Method for generating a digital map based on ultrasound information and ultra-wideband information, as well as further methods, a computer program, an electronic shunting system and a vehicle

Abstract

One aspect of the invention relates to a method, in particular a computer-implemented method for generating a map (24) of an environment (15) of a vehicle (1), comprising the following steps: a) providing environmental information and / or position information acquired with an ultra-wideband radio system (13) to a computing unit (3); b) providing environmental information and / or position information acquired with an ultrasonic sensor system (5) to the computing unit (3); c) generating a base environmental map (20) using the computing unit (3) on the basis of the environmental information and / or position information acquired by the ultrasonic sensor system (5); d) generating the map (24) of the environment using a SLAM algorithm depending on the base environment map (20) and the environment information and / or position information acquired with the ultra-wideband radio system (13).

Description

One aspect of the invention relates to a method, in particular a computer-implemented method, for generating a map of an environment of a vehicle. A further aspect of the invention relates to a method for determining a position of a vehicle in an environment. Yet another aspect of the invention relates to a method for moving a vehicle in an environment. Further aspects of the invention relate to a computer program, a computer-readable data carrier, an electronic maneuvering system and a vehicle.Electronic maneuvering systems for vehicles, in which a maneuvering process can be carried out at least semi-autonomously, in particular fully autonomously, are widely known. For example, electronic parking systems for a vehicle are known in the context. Such electronic vehicle guidance systems are enabled to generate an environment map based on environmental information detected, for example, by ultrasonic sensors of the system. The vehicle can then be localized in this map. Ultrasonic sensors are advantageous in this context because they are suitable sensors especially in maneuvering maneuvers that are carried out at low speed and in restricted conditions, which sensors are also more cost-effective in comparison with other systems, such as camera or lidar systems.However, an environment map generated based on information sensed by an ultrasonic sensor system is relatively inaccurate. The card as such can therefore only be very restricted and provided with reduced precision in this respect. It is known that a group of ultrasonic sensors generate segment maps around the vehicle and detect the environment in segments that are recognized as empty or occupied regions.Moreover, it is known that a SLAM (Simultaneous Localization and Mapping) is used. This algorithm can only provide conditional accuracy of information for locating a vehicle in a viewed environment. It is therefore precisely in the case of environments which represent a bottleneck or in the case of parking that this information is relatively inaccurate.It is the object of the present invention to provide methods, a computer program, an electronic maneuvering system and a vehicle, in which a map to be generated, with which a vehicle can be localized in an environment, can be created more accurately. In particular, it is also an object to provide a computer program, an electronic maneuvering system and a vehicle.This object is achieved by methods, a computer program, a computer-readable data carrier, an electronic maneuvering system and a vehicle according to the independent claims.One aspect of the invention relates to a method, in particular a computer-implemented method, for generating an, in particular digital, map of an environment of a vehicle. The method preferably has the following steps: a) In particular, provision of environmental information and / or position information which was detected with an ultra-wideband radio system to a computing unit; b) In particular, provision of environmental information and / or position information which was detected with an ultrasonic sensor system to the computing unit; c) In particular, generation of a basic environmental map on the basis of the environmental information and / or position information which was detected with the ultrasonic sensor system with the computing unit; d) In particular, generation of the map of the environment with a SLAM algorithm on the basis of the basic environmental map and the environmental information and / or position information which was detected with the ultra-wideband radio system.With this method, it is therefore possible to make possible a new map generation on the basis of information provided quite specifically by using the SLAM algorithm. The method makes it possible to combine or fuse or assemble specific provided information from different detection systems. This produces a SLAM card. This newly created digital map then combines the advantages in a particularly skillful manner, which enable the respective individual information of the environment detected by the different sensor systems. In particular, the respective restrictions of these procedures are thereby reduced or eliminated.This is because, due to the particularly advantageous use of an ultra-wideband radio system, particularly exact environmental information and / or position information of the vehicle in the environment can be obtained. In comparison with other systems, a highly accurate localization of the vehicle in the environment is thus made possible on the basis of this information acquired by the ultra-wideband radio system, especially in the case of maneuvering maneuvers in restricted conditions. The restrictions, which may be present in connection