Method for offering a free parking space, method for parking a motor vehicle in a free parking space, electronic vehicle guidance system and motor vehicle

Abstract

The invention relates to a first method (M1) for offering a free parking space (1), as well as a second method (M2) for parking a motor vehicle (3) in a free parking space (1). The first method (M1) comprises, in particular, the following steps: - detecting a parking situation (4) while the motor vehicle (3) is being driven; - detecting a parking area (1, 2) in the detected parking situation (4); - moving the motor vehicle (3) so that the detected parking area (1, 2) is located outside a first functional zone (6) of an electronic parking assistance device (7) of the motor vehicle (3); - recognizing the recognized parking area (1, 2) as a free parking area (1); - Offering the free parking space (1) for parking the motor vehicle (3) in the free parking space (1) even if the free parking space (1) is located outside the first functional zone (6). The invention further relates to an electronic vehicle guidance system (14) and a motor vehicle (3).

Description

The invention relates to a method for offering a free parking area by means of a motor vehicle, and to a method for parking a motor vehicle in a free parking area. The invention furthermore relates to an electronic vehicle guidance system for a motor vehicle, and to a motor vehicle which has an electronic vehicle guidance system.Detection systems for motor vehicles are known in conjunction with parking assistance devices which, when driving past a free parking area, for example at the edge of the road, detect this parking area, in particular its geometry and dimensions, preferably by means of sensors located laterally on the motor vehicle, such as ultrasonic sensors, radar or lidar sensors of a detection system of the motor vehicle. If a free parking area is detected, the free parking area can be offered to the user by means of the parking assistance device for at least semi-autonomous parking, for example by means of a display device, provided that the free parking area is still located in a functional zone of the parking assistance device. If the user selects the offered free parking area, the latter can at least be supported during a parking process into the parking area. The support can be graded, wherein, for example, in a first stage, only warning signals, direction information or speed information can be provided, which the user can follow as a driver, and wherein, in further stages, the parking assistance device performs the parking process semi-autonomously or fully autonomously by the parking device actuating the steering system or, in addition, also setting the driving speed.However, when the user decides to continue driving, the free parking area comes outside the functional zone of the parking assist device, so that the parking in this free parking area can no longer be provided by the parking assist device. For example, the user would like to move even closer to his destination and to make a jump to a further, free parking area. If, however, the user or the motor vehicle does not find a further, free parking area, the user can make the decision to return to the already detected, free parking area in order to park there.However, such a function is not supported because the free parking area is located outside the function zone of the parking assist device.GB 2484398 B relates to a method for carrying out a parking process of a motor vehicle, wherein a parking area is detected and a parking corridor is determined. Moreover, the rear environment of the vehicle is detected to prevent collision with an object in the rear environment.DE 10 2021 110 348 A1 describes a method for operating an assistance system of a vehicle, which proposes carrying out a reversing function in the event of a detected blind end situation.The object of the invention is to provide a method, an electronic vehicle guidance system and a motor vehicle, by means of which a free parking area, in particular for a parking process of the motor vehicle beyond a functional zone of the parking assistance device, can be offered to the user, and can also be parked in this free parking area.The object is achieved by the subject matters of the independent claims. Advantageous refinements of the invention are described by the dependent patent claims, the following description and the figures.A first aspect of the invention provides a method for offering a free parking area by means of a motor vehicle, in particular for parking, or for an at least semi-autonomous parking process, the motor vehicle into the free parking area. The method has in particular the steps:detecting a parking space situation by means of a first detection system of the motor vehicle during a driving operation of the motor vehicle;detecting a parking area in the detected parking space situation;advancing the motor vehicle such that the detected parking area is located outside a first functional zone of an electronic parking assistance device of the motor vehicle, wherein the motor vehicle can be parked at least semi-autonomously by means of the electronic parking assistance device into a free parking area located within the first functional zone;detecting the detected parking area as a free parking area;offering the free parking area for parking the motor vehicle in the free parking area even if the free parking area is located outside the first functional zone of the parking assistance device of the motor vehicle.An advantage of the method is that the offer of free parking areas, in particular for an at least semi-autonomous parking process of the motor vehicle into the free parking area, can be extended for the user, wherein the offer extends beyond the functional zone of the parking assistance device. As a result, the free parking area can be offered even when it is no longer located in the first functional zone of the parking assistance device. This is advantageous in particular when the user has inadvertently moved past a free parking area, in the hope of finding a better, free parking area. By offering the free parking area beyond the first functional zone, the user can thus nevertheless decide on the offered free parking area, although the latter has initially decided on and has continued to drive on. This advantageously increases the comfort for the user. The driving operation is preferably a forward driving operation. Alternatively, the driving operation is a reverse driving operation.The term parking area is to be distinguished from the term free parking area. Rather, the term parking area can be understood as a generic term for the free parking area. The term parking area can include, in particular, occupied parking areas and free parking areas. A occupied parking area can in particular represent a parking area which is occupied or parked, for example, by a foreign vehicle. The occupied parking area may be suitable in particular for parking the motor vehicle, in particular with regard to the dimensions and / or accessibility of the occupied parking area, provided that the other vehicle would release the occupied parking area by a parking process. The free parking area can be understood in particular as a parking area which is not occupied or parked by a different vehicle. The free parking area can be free and also suitable, in particular, directly for parking the motor vehicle, in particular with regard to the