificial neural network, in particular a convolutional neural network. The computer vision algorithm may, for example, include an object detection algorithm, an obstacle detection algorithm, an object tracking algorithm, a classification algorithm, a semantic segmentation algorithm, and / or a depth estimation algorithm.

[0016] Corresponding algorithms can also be implemented analogously based on input data other than images visually perceivable by humans. For example, point clouds or images from infrared cameras, lidar systems, etc., can also be evaluated using appropriately adapted computer algorithms. Strictly speaking, the corresponding algorithms are not algorithms for visual perception, since the corresponding sensors can operate in ranges that are visually imperceptible, i.e., imperceptible to the human eye, for example, in the infrared range. Therefore, such algorithms are referred to as algorithms for automatic perception within the scope of the present invention. Algorithms for automatic perception therefore include algorithms for automatic visual perception, but are not limited to these with regard to human perception.Consequently, an algorithm for automatic perception according to this understanding may include a computer algorithm for automatically performing a perception task, which is or has been trained, for example, through machine learning and may, in particular, be based on an artificial neural network. Such generalized algorithms for automatic perception may also include object detection algorithms, object tracking algorithms, classification algorithms, and / or segmentation algorithms, for example, semantic segmentation algorithms.

[0017] If an artificial neural network is used to implement an algorithm for automatic visual perception, a commonly used architecture is a convolutional neural network (CNN). In particular, a 2D CNN can be applied to corresponding 2D camera images. CNNs can also be used for other automatic perception algorithms. For example, 3D CNNs, 2D CNNs, or 1D CNNs can be applied to point clouds, depending on the spatial dimensions of the point cloud and the details of the processing.

[0018] The result or output of an automatic perception algorithm depends on the specific underlying perception task. For example, the output of an object detection algorithm may contain one or more bounding boxes defining a spatial position and optionally an orientation of one or more corresponding objects in the environment and / or corresponding object classes for the one or more objects. An output of a semantic segmentation algorithm applied to a camera image may contain a pixel-level class for each pixel of the camera image. Analogously, an output of a semantic segmentation algorithm applied to a point cloud may contain a corresponding point-level class for each of the points. The pixel-level or point-level classes, respectively, may define an object type to which the respective pixel or point belongs.

[0019] A further embodiment provides that the approach of the motor vehicle toward the parking position is recorded by camera sensors of the environment sensor system until it reaches the parking position. The recording is taken into account to check whether the motor vehicle complies with at least one boundary condition after reaching the parking position. The recording can be evaluated using an algorithm for automatic detection as already described. As part of the evaluation, it can be determined, for example, whether the motor vehicle in the parked position is above a parking space boundary in the form of a line separating two adjacent parking spaces.

[0020] A further embodiment provides that map data is provided to the electronic vehicle guidance system in addition to or as an alternative to the environmental data, wherein the map data describes the parking space situation with the at least one boundary condition. The map data can be stored in the form of a digital map in a memory unit of the motor vehicle. Alternatively or additionally, it can be provided that the electronic vehicle guidance system can access or retrieve current map data from an internet-based cloud service as needed. A digital map can be understood as a data set or a plurality of data sets that is stored on a computer-readable storage medium and that spatially relates objects in a predetermined spatial area to one another and / or to a predefined reference point. The objects can be, for example, existing parking spaces in the surrounding area.Optionally, the digital map can contain semantic information about the objects. This semantic information can describe, for example, which restrictions or constraints apply to existing parking spaces. A high-resolution digital map, or HD map, can be understood as a digital map with a spatial resolution on the order of one centimeter or less, i.e., in particular, a resolution of less than 10 cm.

[0021] Preferably, the digital map contains metadata about the surrounding area. This may include, for example, information about drivable road surfaces and / or specific parking space usage restrictions. In particular, the digital map may also contain information about the allocation of certain parking spaces to specific user groups, so that it can be verified whether a current driver of the motor vehicle is permitted to use a specific parking space.