with generating the environment as a map as precisely as possible, are compensated for on the other hand by the additionally provided information. It is precisely the advantages of more precise and more accurate generation of a map, as is made possible by the ultrasonic sensor system with the generated information by application of the SLAM algorithm, that compensates for the related restrictions of the somewhat inaccurate localization possibility. This is intended to allow precise localization of the vehicle in the environment on the basis of a correspondingly newly generated map, in particular during maneuvering maneuvers of a vehicle, for example when driving on a bottleneck and / or when carrying out a parking process. Nevertheless, detection systems are to be used for this purpose which on the one hand enable accuracy and on the other hand enable a configuration which is also reduced in terms of costs compared to other systems.In particular, the use of such an ultrawideband radio system is also advantageous not only with regard to the accuracy of the localization of objects in an environment, but also significantly more cost-effective in particular in comparison with cameras.A more accurate map with more accurate localization of the vehicle is thus achieved.Therefore, in the method, by combining the localization method by using the ultra wide band technology on the one hand with the SLAM algorithm by the system with the ultrasonic sensors on the other hand, the entire system is achieved to have a better SLAM accuracy, which improves the safety of the entire system. Thus, the particularly accurate localization information obtained by the ultra-wideband radio system is combined with the map information of the ultrasonic sensor system in a particularly advantageous manner in order to generate a SLAM map that is very accurate in this respect. This newly generated map is simultaneously used to improve the accuracy of the localization of a vehicle during maneuvering maneuvers. In this context, maneuvering maneuvers are, in particular, maneuvers in which a reduced speed of the vehicle is driven, in particular is necessary, as is the case when driving on a bottleneck and / or a parking process. A maneuvering maneuver is usually also characterized in that a precise movement of the vehicle is required in order not to touch or collide with objects laterally close to them. Since such laterally close objects, such as, for example, boundaries of a narrow area or boundaries of a parking zone, are very close to the vehicle, the exact localization in a map which is exact in this respect is of considerable advantage. This is especially advantageously made possible with the proposed invention, in particular for such specified maneuvering maneuvers.In one exemplary embodiment, in step a), an, in particular relative, distance between an ultra-wideband anchor sensor of the ultra-wideband radio system, which is arranged on a vehicle in the environment, and an ultra-wideband radio beacon of the ultra-wideband radio system, is provided as environmental information and / or position information. It is also possible that additionally or instead in step a) an, in particular absolute, location of at least one ultra-wideband radio beacon, in particular of a plurality of different ultra-wideband radio beacons, is provided as environmental information and / or position information. This is because it is thus known in a particularly advantageous manner where these are in particular radio beacons arranged in a fixed manner. As a result, even statically, but also during dynamic processes, such as during the movement of a vehicle, it is always possible to determine very accurately environmental information and / or position information, in particular a relative distance between an ultra-wideband anchor sensor and at least one of the ultra-wideband radio beacons, at any time. Since the stationary locations or these absolute positions of the ultra-wideband radio beacons are very accurately known and, in addition, this ultra-wideband technology can also be used in particular to determine the distance to an ultra-wideband anchor sensor that may then also be moving very accurately, this method makes it possible to locate the vehicle very accurately. Since, as already mentioned above, an exact map is made possible with the SLAM algorithm with the aid of the in this respect also more exact map creation from the ultrasonic information, a very advantageous and reliable execution of a maneuvering maneuver, in particular in a bottleneck and / or during parking, can now be achieved on the basis of an exact map, which then also makes very exact localization possible.In one exemplary embodiment, in step b) information on transmission signals of the ultrasonic sensor system and / or echo signals received by the ultrasonic sensor system are provided for generating the basic environment map according to step c). This information enables this basic environment map to be generated in a simple and nevertheless sufficient manner.In particular, localization information is generated from the information provided in step a) using the computing unit, which localization information is provided for generating the basic environment map according to step c).A further aspect of the invention relates to a method for determining a position of a vehicle in an environment. The method has in particular the following steps:providing a map generated by a method according to the above-mentioned aspect or an advantageous embodiment thereof;determining the position of the vehicle depending on the digital map provided.This allows very exact position determination in this context. This method, too, can be a computer-implemented method. The step of determining the position of the vehicle depending on the map can