dimensions and / or accessibility of the free parking area, so that it would be possible to park the motor vehicle manually or at least semi-autonomously into the free parking area.The parking area can also be referred to as a parking bay, parking lot, parking space or the like, wherein the parking area in particular characterizes that it is suitable for being parked by the motor vehicle at least on account of its position in the environment, accessibility and size. The suitability can be achieved in particular by comparing the dimensions of the parking area with the dimensions of the motor vehicle, in particular taking into account the kinematics of the motor vehicle, for example a steering radius. In particular, in the case of a free parking area, the suitability can be determined at least on the basis of a distance of two objects, for example between two parked other vehicles. In particular, in the case of a parked parking area, the suitability can be determined at least on the basis of a dimension of the parked other vehicle by comparing the detected dimensions of the parked other vehicle with those of the host motor vehicle.In one step of the method, the parking space situation or information about the parking space situation is detected by means of the first detection system of the motor vehicle during the driving operation of the motor vehicle. In particular, the parking space situation can be detected continuously or continuously, at least when an associated detection mode of the motor vehicle is activated. In particular, the motor vehicle or the first detection system can have corresponding sensors such as cameras, ultrasonic sensors, radar or lidar sensors, which can be arranged laterally, front and / or rear on the motor vehicle, for example. The first detection system can be designed, in particular, to detect the parking space situation by sensor, wherein the detection device can provide sensor data about the parking space situation. In particular, distances, dimensions or the like can be measured in this case.The detection of the parking space situation can be activated actively by the user activating a parking space search mode of the motor vehicle. Alternatively, it can be provided that the detection is automatically activated shortly before a destination of a navigation device is reached.Preferably, not only parking areas are detected, but a parking space situation is detected. This can mean that information about parking areas is also detected, which may be occupied by other vehicles. The parking space situation can therefore not only comprise information about free parking areas, but also parking areas occupied by other vehicles. In addition, information of the occupying foreign vehicles relating to the associated occupied parking areas can be detected, which occupy the parking areas. In particular, geometries of the free and / or occupied parking areas and geometries of the other vehicles can be detected. Depending on the orientation of the free or occupied parking area or of the other vehicle, information about the width, length and / or height of the parking area or of the other vehicle can be detected.A first detection range of the first detection system can extend in particular to a close range around the motor vehicle or to a direct environment of the motor vehicle. In other words, the first detection range extends to a range within which the sensors of the parking assist device can at least partially detect the parking area. The first detection range can extend, for example, on parking areas parallel, perpendicular or oblique to the roadway on the right and / or left side of the road, past which the motor vehicle immediately travels in the forward driving mode, or on parking areas in the forward direction of the motor vehicle, for example, when the motor vehicle is at the end of a T intersection.The forward driving operation can be understood in particular to mean that the motor vehicle moves forward or forward according to a usual use. In this case, the parking space situation, that is to say during the forward travel, can be detected during this. The forward driving mode also includes, in particular, cornering or straight-ahead driving. In addition, it may be provided that the parking space situation can also be detected during a standstill or a reverse driving operation.The parking space situation or the information about the parking space situation can be present in particular in the form of sensor data. In an intermediate step, it may be provided that this sensor data can be electronically evaluated by an evaluation unit of the motor vehicle and processed to evaluation data. The evaluation data can contain, in particular, information about distances and dimensions in the parking space situation.In one step of the method, the parking area, which may be present as a occupied or free parking area, can then be detected in the information about the parking space situation or in the sensor data or evaluation data, in particular by means of a first detection unit of the motor vehicle. In particular, only those parking areas are detected whose measured dimensions are large enough so that the motor vehicle can park, provided that the parking area is free or is cleared by unparking the other vehicle.In one step of the method, it may be provided that the motor vehicle is moving, in particular in the forward driving mode. In particular, the motor vehicle is moved forward or else backward to such an extent that the detected parking area is located outside the first functional zone of the electronic parking assistance device of the motor vehicle. The movement can take place in particular because the user has discarded the parking into the parking area at least currently and temporarily, provided it has been free, or because the parking area was occupied. In particular, the advancement by the user may be desirable, since the user hopes to a better, free parking area or even to a free parking area that he would like to find by the advancement. The moving can be carried out at least semi-autonomously, in particular by a vehicle guidance system of the motor vehicle. Alternatively, but less preferably, the advancement may be manual by the user.The first functional zone of the parking assistance device can be understood in particular as a range-limited zone which extends around the motor vehicle in the external environment and has at least a predefined range with respect to the motor vehicle. This range can be specified on the motor vehicle system side or by a superordinate system of the motor vehicle or by a basic setting of the motor vehicle. The range of the first functional zone can be limited to a few meters. The range can be limited in particular because the parking assistance device is only permitted or sufficiently tested within this range for at least semi-autonomous parking, or is not designed, due to its own nature, to be able to park in a free parking area outside this range.If a free parking area is within the range of the first functional zone, then the electronic parking assistance device is in particular configured and configured to park the motor vehicle in this free parking area at least semi-autonomously. If a free parking area is at least partially outside the range of the first functional zone, then the electronic parking assistance device is in particular not configured and also not configured to at least semi-autonomously park the motor