[0022] An advantageous development provides that the map data contain, as at least one boundary condition, a classification of parking spaces in the vicinity of the parking position. The classification can be included as semantic information in the map data. Possible classifications can relate to the geometry of the parking spaces, which can be, for example, diagonal, parallel, or herringbone-shaped. Alternatively or additionally, a classification can also relate to a restriction on the use of a parking space, for example, use by electric vehicles, rental vehicles, delivery vehicles, and / or residents' vehicles. A classification can also contain times of day or times of day at which use of the parking spaces in question is not restricted.

[0023] One embodiment provides that the at least one boundary condition describes a position of one or more parking space markings in the vicinity of the parking position. In other words, the boundary condition is predetermined by the position of the parking space marking(s). The motor vehicle parked in the parking position violates or fails to comply with this boundary condition if it is positioned transversely or lengthwise over a parking space marking, thereby blocking more than one parking space.

[0024] One embodiment provides that the corrective action is triggered when it is detected that the driver of the motor vehicle is leaving it. This can be detected, for example, based on a signal from a seat occupancy sensor that indicates that a passenger of the motor vehicle is leaving their seat. Alternatively or additionally, sensors can detect that one or more doors of the motor vehicle are opened and closed again, which indicates that a passenger has left the motor vehicle. The recording of other vital data, for example by an interior camera of the motor vehicle, is also conceivable in order to determine whether the motor vehicle is still occupied or has already left. The abandoned motor vehicle can then be correctly parked autonomously using the electronic vehicle guidance system, for example.For this purpose, the electronic vehicle guidance system can control or carry out a corresponding driving or parking maneuver of the motor vehicle.

[0025] One embodiment thus provides that, as a corrective measure, a new parking maneuver is automatically performed to assume the parking position so that at least one boundary condition is met. For this purpose, the electronic vehicle guidance system can automatically control actuators of the motor vehicle.

[0026] An alternative embodiment provides that the driver of the motor vehicle is prevented from leaving the motor vehicle during the corrective action. For this purpose, for example, a locking system of the motor vehicle could automatically lock the vehicle doors and keep them locked until the corrective action is completed. In other words, the driver can be prevented from leaving the motor vehicle until the automated re-parking process, which is performed by the electronic vehicle guidance system, is completed. This could train the driver to park their motor vehicle correctly.

[0027] The corrective measure can also intervene in the driving operation of the motor vehicle in a less invasive manner. For example, the corrective measure can simply comprise the electronic vehicle guidance system generating a notification containing a suggestion for a parking maneuver to assume the parking position so that at least one boundary condition is met. In other words, the electronic vehicle guidance system can suggest to the driver how they could perform the parking maneuver in order to find a parking position while observing the boundary conditions. The suggestion could, for example, comprise a driving trajectory that brings the motor vehicle into a parking position that is as close as possible to the parking position initially assumed by the driver, but which nevertheless complies with the boundary conditions. Such a parking position could, for example, be located in the nearest free parking space that is not subject to usage restrictions.The driver can then, for example, select the suggested driving trajectory and have the electronic vehicle guidance system autonomously maneuver the vehicle along the selected driving trajectory into the parking position. The driver can also manually move the vehicle along the selected trajectory into the parking position.

[0028] In an even more defensive form, the electronic vehicle guidance system could offer the driver assistance in performing a parking maneuver to enter the parking position via a display element in the vehicle interior, so that at least one of the constraints is met. The offer could, for example, consist of a notification appearing on the display element, for example, on a screen within the driver's field of vision, indicating that assistance is available. The driver can select the notification, after which they could be guided through an assistance menu.

[0029] The support menu could contain a catalog of possible corrective actions from which the driver can select a desired corrective action.

[0030] For applications or application situations that may arise in a method according to the invention and which are not explicitly described herein, it may be provided that, according to the method, an error message and / or a request to enter user feedback is output and / or a standard setting and / or a predetermined initial state is set.

[0031] A further aspect of the invention relates to an electronic vehicle guidance system with an environment sensor system and a computing device, which is designed to carry out method steps of a method according to the invention.