also be carried out by the computing unit.In one exemplary embodiment, this position of the vehicle is determined on the basis of the provided map during a maneuvering maneuver of the vehicle. In particular, this position is determined on the basis of this specifically generated map only during a maneuvering maneuver. Such a maneuvering maneuver can be characterized by the speed of the vehicle, which is preferably greater than zero and less than or equal to 40 km / h. In addition or instead, a maneuvering maneuver can be characterized in that a bottleneck is to be traveled by the vehicle and / or a parking process is to be performed by the vehicle.A further independent aspect of the invention relates to a method for moving a vehicle in an environment, in particular having the following steps:detecting the environment of the vehicle in particular using an ultrasonic sensor system of the vehicle;acquiring environmental information and / or position information with an ultra-wideband radio system, in which an ultra-wideband anchor sensor of the ultra-wideband radio system is arranged on the vehicle, and at least one ultra-wideband radio beacon of the ultra-wideband radio system is arranged in a fixed manner in the environment and externally to the vehicle;transmitting the information detected by the ultrasonic sensor system and the ultra-wideband radio system to a computing unit;generating a basic environment map based on the environment information and / or position information that was detected with the ultrasonic sensor system with the computing unit;generating the map, in particular a SLAM map, of the environment using a SLAM algorithm as a function of the basic environment map and the environment information and / or position information, in particular localization information generated therefrom, which was acquired using the ultra-wideband radio system;determining the position of the vehicle in the environment on the basis of the map;in particular moving the vehicle depending on the position of the vehicle.This is particularly advantageous if the vehicle is maneuvered during movement. As already explained above, the proposed idea is particularly advantageous in the case of the mentioned maneuvering maneuvers. This is because, on account of the highly precise map of the environment, in which objects very close to the vehicle are possibly present, is particularly accurate. In addition, this map also makes it possible to locate the vehicle in the map itself particularly advantageously.As a result, specific maneuvering maneuvers of this type can be carried out more safely and reliable vehicle guidance can be achieved even in the case of very short distances of the vehicle from objects in the environment.In particular, SLAM refers to a method in which a mobile robot, such as a vehicle, must simultaneously create a map of its environment and estimate its spatial position within this map. It thus also serves to detect obstacles and thus supports autonomous navigation.The provision of the information can be a reception of the information by the computing unit. However, it is also possible with regard to the meaning of providing that the information is stored in at least one memory and the computing unit retrieves this information from the memory.Ultra Wideband Technology (UWB). Ultra-wideband) describes an approach for short-range radio communication. The most important feature is the use of extremely large frequency ranges with a bandwidth of at least 500 MHz or of at least 20% of the arithmetic mean value of the lower and upper limit frequencies of the frequency band used.In the case of UWB, pulses of the shortest possible duration are generated. These no longer contain a complete sinusoidal oscillation. The spectrum which is radiated or received via the antenna must therefore be wider, according to the laws of Fourier transformation, the shorter the pulse duration.An essential characteristic of UWB is that the total transmission power of a few milliwatts is distributed over such a large frequency range that no interference is to be expected for the radio operation of narrowband transmission methods. In the optimum case, it is not recognizable, or only difficultly recognizable, that a transmission takes place with UWB at all.In contrast to the "normal" radio technique, there is no carrier frequency that is modulated. Since individual pulses are generated, pulse-position modulation (also known as pulse-position modulation, PPM) is appropriate. Likewise, the polarity and amplitude of the pulses may be varied. If the times of the individual pulses differ sufficiently, a plurality of UWBs can be operated in the same spatial region without mutual interference.Battery-powered radio transmitters, called ultra-wideband radio beacons (UWB beacons), are attached to objects or walls.The location server analyzes the data from each anchor and the differences in arrival times at the anchors and calculates the tag coordinates using multilateration. These coordinates can then be used to visualize the location of the device on a spatial plan or, depending on the application, can also be used for other purposes.A further independent aspect relates to a control device for a vehicle, wherein the control device is configured to generate control signals for at least one functional unit of a vehicle, in particular to carry out the movement of the vehicle, depending on information as generated by a method according to an aspect mentioned above.A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a computer or a computing unit, cause the computer to execute the method according to the above-mentioned aspect or an advantageous exemplary embodiment thereof.A further aspect of the invention relates to a computer-readable data carrier on which the computer program is stored.A