vehicle into this free parking area. In other words, the electronic parking assistance device is configured and designed to park only in those free parking areas which are located within the first functional zone or within the range of the first functional zone.The range of the first functional zone of the parking assistance device is in particular to be distinguished from a range of the first detection zone of the first detection system. In particular, these may be independent of one another. In particular, the parking assist device is also to be distinguished from the first detection system. The parking assistance device can be designed primarily to at least assist the user during parking, wherein the parking assistance device can be dependent on the captured sensor data of the parking space situation by means of the capture system. The parking assistance device can furthermore have the first recognition unit and have a search function for searching specifically for parking areas in the sensor data or evaluation data. By contrast, the first detection system is merely designed to provide the sensor data at least about the parking space situation in the first detection region.At least semi-autonomous can be understood in particular to mean that the driver or user of the motor vehicle is at least partially assisted during parking by the parking assistance device. In particular, the electronic parking assist device may implement at least one partially automated or semi-autonomous parking mode according to levels 1 to 4 according to the SAE J3016 classification. Furthermore, it may be provided that the electronic parking assistance device may implement a fully automatic or fully autonomous parking mode of the motor vehicle according to level 5 (or higher) of the classification according to SAE J3016, wherein the motor vehicle is fully automatic or fully autonomous parked in the free parking area, in particular without the need for intervention in a control by the user. The motor vehicle automatically performs all necessary functions, such as steering, braking and / or acceleration maneuvers, the observation and detection of road traffic and static obstacles, and corresponding reactions.In one step of the method, the parking area recognized by the first recognition unit is recognized as a free parking area, in particular by means of a second recognition unit of the motor vehicle. The first and the second recognition unit can also be designed as a common recognition unit. This step can be carried out independently of whether the detected parking area is located inside or outside the first functional zone. The recognized parking area can preferably be recognized as a free parking area immediately when driving past the recognized parking area, if this is already free when driving past. On the other hand, it can also be provided that the detected parking area is detected as a free parking area only after the passing, in particular if it was still occupied during the passing. In other words, this step can take place temporally before or temporally after the step of moving the motor vehicle.In one step of the method, the parking area detected as free is offered for parking the motor vehicle in the free parking area even if the free parking area is located outside, or no longer inside, the first functional zone of the parking assistance device of the motor vehicle. In particular, the free parking area is offered to the user by the motor vehicle or by a corresponding offering system of the motor vehicle in a suitable manner for a parking maneuver, for example visually on a display of the motor vehicle or the like. By offering, the user can be enabled in particular to select the offered free parking area, so that it can be provided in particular that the motor vehicle parks at least semi-autonomously into the free parking area. Alternatively or additionally, the free parking area can be offered to an autonomous vehicle guidance system, which autonomously selects the free parking area for parking and consequently causes the motor vehicle to park in this free parking area.For example, it can be provided after the method that, depending on the selection of the free parking area and located outside the first functional zone, the user is requested by the system of the motor vehicle to guide the motor vehicle back again, so that the free parking area is located inside the first functional zone again. For example, the user can put the motor vehicle into a reverse driving mode and drive it back for this purpose. Alternatively, it can be provided that the user turns the motor vehicle and returns. It is also conceivable for the user to travel around a residential block and thereby return to the free parking area again. In addition, it can be provided that, depending on the selection of the offered free parking area by the user, a destination of the navigation device is changed to the selected free parking area, so that the user can guide the motor vehicle to the free parking area according to the instructions of the navigation device. It can also be provided that a destination of an electronic vehicle guidance system is changed to the free parking area, wherein the motor vehicle is autonomously guided, so that the free parking area is again located in the first functional zone. Many further options are conceivable for how the motor vehicle is guided by the user back into the first functional zone by means of a system of the motor vehicle as a function of the selection of the offered, free parking area, so that the electronic parking assistance device is enabled to park in the free parking area within the first functional zone at least semi-autonomously.It is understood that more than one parking area can also be detected, more than one free parking area can also be detected, and more than one free parking area can also be offered. In particular, all or a specific selection of free parking areas is offered. The fact that this need not only be a parking area applies to the following exemplary embodiments.One exemplary embodiment provides that the detected free parking area is stored on an electronic storage medium of the motor vehicle. Alternatively, the parking area can also be stored on a storage medium external to the motor vehicle, for example a server device, which is connected to the motor vehicle by signal technology. In particular, position data, a road side, an orientation and / or dimensions of the free parking area, and for example a time of acquisition, can be stored. Storing data of the parking area has at least the advantage that this data can be read out at a later point in time. In particular, the stored data can be retrieved even if the motor vehicle has already moved to such an extent that the parking area is located outside the first functional zone of the parking assistance device of the motor vehicle. The user can now automatically guide the motor vehicle to the free parking area or be guided by means of the navigation device or the electronic vehicle guidance system by means of the stored data, so that the free parking area is again located in the first functional zone.One exemplary embodiment provides that the parking in the free parking area located outside the first functional zone is carried out by means of an electronic backup assist device (engl. Back Drive Assist, BDA) of the motor vehicle and of the parking assistance device is planned. Preferably, the reversing of the motor