[0032] An electronic vehicle guidance system can be understood as an electronic system that is designed to guide a vehicle fully automatically or autonomously by transmitting at least one control signal, in particular without requiring intervention by a driver. The vehicle automatically performs all required functions, such as steering, braking, and / or acceleration maneuvers, monitoring and detecting road traffic, and corresponding reactions. In particular, the electronic vehicle guidance system can implement a fully automatic or fully autonomous driving mode of the motor vehicle according to level 5 of the SAE J3016 classification. An electronic vehicle guidance system can also be understood as an advanced driver assistance system (ADAS), which supports the driver in partially automated or semi-autonomous driving.In particular, the electronic vehicle guidance system can implement a partially automated or semi-autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification. Here and below, "SAE J3016" refers to the corresponding standard in the April 1821 version.

[0033] The at least partially automatic vehicle guidance may therefore include driving the vehicle according to a fully automatic or fully autonomous driving mode of Level 5 according to SAE J3016. The at least partially automatic vehicle guidance may also include driving the vehicle according to a partially automated or semi-autonomous driving mode according to Levels 1 to 4 according to SAE J3016.

[0034] The at least one control signal can be provided, for example, to one or more actuators of the motor vehicle, including, for example, one or more brake actuators and / or one or more steering actuators and / or one or more drive motors of the motor vehicle. The one or more actuators can influence a longitudinal and / or lateral control of the motor vehicle in order to guide the motor vehicle at least partially automatically.

[0035] Assistance information can be output via an output device of the motor vehicle, for example a display and / or an audio output system and / or a haptic output system.

[0036] Another aspect of the invention relates to a motor vehicle with such an electronic vehicle guidance system. The motor vehicle can be a passenger car, a truck, a passenger bus, or a motorcycle.

[0037] According to a further aspect of the invention, a computer program with instructions is provided. When the instructions are executed by at least one computing device, the instructions cause the at least one computing device or a computing unit thereof to perform a method according to the invention.

[0038] The instructions can be provided, for example, as program code. The program code can be provided, for example, as binary code or assembly code and / or as source code of a programming language, for example, C, and / or as a program script, for example, Python.

[0039] Unless otherwise stated, all steps of the method according to the invention can be carried out by a computing device having at least one computing unit, in particular by a data processing device of the motor vehicle. In particular, the at least one computing unit is configured or adapted to carry out the steps of the method. For this purpose, the at least one computing unit can, for example, store a computer program containing instructions that, when executed by the at least one computing unit, cause the at least one computing unit to execute the method.

[0040] All computing units of the computing device can be part of the motor vehicle. However, it is also possible for all computing units to be part of an external computing system outside the motor vehicle, for example, a backend server or a cloud computing system. It is also possible for the at least one computing unit to comprise both at least one vehicle computing unit of the motor vehicle and at least one external computing unit of the external computing system. The at least one vehicle computing unit can, for example, be comprised of one or more control units (ECUs) (electronic control units), and / or one or more zone control units (ZCUs), and / or one or more domain control units (DCUs) of the motor vehicle.

[0041] In the event that the computing device includes two or more computing units, certain steps performed by the computing device can be understood, for example, as different computing units performing different steps or different parts of a step. In particular, it is not necessary for each computing unit to perform the steps completely. In other words, the execution of the steps can be distributed among the two or more computing units.

[0042] In the present disclosure, a computing unit can be understood, for example, as a data processing device with processing circuits. A computing unit can therefore perform computing operations to process data. The computing operations can also include indexed accesses to a data structure, for example, a look-up table (LUT).

[0043] A computing unit can in particular comprise one or more computers, one or more microcontrollers and / or one or more integrated circuits, for example one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more single-chip systems (SoCs). The computing unit can also contain one or more processors, for example one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors (DSPs). The computing unit can also comprise a physical or virtual cluster of computers or other of the aforementioned units.

[0044] A computing unit may also include one or more hardware and / or software interfaces and / or one or more memory units. A memory unit may be embodied as a volatile data memory, for example, a dynamic random access memory (DRAM) or a static random access memory (SRAM), or as a non-volatile data memory, for example, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or flash EEPROM, a ferroelectric random access memory (FRAM),a magnetoresistive random access memory (MRAM) or a phase-change random access memory (PCRAM).