further aspect of the invention relates to a computing unit, for example a component of a control unit, which is designed to execute a method, in particular a computer-implemented method, according to an aspect mentioned above or an advantageous exemplary embodiment thereof.A further aspect of the invention relates to an electronic maneuvering system for a vehicle. The electronic jumper system has at least one arithmetic unit and at least one input unit. The maneuvering system is designed to carry out a method according to the above-mentioned aspect or an advantageous exemplary embodiment thereof. In particular, this method is carried out using the electronic jumper system. The electronic maneuvering system can preferably be a parking system or a parking assistance system. It may be configured to perform a parking operation fully autonomously. The electronic maneuvering system can, however, also be a bottleneck driving system.A further aspect of the invention relates to a vehicle. In one exemplary embodiment, the vehicle can have an electronic maneuvering system according to the above-mentioned aspect or an advantageous exemplary embodiment thereof.Exemplary embodiments of the invention are explained in more detail below with reference to schematic drawings. The following are shown: FIG. 1 shows a schematic illustration of an exemplary embodiment of a vehicle according to the invention with an exemplary embodiment of a maneuvering system according to the invention; FIG. 2 shows a schematic illustration of a traffic situation of a vehicle during a maneuvering maneuver; FIG. 3 shows a simplified illustration of an exemplary embodiment of a jumper system; and FIG. 4 shows a schematic illustration of an SLAM map generated by an exemplary embodiment of a method according to the invention.FIG. 1 shows a schematic plan view of a vehicle 1. The vehicle 1 may be a passenger car or a truck. The vehicle 1 has an electronic maneuvering system 2. This can be, for example, a parking assistance system or a driving system for driving at a narrow passage. The electronic jumpering system 2 preferably has at least one computing unit 3. This can be a control device or be a component of a control device. It can also have a memory 4.The vehicle 1 also has an ultrasonic sensor system 5. This ultrasonic sensor system 5 has a plurality of ultrasonic sensors in the exemplary embodiment. Merely by way of example, a plurality of, in particular four, ultrasonic sensors 7 are arranged in a front region 6 of the vehicle 1.In addition, in the exemplary embodiment, the ultrasonic sensor system 5 also has a plurality of, in this case in particular four, ultrasonic sensors 9 at a rear region 8 of the vehicle 1.It is also possible for more than four ultrasonic sensors 7, for example six ultrasonic sensors 7, to be arranged in the front region 6. In addition or instead, it is also possible for more than four ultrasonic sensors 9, for example up to six ultrasonic sensors 9, to be arranged in the rear region 8.Furthermore, the vehicle 1 has at least one ultra-wideband anchor sensor 10. In the exemplary embodiment, a plurality of ultra-wideband anchor sensors 10, here, for example, three such sensors 10, are arranged on the vehicle 1. Five or seven such ultra-wideband anchor sensors 10 may also be installed on the vehicle 1.The vehicle 1 furthermore preferably has a BUS system 11. The BUS system 11 may be an Ethernet or a CAN BUS or a LIN BUS. In particular, this BUS system 11 can have a transceiver 12. This can preferably be provided for communication with the ultra-wideband anchor sensors 10. These ultra-wideband anchor sensors 10 are part of an ultra-wideband radio system 13, which has, in addition to the already mentioned ultra-wideband anchor sensors 10, vehicle-external ultra-wideband radio beacons 14 (FIG. 2 ). These multiple ultra-wideband radio beacons 14 are arranged in a fixed manner in an environment 15. The environment 15 can be, for example, a parking area or a bottleneck area.The electronic jumpering system 2, in particular the computing unit 3, preferably has a processor 16, such as an ASIC processor. This is connected to the ultra-wideband radio system 13 for communication, so that the recorded information and thus the sensor signals of the ultrasonic sensors 7 and / or 9 can be transmitted to the computing unit 3 by means of this processor unit 16. As shown in FIG. 1, the maneuvering system 2 can have a computing system 3 a. This can have the computing unit 3 and, for example, also these processor units 16, as well as the transceiver 12. The memory 4 can also be part of the computing system 3 a.FIG. 2 shows a schematic illustration of a plan view of a traffic situation 17. The vehicle 1 is shown here during a maneuvering maneuver. The traffic situation 17 can have a parking zone, for example. This can be, for example, a garage or a carport or the like. It is also possible for the traffic situation 17 to be a tunnel or another bottleneck, such as a city gate or a lane constriction, such as at a driveway of a parking garage or at a drive-in switch or the like. For clarity, the vehicle 1 is shown here in a minimum configuration than in FIG. 1. However, the configuration shown in FIG. 1 is also possible.In general, it is possible for a computer-implemented method to be carried out with the arithmetic unit 3 or for a computer-implemented method for generating a digital map of the environment 15 of the vehicle 1 to be generated on this arithmetic unit 3. The method has in particular the following steps: a) providing environmental information and / or position information which has been detected with an ultra-wideband radio system 13 to a computing unit 3; b) providing environmental information and / or position information which has been detected with an ultrasonic sensor