vehicle is planned by means of the reversing assistance device to such an extent that the free parking area is again located in the first functional zone of the parking assistance device. As a result, the reversing assistance device can be enabled to park in the free parking area. Planning by means of the reversing assistance device and the parking assistance device has at least the advantage that it can be ensured in the shortest, direct way that motor vehicle can be guided from a current position into the free parking area.The planning can take place in particular temporally before the free parking area is offered, so that it can advantageously be ensured that the motor vehicle can be guided at least semi-autonomously into the free parking area on the basis of a combination of the reversing assistance device with the parking assistance device, that is to say driven back plus parked. For example, depending on the selection of the offered, free parking area by the user, the motor vehicle can thus be guided automatically and directly into the free parking area by means of the reversing assistance device and the parking assistance device.Alternatively, the planning can also take place subsequent to the provision of the free parking area, in particular after the selection of the provided free parking area by the user, so that computing power for the planning can initially be saved. After the selection of the free parking area and after planning, the user can then be offered to feed the motor vehicle at least semi-autonomously into the free parking area by means of the reversing assistance device and the parking assistance device.The reversing assistance device can be designed, in particular, to plan the reversing operation, to place the motor vehicle in a reversing operation and to execute a reversing operation of the motor vehicle, which is opposite to the forward operation in its direction. Preferably, a detection system of the motor vehicle can be used to enable the reversing operation to be carried out without collisions and with low risk. In particular, the motor vehicle can be driven backwards at least semi-autonomously by means of the electronic reversing assistance device.One exemplary embodiment provides that the reversing assistance device has a second functional zone, which is larger than the first functional zone and within which the motor vehicle can be reversed at least semi-autonomously by means of the reversing assistance device. In particular, reverse travel can be planned within this second functional zone, so that the user can be presented with guidance, i.e. reverse travel plus parking, into the free parking area. The second functional zone can be significantly larger than the first functional zone, in particular by a multiple. This has the advantage that at least semi-autonomous parking is offered to the user, who has a range that is many times longer than the first functional zone of the parking assistance device.An exemplary embodiment provides that during the driving operation a trajectory of the motor vehicle is detected and stored, wherein the reversing of the motor vehicle is planned by means of the reversing assistance device backwards along the stored trajectory.This has the advantage that a planned trajectory for reversing does not first have to be calculated, but rather an already successfully followed trajectory is used, which is followed backwards. This advantageously allows computing power and thus also energy of the motor vehicle to be saved. In addition, a risk or accident risk can be significantly reduced. In particular, the trajectory is detected continuously or continuously, at least when an associated mode of the motor vehicle is activated. The trajectory is stored at least for a predefined period of time or for a predefined distance travelled by the motor vehicle, preferably in an electronic storage medium of the motor vehicle.In particular, it is provided that the motor vehicle does not turn in order to travel the stored trajectory again. Rather, the motor vehicle itself moves backwards in the opposite direction along the trajectory as exactly as possible, wherein in particular a reverse gear of the motor vehicle can be engaged and the motor vehicle is in a reverse driving mode which is directed opposite to the forward driving mode.The trajectory can be detected in particular by means of sensors and / or a position determination device of the motor vehicle, for example based on (V)SLAM and / or a global navigation satellite system (GNSS) such as GPS.An exemplary embodiment provides that the trajectory is only detected and stored when a occupied or free parking area has been detected, in particular immediately during or during the passing. In particular, only a trajectory from the parking area to a current position of the motor vehicle is thus stored. This advantageously allows saving storage capacity.An exemplary embodiment provides that the detected parking area is detected as the free parking area during the passing of the motor vehicle during driving operation if the detected parking area is not occupied by a foreign vehicle during the passing. In particular, the detected parking area is thus directly detected as the free parking area. In this way, the parking area can be detected in a particularly simple manner. According to this exemplary embodiment, the step of recognizing the free parking area can therefore take place before the step of moving the motor vehicle.An alternative or supplementary exemplary embodiment provides that the detected parking area is initially detected as a occupied parking area when the motor vehicle is driving past in forward driving operation, if the detected parking area is occupied when the motor vehicle parked on the parking area is driving past. Preferably, a parking-out of the other vehicle from the detected parking area is detected, wherein the detected parking area is detected as a free parking area depending on the detected parking-out.Advantageously, a free parking area can thus be detected which has still been occupied by the other vehicle when driving past. The parking area is therefore not recognized as a free parking area immediately after the recognition of the parking area, but rather only as a result of the recognition of the unparking of the other vehicle and based on the previously recognized, occupied parking area from which the other vehicle unparks. This advantageously allows a free parking area to be offered which was not yet available as a free parking area when driving past. As a result, an offer for the user on free parking areas can be advantageously increased or even offered first.In order to identify the outward parking of the other vehicle, it may be necessary for information about a parking space situation in a rear space of the motor vehicle to be detected by a second detection system in the form of sensor data. The second detection system can have, in particular, a second detection range which is, in particular, many times larger than the first functional zone of the parking assistance device, preferably up to a distance of 50, 100 or 200 meters. As a result, the parking-out can also be detected outside the first functional zone by a third detection unit as a function of the sensor data. The second detection unit can correspond in particular to the first detection unit and / or use at least common sensor devices.The second detection system can in particular have an optical