[0045] According to a further aspect of the invention, a computer-readable storage medium is provided which stores a computer program according to the invention.

[0046] The computer program and the computer-readable storage medium are each computer program products containing the instructions.

[0047] If, within the scope of the present disclosure, it is stated that a component of the electronic vehicle guidance system according to the invention, in particular the computing device or one of its computing units, is set up, designed, configured, or the like to carry out or implement a specific function, to achieve a specific effect, or to serve a specific purpose, this can be understood to mean that the component, beyond the fundamental or theoretical usability or suitability of the component for this function, effect, or purpose, is concretely and actually capable of carrying out or implementing the function, achieving the effect, or serving the purpose through appropriate adaptation, programming, physical design, and so on.

[0048] Further embodiments of the electronic vehicle guidance system according to the invention and / or of the motor vehicle according to the invention follow directly from the various embodiments of the method according to the invention and vice versa. In particular, individual features and corresponding explanations as well as advantages relating to the various embodiments of the method according to the invention can be transferred analogously to corresponding embodiments of the further aspects of the invention. In particular, the electronic vehicle guidance system according to the invention is designed or programmed to carry out a method according to the invention. In particular, the electronic vehicle guidance system according to the invention carries out the method according to the invention.

[0049] Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures can be encompassed by the invention not only in the respectively specified combination, but also in other combinations. In particular, the invention can also encompass embodiments and combinations of features that do not have all the features of an originally formulated claim. Furthermore, the invention can encompass embodiments and combinations of features that go beyond the combinations of features set out in the backreferences to the claims or deviate from them.

[0050] The invention is explained in more detail below with reference to specific embodiments and associated schematic drawings. In the figures, identical or functionally equivalent elements may be provided with the same reference numerals. The description of identical or functionally equivalent elements may not necessarily be repeated for different figures.

[0051] Showing: Fig. 1 is a schematic representation of a motor vehicle with an electronic vehicle guidance system according to an embodiment of the invention; Fig. 2 is a schematic representation of a motor vehicle with an electronic vehicle guidance system according to an embodiment of the invention during an exemplary approach towards a parking position; and Fig. 3 a schematic representation of a method for correcting a manually controlled parking position according to an embodiment of the invention.

[0052] Fig. 1 shows a schematic representation of a motor vehicle 10 with an electronic vehicle guidance system 12 according to an embodiment of the invention. The illustrated motor vehicle 10 includes the electronic vehicle guidance system 12 with an environment sensor system 14 and a computing device 16. In other words, the electronic vehicle guidance system 12 can be permanently installed in the motor vehicle 10.

[0053] The environment sensor system 14 can comprise a plurality of sensors 18, which can be, for example, camera sensors, with the aid of which a panoramic view of the motor vehicle 10 can be generated. In other words, the environment sensor system 14 can comprise a plurality of camera sensors, which can be arranged on the motor vehicle 10 in such a way that they can cover the surroundings of the motor vehicle 10 all around (in short: 360-degree panoramic view). The sensors 18 can also be other sensor types with which the surroundings of the motor vehicle 10 can be detected, for example, sensors 18 of an active optical sensor system. By definition, an active optical sensor system has a light source for emitting light or light pulses. The light source can in particular be designed as a laser, for example, an infrared laser.Furthermore, an active optical sensor system, by definition, has at least one optical detector to detect reflected portions of the emitted light. The active optical sensor system is particularly configured to generate, process, or output one or more sensor signals based on the detected portions of the light.

[0054] An example of an active optical sensor system is a lidar system. A well-known type of lidar system is a laser scanner, in which a laser beam is deflected by a light deflection device, allowing different deflection angles of the laser beam to be achieved. The light deflection device can, for example, contain a rotatably mounted mirror. Alternatively, the light deflection device can have a mirror element with a tiltable and / or pivotable surface. The mirror element can, for example, be designed as a microelectromechanical system (MEMS). The emitted laser beams can be partially reflected in the environment, and the reflected portions can in turn strike the laser scanner, in particular the light deflection device, which can direct them onto a detector unit of the laser scanner.Each optical detector of the detector unit generates, in particular, an associated detector signal based on the components detected by the respective optical detector. Based on the spatial arrangement of the respective detector, together with the current position of the light deflection device, in particular its rotational position or its tilt and / or pivot position, the direction of incidence of the detected reflected components can be deduced. An evaluation unit can also, for example, perform a time-of-flight measurement to determine a radial distance of the reflecting object. Alternatively or additionally, a method can be used to determine the distance by evaluating a phase difference between emitted and detected light.