system 5 to the computing unit 3; c) generating a basic environmental map 20 on the basis of the environmental information and / or position information which has been detected with the ultrasonic sensor system 5 with the computing unit 3; d) generating the map 24 of the environment with an SLAM algorithm on the basis of the basic environmental map 20 and the environmental information and / or position information which has been detected with the ultra-wideband radio system 13.In particular, a relative distance between at least one ultra-wideband anchor sensor 10 and one ultra-wideband radio beacon is provided as environmental information and / or position information. In particular, an absolute location of at least one ultra-wideband radio beacon 14, in particular of all ultra-wideband radio beacons 14, is provided as environmental information and / or position information. It is advantageous if in step b) information regarding transmission signals of the ultrasonic sensor system 5 and / or echo signals received by the ultrasonic sensor system 5 are provided.On the basis of the digital map thus generated, in particular a SLAM map, the position of the vehicle 1 in the environment 15 can then be determined.According to the illustration in FIG. 3, a method is explained which can be carried out for moving the vehicle 1 in the environment 15. In this case, in particular on the basis of the ultrawideband radio system 13, the detection and generation of environmental information and / or position information is carried out. In particular, this ultra-wideband radio system 13, in particular the ultra-wideband anchor sensors 10, generates a relative distance to the, in particular respectively, closest ultra-wideband radio beacons 14. This information is transmitted by means of a network through transceivers to the computing unit 3. In particular, this can be part of a BUS system 11, for example a CAN or a LIN BUS or an Ethernet. In addition, the environment 15 of the vehicle 1 is detected with the ultrasonic sensor system 5. In particular, at least the echo signals detected by the ultrasonic sensors 7 and / or by the ultrasonic sensors 9 are transmitted to the computing unit 3.The arithmetic unit 3 implements the fusion algorithm and implements the map to be generated, in particular the SLAM map.The computing unit 3 can have an algorithm block 19. This can be a software module. The algorithm block 19 reads the information received from the ultrasonic sensors 7 and / or 9. In particular, it generates therefrom an environment map relating to the area surrounding the vehicle 1.It is then also possible for a basic environment map to be generated therefrom in this regard, which is symbolized in FIG. 3 by the reference symbol 20. This can also be referred to as an environment perception map.In one exemplary embodiment, the arithmetic unit 3 has a further algorithm block 21. This can in particular likewise be a software module. Localization information is generated by this algorithm block 21 on the basis of the information received from the ultrawideband radio system 13, which localization information is then provided as corresponding localization information 22, as symbolized in FIG. 3.The computing unit 3 also has a software module 23, which implements the SLAM algorithm. The localization information 22 and the basic environment map 20 are supplied to this SLAM algorithm. From this information, the digital map is then generated, in particular as a SLAM map, and is provided as such according to the reference sign 24.FIG. 4 shows a schematic representation of an exemplary embodiment of such an SLAM card. Echo signals 25 are also shown here by way of example, of which only some are provided with the corresponding reference numerals for the sake of clarity. In particular, this is the basic information for generating the basic environment map 20. Furthermore, other objects in the environment 15 that were possibly detected are not shown in this map 24 for the sake of clarity. If, for example, other vehicles and / or a wall and / or a curb and / or another obstacle are present in the environment 15, this would also be detected and would be displayed symbolically in this map 24.By way of example, distances 26 between the here only one ultra-wideband anchor sensor 10 shown and a plurality of ultra-wideband radio beacons 14 are also shown in the map 24. The vehicle 1 is also located in this map 24. Therefore, on the basis of this map 24, it knows very exactly where it is located in the environment 15, in particular with respect to objects in the environment 15.The ultrasonic sensor system 5 and the ultra wide band radio system 13 are functional and subject to two separate and separate systems.In general, the proposed concept provides a highly functional system which is nevertheless less expensive than other systems, in particular with cameras, and in which information from two different systems 5 and 13 is sently fused or combined in order to enable improved mapping and localization of a vehicle in the environment. This is also achieved with higher accuracy. Moreover, the accuracy of a map is increased by the method and a higher overall accuracy is achieved exactly by the SLAM map as generated by the method, in particular compared to when only one environment map is provided on the basis of the information detected by the ultrasonic sensors 7 and 9.It is also possible that a real-time localization system can be used in addition to or instead of the ultra-wideband radio system in order to generate the corresponding information.In particular, the computing unit 3 can be a zone control device or can be a component of a zone control device. It is also possible for the computing unit 3 to be a component of a domain control unit or to be a domain control unit of this type.