sensor device which is oriented in the rearward direction of the motor vehicle. The optical sensor device can have, in particular, one or more cameras, wherein the rear space of the motor vehicle can be optically detected. The second detection system can in particular provide sensor data about the rear space in which the other vehicle to be parked out is located.It can preferably be provided that the vehicle parked on the occupied parking area is tracked or tracked by means of an electronic tracking unit since the detection of the occupied parking area based on the sensor data, and provides corresponding tracking data. In particular, it can be detected by the third detection unit based on the tracking data that the parked other vehicle is moving in relation to the static environment and thus a parking departure is assumed. In particular, the third detection unit may be configured and trained to detect the parking of the other vehicle. Based on the detected parking-out, the previously occupied and now cleared parking area is detected as a free parking area.One exemplary embodiment provides that the detected parking area is stored on an electronic storage medium of the motor vehicle. Alternatively, the occupied parking area can also be stored on a storage medium external to the motor vehicle, for example a server device, which is connected to the motor vehicle by signal technology. In particular, position data, a road side, an orientation and / or dimensions of the occupied parking area, and for example a time of the capturing, can be stored. Storing data of the occupied parking area has at least the advantage that this data can be read out at a later point in time. In particular, the stored data can be retrieved even if the motor vehicle has already moved to such an extent that the occupied parking area is located outside the first functional zone of the parking assistance device of the motor vehicle. Consequently, the occupied parking area can be recognized as a free parking area at a later point in time by the stored data when the other vehicle is unparking, wherein the stored information about the occupied parking area can be assigned to the free parking area.One exemplary embodiment provides that the free parking area is offered by being displayed on a visual display device of the motor vehicle. Preferably, depending on a selection of the displayed free parking area by the user, the motor vehicle can be parked in the free parking area. For example, the display device can be provided in an interior of the motor vehicle and have a display or a screen. Preferably, the display device is simultaneously a user interface (engl. Human-machine interface, HMI) of the motor vehicle, wherein the display device can be designed, for example, as a touch display or as a display with associated operating elements.Preferably, depending on the selection of the displayed parking area by the user, the parking of the motor vehicle into the free parking area can be carried out. As a result, the comfort of the user can be significantly increased.One exemplary embodiment provides that the free parking area is displayed on or within a digital map of the display device. In particular, the parking area can be displayed as a symbol or icon on the digital map, which can be selected, for example, by tapping. As a result, a subsequent parking can be provided in a particularly intuitive and user-friendly manner. The digital map can be based in particular on stored map information, for example a navigation device, and the position of the motor vehicle, wherein in particular a map section is displayed in which the position of the motor vehicle is present and in particular is displayed.An exemplary embodiment provides that the free parking area is displayed on the display device on or within a digitally generated plan view of a surrounding area of the motor vehicle. In particular, the parking area can be displayed as a symbol or icon in the top view of the environment, which can be selected, for example, by tapping. As a result, the offered, free parking area can be provided in a particularly intuitive and user-friendly manner. The plan view can be generated in particular by an electronic generating device based on sensor data from sensors of the motor vehicle, wherein the sensors are configured in particular as cameras, preferably so-called surround view cameras.An exemplary embodiment provides that the free parking area of the parking assistance device located outside the first functional zone is only displayed on the display device when the user makes an input into a user interface of the motor vehicle for expanding a display area of the display device. This results in particular in the advantage that initially only parking areas are displayed in the first functional zone, so that the user is not overrequested by displaying all detected free parking areas.The display area can be understood to mean, in particular, that area which is displayed by the display device, that is to say, for example, the area or section of a digital map or a plan view of the environment of the motor vehicle.Widening the display area can be understood in particular to mean that a scaling of the display area is reduced, so that a larger area can be displayed, for example from 100% to 50% for doubling the display area. For example, in a normal mode of the display device, the free parking areas can be displayed in the first functional zone, and in an extended mode, an area greater than the first functional zone. In other words, the expansion can also be understood to mean zoom-out, wherein in particular the rear space to the motor vehicle is displayed in the expanded mode.It can also be provided that only the rear space of the motor vehicle is displayed by widening the display area, for example by the user being input in the form of a back-to-back swiping on a touch display. It can also be provided that the user makes the input of a scrolling back, so that as a result of the display area, the user moves along the trajectory covered.Moreover, widening the display area may be understood to mean that an area on the display device on which the display area is displayed is enlarged. For example, a window of the display device may be drawn larger.One exemplary embodiment provides that the free parking area outside the first functional zone of the parking assistance device is automatically displayed on the display device if no further, free parking area is located within the first functional zone. This increases the comfort of the user in particular in that he does not have to first extend the area if no free parking area is displayed in the functional zone.One exemplary embodiment provides that the first functional zone of the parking assistance device has a range of at least two meters and up to ten meters around the motor vehicle, preferably of at least three, four or five meters and up to six, seven, eight or nine meters. The free parking area is thus offered or displayed even if the free parking area is outside this range. The offer of free parking areas for parking is thus advantageously expanded for the user.One exemplary embodiment provides that the second functional zone of the reversing assistance device has a range of up to 200 meters, in particular up to 150 meters, 100 meters, 50 meters, 30 meters or 20 meters. This range can also correspond to a range of the second detection system.A further aspect of the invention provides