[0055] Other types of lidar systems include flash lidar systems. These are non-scanning systems that do not require such a light deflection arrangement. The laser light generated by the light source is scattered by an optical element, emitting it in a single flash across a wide angle.

[0056] The environment sensor system 14 may alternatively or additionally also include ultrasonic sensors, which can also be used to determine the distance of the motor vehicle 10 from objects in the surrounding area. Determining the distance may be useful if the boundary condition in the parking space situation is, for example, a curb or a curb edge relative to which the motor vehicle 10 is to be parked.

[0057] Alternatively or additionally, the environment sensor system 14 may also include sensors 18 configured to acquire data that can be used to determine a current position and / or orientation of the motor vehicle 10 in the environment. These include, for example, GPS sensors (GPS - Global Positioning System) and / or sensors 18 of an Inertial Measurement Unit (IMU) of the motor vehicle 10.

[0058] In other words, with the aid of the environment sensor system 14, the motor vehicle 10 can collect data about its environment as well as about its own positioning and / or orientation in the environment.

[0059] Fig. Figure 2 shows an embodiment of such a motor vehicle 10 approaching a parking position. Fields of view 20 of the sensors 18 are indicated as conical sections, which may partially overlap, thus enabling a panoramic view of the motor vehicle 10.

[0060] During approach, the electronic vehicle guidance system 12 can detect a parking situation in the surroundings or environment of the motor vehicle 10. The parking situation can contain several boundary conditions 22, which are graphically represented here, for example, in the form of parking space markings 22. Alternatively or additionally, the electronic vehicle guidance system 12 can have digital map data relating to the parking situation, which can, for example, contain metadata relating to the parking space markings 22. For example, the metadata can contain that the parking spaces marked by the parking space markings 22 are reserved for certain user groups. This metadata would then form part of the boundary conditions of the parking situation.

[0061] In the left part of the image the Fig. 2, the motor vehicle 10 is shown in its parked position. As shown, a driver of the motor vehicle 10 has parked it over a line of parking space markings 22, so that it is blocking two adjacent parking spaces. Using the sensors 18, it can be determined that the motor vehicle 10 is parked over the line. For example, the line can be detected by a front camera of the motor vehicle 10. The computing device 16 can determine that the motor vehicle 10 is parked on the line based on the image of the line, which disappears beneath the motor vehicle 10 according to the camera data.

[0062] Since the parking space markings 22, which include the line above which the motor vehicle 10 is parked, are part of the boundary conditions of the parking space situation, parking the motor vehicle 10 above the line represents a violation of the boundary conditions, which can be detected by the computing device 16. In other words, it can be detected that the motor vehicle 10, in the exemplary situation shown, does not comply with the boundary conditions 22. The non-compliance or violation can be detected in the electronic vehicle guidance system 12, whereupon a corrective measure is triggered. The corrective measure can, for example, consist in the electronic vehicle guidance system 12 autonomously parking the motor vehicle 10 correctly, i.e., in such a way that it complies with the boundary conditions 22 and is properly parked within the parking space markings 22 without unnecessarily blocking two adjacent parking spaces.

[0063] Fig. 3 shows, with reference to the information provided in connection with the Fig. 1 and Fig. 2 shows a schematic representation of a method for correcting a manually controlled parking position of a motor vehicle 10 by means of an electronic vehicle guidance system 12, comprising an environment sensor system 14 and a computing device 16 according to an embodiment of the invention.