Claims

Method, in particular a computer-implemented method, for generating a map (24) of an environment (15) of a vehicle (1), having the following steps: a) providing environment information and / or position information, which was detected with an ultra-wideband radio system (13), to a computing unit (3); b) providing environment information and / or position information, which was detected with an ultrasonic sensor system (5), to the computing unit (3); c) generating a basic environment map (20) on the basis of the environment information and / or position information, which was detected with the ultrasonic sensor system (5), with the computing unit (3); d) generating the map (24) of the environment with a SLAM algorithm depending on the basic environment map (20) and the environment information and / or the position information acquired with the ultra-wideband radio system (13).Method according to Claim 1, wherein, in step a), at least one distance (26) between an ultra-wideband anchor sensor (10) of the ultra-wideband radio system (13), which is arranged on a vehicle (1) located in the environment (15), and an off-vehicle ultra-wideband radio beacon (14) of the ultra-wideband radio system (13), is provided as environmental information and / or position information.Method according to Claim 1 or 2, wherein in step a) at least one location of at least one ultra-wideband radio beacon (14), in particular a plurality of ultra-wideband radio beacons (14), is provided as environmental information and / or position information.Method according to one of the preceding claims, wherein in step b) information on transmission signals of the ultrasonic sensor system (5) and / or echo signals (25) received by the ultrasonic sensor system (5) are provided for generating the basic environment map (20) according to step c).Method according to one of the preceding claims, wherein localization information is generated with the arithmetic unit (3) from the information provided in step a), which localization information is provided for generating the map (24) according to step d).Method for determining a position of a vehicle (1) in an environment (15), comprising the following steps: - providing a map (24) which is generated by a method according to one of the preceding claims 1 to 5; - determining the position of the vehicle (1) depending on the map (24).Method according to Claim 6, wherein the position is determined on the basis of the map (24) during a maneuver of maneuvering the vehicle (1), in particular only for speeds of the vehicle (1) of less than or equal to 40 km / h and / or only when driving on bottleneck locations and / or when parking.Method for moving a vehicle (1) in an environment (15), comprising the following steps: - detecting the environment (15) of the vehicle (1) with an ultrasonic sensor system (5) of the vehicle (1); - detecting environmental information and / or position information with an ultra-wideband radio system (13), in which an ultra-wideband anchor sensor (10) of the ultra-wideband radio system (13) is arranged on the vehicle (1) and at least one ultra-wideband radio beacon (14) of the ultra-wideband radio system (13) is arranged in a fixed manner in the environment (15) and externally to the vehicle (1); - transmitting the information detected by the ultrasonic sensor system (5) and the ultra-wideband radio system (13) to a computing unit (3); generating a basic environment map (20) with the aid of the environment information and / or position information which was detected with the ultrasonic sensor system (5) with the arithmetic unit (3); generating the map (24), in particular a SLAM map, of the environment (15) with the aid of a SLAM algorithm (23) as a function of the basic environment map (20) and the environment information and / or position information, in particular localization information (22) which was generated therefrom and which was detected with the ultrawideband radio system (13); determining the position of the vehicle (1) in the environment (15) with the aid of the map (24); moving the vehicle (1) as a function of the position of the vehicle (1).Method according to Claim 8, wherein the vehicle (1) is maneuvered during the movement.A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of any one of the preceding claims 1 to 6.Computer-readable data medium on which the computer program according to Claim 10 is stored.Electronic jumpering system (2), in particular parking system, for a vehicle (1), having a computing unit (3), wherein the jumpering system (2) is designed to carry out a method according to one of the preceding claims 1 to 9.Vehicle (1) with an electronic maneuvering system (2) according to Claim 12.

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