a method for parking a motor vehicle in a free parking area, also referred to as a parking method. The parking method comprises the steps of:offering the free parking area according to the method according to the invention for offering a free parking area by means of a motor vehicle;at least semi-autonomous parking of the motor vehicle into the offered free parking area as a function of a user selecting the offered free parking area.An advantage of the parking method is that a range for semi-autonomous parking is extended. The comfort of the user is thereby significantly increased. If, for example, the user has traveled past a free parking area, in the hope of finding an even better parking area, in particular one closer to a destination, the user can nevertheless be provided with the parking or the parking function for the parking area past which the user has traveled. This is advantageous in particular when the user does not find any further or better, free parking area.For example, it may be provided that a destination of an electronic vehicle guidance system is changed to the free parking area, so that the motor vehicle is guided at least semi-autonomously, and the free parking area is again located in the first functional zone. The motor vehicle can then be parked at least semi-autonomously by means of the parking device in the free parking area located in the first functional zone.One exemplary embodiment of the parking method provides that the parking is carried out by means of an electronic backup assist device (e.g., an electronic backup assist device that is different from the parking assist device. Back Drive Assist, BDA) of the motor vehicle and of the parking assistance device is carried out, wherein the motor vehicle is at least semi-autonomously backed up by means of the backup assistance device to such an extent that the free parking space is located in the first functional zone of the parking assistance device.In other words, the reversing assistance device and the parking assistance device are combined with one another in such a way that, in combination, they are able to carry out the parking even for free parking areas outside the first functional zone. If these devices are already present in the motor vehicle, the combination of the devices can efficiently provide the extended parking function without further electronic devices having to be set up. A further advantage is that parking can be carried out in the free parking area in a direct, fastest and simplest way. Thus, time and resources of the motor vehicle, in particular in the form of fuel or electrical energy, can be saved for the user. In addition, the comfort of the user is advantageously increased.The motor vehicle is preferably moved back by means of the reversing assistance device to such an extent that the free parking area is located in the first functional zone of the parking assistance device. The reversing assistance device can be designed, in particular, to put the motor vehicle in a reversing mode and to carry out a reversing of the motor vehicle, which is opposite to the forward mode in its direction. Preferably, the sensors of the motor vehicle can be used to enable the reverse driving operation to be carried out without collisions and with low risk. In particular, the motor vehicle can be driven back autonomously, semi-autonomously or at least as an assistance for the user by means of the electronic reversing assistance device.As soon as the motor vehicle is located in the first functional zone, it can be provided that the reversing assistance device is deactivated. The parking assistance device can then carry out the parking maneuver into the free parking area, such that after the parking maneuver has ended, the motor vehicle is located within the free parking area. In particular, the reversing assistance device may be designed to calculate a parking trajectory into the parking space and to control the motor vehicle according to the calculated parking trajectory into the parking space.The backup assistance device preferably uses a method for (visual) simultaneous position determination and mapping (engl. (Visual) Simultaneous Localization and Mapping, (V)SLAM), wherein the backup assistance device is configured by means of SLAM or VSLAM to create a virtual map of the environment of the motor vehicle and to estimate the spatial position of the motor vehicle within this map. It thus serves to detect obstacles and thus supports autonomous navigation.One exemplary embodiment of the parking method provides that during the forward driving operation a trajectory of the motor vehicle is detected and stored, wherein the motor vehicle travels backward along the stored trajectory by means of the reversing assistance device. This has the advantage that a trajectory for reversing does not first have to be calculated, but rather an already successfully followed trajectory is used, which is followed backwards. This advantageously allows computing power and thus also energy of the motor vehicle to be saved. In addition, a risk or accident risk can be significantly reduced. In particular, the trajectory is detected continuously or continuously, at least when an associated mode of the motor vehicle is activated. The trajectory can be stored at least for a predefined period of time or for a predefined distance travelled by the motor vehicle, preferably in an electronic storage medium of the motor vehicle.In particular, it is provided that the motor vehicle does not turn in order to travel the stored trajectory again. Rather, the motor vehicle itself moves backwards in the opposite direction along the trajectory as exactly as possible, wherein in particular a reverse gear of the motor vehicle can be engaged and the motor vehicle is in a reverse driving mode which is directed opposite to the forward driving mode.The trajectory can be detected in particular by means of sensors and / or a position determination device of the motor vehicle, for example based on (V)SLAM and / or a global navigation satellite system (GNSS) such as GPS.A further independent aspect of the invention relates to a method for planning a parking process using a motor vehicle, in particular having the following steps:in particular detecting a parking space situation with a detection system of an electronic parking assistance device of the motor vehicle during a driving operation of the motor vehicle, wherein the electronic parking assistance device has a first functional zone, in particular only within which the motor vehicle can park, with the parking assistance device, in a free parking space, in particular detected, in a manner guided at least semi-autonomously, in particular the parking space lies in the functional zone with respect to the vehicle;in particular evaluating the detected information and recognizing a parking space, in particular free parking space and / or parking space potentially suitable for the motor vehicle, in the detected parking space situation;in particular moving the motor vehicle into a surrounding area, so that the free parking space lies outside the first functional zone, in particular into which the motor vehicle alone with the parking assistance device cannot then park guided into the detected free parking space; andoffering the free parking space detected before entering the surrounding area, in particular by an electronic vehicle guidance system, in particular the motor vehicle, at least when a