[0064] In a step S1, the environment sensor system 12 acquires environmental data as the motor vehicle 10 approaches the parking position, the environmental data describing a parking space situation in the vicinity of the parking position, the parking space situation containing at least one boundary condition 22 for parking the motor vehicle 10 in the surrounding area. In a step S2, the computing device 16 checks whether the motor vehicle 10 complies with the at least one boundary condition 22 after reaching the parking position. In a step S3, if the motor vehicle 10 does not comply with the at least one boundary condition 22 in the parking position, the electronic vehicle guidance system 12 triggers a corrective measure to correct the parking position.

[0065] Overall, the examples show how the invention can effectively and reliably reduce the number of motor vehicles 10 that have been manually parked or stopped incorrectly or incorrectly by a driver. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 1821 / 0125427 A1

[0004]

Claims

[1] Method for correcting a parking position of a motor vehicle (10) manually controlled by a driver by means of an electronic vehicle guidance system (12), comprising an environment sensor system (14) and a computing device (16), wherein - environmental data are recorded by the environmental sensor system (14) when the motor vehicle (10) approaches the parking position, the environmental data describing a parking space situation in the vicinity of the parking position, the parking space situation containing at least one boundary condition (22) for parking the motor vehicle (10) in the surroundings, - the computing device (16) checks whether the motor vehicle (10) complies with at least one boundary condition (22) after reaching the parking position, and - a corrective measure for correcting the parking position is triggered by the electronic vehicle guidance system (12) if the motor vehicle (10) does not comply with the at least one boundary condition (22) in the parking position. [2] Method according to claim 1, wherein, when the motor vehicle (10) approaches the parking position, a travel trajectory is detected along which the motor vehicle (10) is moved towards the parking position, wherein the travel trajectory is used to check whether the motor vehicle (10) complies with the at least one boundary condition (22) after reaching the parking position. [3] Method according to one of the preceding claims, wherein the approach of the motor vehicle (10) in the direction of the parking position until the parking position is reached is recorded by sensors (18), in particular camera sensors (18), of the environment sensor system (14), wherein the recording is taken into account in order to check whether the motor vehicle (10) complies with the at least one boundary condition (22) after reaching the parking position. [4] Method according to one of the preceding claims, wherein map data are provided to the electronic vehicle guidance system (12) in addition to or alternatively to the environmental data, wherein the map data describe the parking space situation with the at least one boundary condition (22). [5] Method according to claim 4, wherein the map data contain as the at least one boundary condition (22) a classification of parking spaces in the vicinity of the parking position. [6] Method according to one of the preceding claims, wherein the at least one boundary condition (22) describes a position of one or more parking space markings in the vicinity of the parking position. [7] Method according to one of the preceding claims, wherein the corrective action is triggered when it is detected that the driver of the motor vehicle (10) is leaving it. [8] Method according to one of the preceding claims, wherein as a corrective measure a new parking process is carried out automatically to assume the parking position, so that the at least one boundary condition (22) is met. [9] Method according to one of the preceding claims, wherein the driver of the motor vehicle (10) is prevented from leaving the motor vehicle (10) during the corrective action. [10] Method according to one of the preceding claims, wherein the corrective measure comprises the electronic vehicle guidance system (12) generating an indication containing a suggestion for a parking maneuver for assuming the parking position, so that the at least one boundary condition (22) is met. [11] Method according to one of the preceding claims, wherein, as a corrective measure, the electronic vehicle guidance system (12) offers the driver its support in carrying out a parking maneuver to assume the parking position by means of a display element in the vehicle interior, so that the at least one boundary condition (22) is met. [12] Method according to one of the preceding claims, wherein the corrective action is selected from a catalogue of possible corrective actions. [13] Electronic vehicle guidance system (12) with an environment sensor system (14) and a computing device (16), which is designed to carry out method steps of a method according to one of the preceding claims. [14] Motor vehicle (10) with an electronic vehicle guidance system (12) according to claim 13. [15] Computer program with instructions which, when executed by a computing device (16), in particular by a computing device (16) of an electronic vehicle guidance system (12) according to claim 13, cause the latter to carry out method steps of a method according to one of claims 1 to 12. [16] A computer-readable storage medium comprising a computer program according to claim 15.

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