parking process of the motor vehicle into a parking space is planned in a surrounding area, in particular in which the vehicle is currently located and which is outside the functional zone of the parking assistance device.Embodiments of individual aspects of the invention are to be considered as embodiments of the other aspects.In another aspect, the invention provides an electronic vehicle guidance system for a motor vehicle. The electronic vehicle guidance system has at least one computing unit which is configured and designed to carry out the method for offering a free parking area by means of a motor vehicle and / or to carry out the method for parking a motor vehicle in a free parking area.An electronic vehicle guidance system can be understood to mean an electronic system which is configured to guide a vehicle fully automatically or fully autonomously, in particular without an intervention in a control by a driver being required. The vehicle automatically performs all necessary functions, such as steering, braking and / or acceleration maneuvers, the observation and detection of the road traffic, and corresponding reactions. In particular, the electronic vehicle guidance system may implement a fully automatic or fully autonomous driving mode of the motor vehicle according to level 5 of the classification according to SAE J3016. An electronic vehicle guidance system may also be understood to mean an advanced driver assistance system (ADAS), which assists the driver in partially automated or partially autonomous driving. In particular, the electronic vehicle guidance system may implement a partially automated or semi-autonomous driving mode according to levels 1 through 4 according to the SAE J3016 classification. Here and in the following, "SAE J3016" refers to the corresponding standard in the April 2021 version.The at least partially automatic vehicle guidance may therefore include guiding the vehicle according to a level 5 fully automatic or fully autonomous driving mode according to SAE J3016. The at least partially automatic vehicle guidance may also include guiding the vehicle according to a partially automated or partially autonomous driving mode according to levels 1 to 4 of SAE J3016.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 may influence a longitudinal and / or lateral control of the motor vehicle in order to at least partially automatically guide the motor vehicle.A computing unit can be understood in particular as a data processing device which contains a processing circuit. The computing unit can therefore process data in particular for carrying out computing operations. This also includes operations to perform indexed accesses to a data structure, for example a look-up table (LUT).The computing unit can in particular contain 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 (application-specific integrated circuit), one or more field programmable gate arrays, FPGAs, and / or one or more single-chip systems, SoCs (system on a chip). The computing unit may also contain one or more processors, for example one or more microprocessors, one or more central processing units, CPUs (central processing units), one or more graphics processing units, GPUs (graphics processing units) and / or one or more signal processors, in particular one or more digital signal processors, DSPs. The computing unit may also include a physical or virtual group of computers or other of the aforementioned units.In various exemplary embodiments, the computing unit contains one or more hardware and / or software interfaces and / or one or more memory units.A memory unit can be used as volatile data memory, for example as dynamic random access memory, DRAM (dynamic random access memory) or static random access memory, SRAM (static random access memory), or as nonvolatile data memory, for example as read-only memory, ROM (read-only memory), as programmable read-only memory, PROM (programmable read-only memory), as erasable programmable read-only memory, EPROM (erasable programmable read-only memory), as electrically erasable programmable read-only memory, EEPROM (electrically erasable programmable read-only memory), as flash memory or flash EEPROM, as ferroelectric random access memory, FRAM (ferroelectric random access memory), as magnetoresistive random access memory, MRAM (magnetoresistive random access memory) or as phase-change random access memory, PCRAM (phase-change random access memory).In particular, the electronic vehicle guidance system may have the electronic parking assistance device and the electronic backup assistance device, which may each have a computing unit or a common computing unit in order to be able to carry out the respectively associated method steps.The vehicle guidance system may further include the first and second detection systems, the first to third detection units, and the tracking unit.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 provides a motor vehicle which has the vehicle guidance system according to the invention. The motor vehicle may further include the visual display device. The motor vehicle can be designed as a passenger car, truck, motorhome, bus, motorcycle or the like.By a further aspect of the invention, a third method, in particular a computer-implemented method, for determining a free parking area for a motor vehicle is provided, having the steps:providing a detected parking space situation to a computing unit by means of a first detection system of the motor vehicle during a driving operation of the motor vehicle;providing a recognized parking area in the detected parking space situation to the computing unit;providing a signal for moving the motor vehicle, so that the detected parking area is located outside a first functional zone of an electronic parking assistance device of the motor vehicle, wherein the motor vehicle (3) can be parked at least semi-autonomously by means of the electronic parking assistance device into a free parking area located within the first functional zone;detecting the detected parking area as a free parking area by means of the computer;providing a signal for offering the free parking area for parking the motor vehicle in the free parking area, even if the free parking area is located outside the first functional zone of the parking assistance device of the motor vehicle, by means of the computing unit.Exemplary embodiments of the third, computer-implemented method have correspondingly adapted features, as already disclosed in connection with the method for offering a free parking area by means of a motor vehicle.A further aspect of the invention provides a system for data processing, having at least one arithmetic unit for executing the third, computer-implemented method.In another aspect of the invention, there is provided a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the third computer-implemented method.By another aspect of the invention, there is provided a computer readable (storage) medium comprising instructions which, when executed by a computer, cause the computer to perform the third computer implemented method.Further features of the invention are evident from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description and the features and combinations of features mentioned below in the description of the figures and / or shown in the figures can be included by the invention not only in the respectively specified combination but also in other combinations. Embodiments and combinations of features may also be included in the invention, which do not have all features of an originally formulated claim. The invention may also include embodiments and combinations of features that go beyond or depart from the combinations of features set forth in the appended claims.The invention is explained in more detail below with reference to specific exemplary embodiments and associated schematic drawings. In the figures, identical or functionally identical elements can be provided with the same reference numerals. The description of identical or functionally identical elements may not necessarily be repeated with respect to different figures. The following are shown: FIG. 1 shows a flow diagram of an exemplary embodiment of a method according to the invention for offering a free parking area; FIG. 2 shows a flow diagram of an exemplary embodiment of a method according to the invention for parking a motor vehicle in a free parking area; FIG. 3 shows a schematic illustration of a first example of a parking space situation; FIG. 4 is a schematic illustration of the first example in which the motor vehicle has moved; FIG. 5 shows a schematic illustration of a second example of a parking space situation; FIG. 6 is a schematic illustration of the second example in which the motor vehicle has moved; FIG. 7 shows a schematic illustration of an exemplary embodiment of a motor vehicle according to the invention with a vehicle guidance system according to the invention.FIG. 1 shows a flow diagram of an exemplary embodiment of a method M 1 according to the invention for offering a free parking area 1. It can be provided that during the forward driving operation a trajectory 11 of the motor vehicle 3 is detected and stored.In a second step S 2, a occupied and / or free parking area 1, 2 can be detected in the detected parking space situation 4, for example by means of a first, electronic detection unit 19 of the motor vehicle 3.In a third step S 3, it can be provided that the motor vehicle 3 moves forward, so that the detected parking area 1, 2 is located outside a first functional zone 6 of an electronic parking assistance device 7 of the motor vehicle 3, wherein the motor vehicle 3 can be parked at least semi-autonomously by means of the electronic parking assistance device 7 into a free parking area 1 located within the first functional zone 6.In a fourth step S 4, which can take place before, during or after step S 3, the detected parking area 1, 2 will be detected as a free parking area 1, for example by means of a second, electronic detection unit 20. In the exemplary embodiment according to FIGS. 3 and 4, the detected parking area 1, 2 can be detected as the free parking area 1 when the motor vehicle 3 is driving past the detected parking area 1, 2 in forward driving operation if the detected parking area 1, 2 is not occupied by a different vehicle 12 when driving past. In the exemplary embodiment according to FIGS. 5 and 6, the detected parking area 1, 2 can be initially detected as a occupied parking area 2 when the motor vehicle 3 is driving past in forward driving operation, if the detected parking area 1, 2 is occupied when a third party vehicle 12 is driving past, wherein a parking of the third party vehicle 12 from the detected parking area 1, 2 can be detected, wherein the detected parking area 1, 2 is detected as a free parking area 1 depending on the detected parking.In an optional fifth step S 5, it may be provided that the parking is planned by means of an electronic reversing assistance device 9 of the motor vehicle 3 and the parking assistance device 7 that is different from the parking assistance device 7, wherein the reversing of the motor vehicle 3 is planned by means of the reversing assistance device 9 to such an extent that the free parking space 1 is again located in the first functional zone 6 of the parking assistance device 7. This step S 5 can be carried out, for example, before offering the free parking area for the parking or, for example, depending on the user selecting the free parking area 1. The reversing assistance device 9 can have a second functional zone 10 which is larger than the first functional zone 6 and within which the motor vehicle 3 can be reversed at least semi-autonomously by means of the reversing assistance device 9. The reversing can be planned, for example, backwards along the stored trajectory 11.In a sixth step S 6, the free parking area 1 for parking the motor vehicle 3 in the free parking area 1 can be displayed to a user, for example by means of a visual display device 13, even if the free parking area 1 is located outside the first functional zone 6 of the parking assistance device 7 of the motor vehicle ( 3). In particular, the free parking area 1 can be displayed on a digital map of the display device 13 or in a digitally generated plan view of a surrounding area of the motor vehicle 3 on the display device 13. It can be provided that the free parking area 1 located outside the first functional zone 6 is only displayed on the display device 13 when the user makes an input into a user interface of the motor vehicle 3 for expanding a display area of the display device 13, or is automatically displayed when no further free parking area is located within the first functional zone 6. Depending on a selection of the displayed parking area 1 by a user, it may be provided that the motor vehicle 3 can be parked in the free parking area 1 at least semi-autonomously, in particular by means of the parking assistance device 7 and the reversing assistance device 9.FIG. 2 shows a flow diagram of an exemplary embodiment of a method M 2 according to the invention for parking a motor vehicle 3 in a free parking area 1. First, it can be provided that the free parking area 1 is offered according to method M 1. Subsequently, in a step S 7, the motor vehicle 3 is parked at least semi-autonomously in the offered free parking area 1 as a function of a user selecting the offered free parking area ( 1).FIG. 3 shows a schematic representation of a first example of a parking space situation 4. the motor vehicle moves in forward driving operation in the direction of travel along the road 16. On the side, parking areas 1, 2 are arranged on the road 16, for example parallel parking areas 1, 2 on the right side of the vehicle and, for example, lower-speed parking areas 1, 2 on the left side of the vehicle. The motor vehicle 3 can have at least one first detection system 5, by means of which the parking space situation 4 can be detected in a first detection region 15, for example by means of sensor units arranged on the side of the motor vehicle 3, such as cameras and / or distance sensors, for example lidar or ultrasound. The parking space situation 4 can comprise, in particular, information about free and parked parking spaces, road edges, gate entry, parking prohibition zones or the like. In the example shown, the parking areas 1, 2 are detected by a first detection unit 19, in particular immediately in time when the motor vehicle 3 is driving past the respective parking areas 1, 2. For example, the detected parking areas 1, 2 can be detected as free parking areas 1 immediately in time by means of a second detection unit 20 if no other vehicle is parked in this parking location and the detected dimensions are suitable for the motor vehicle 3 to be able to park. At this time, the free parking areas 1 are located within the first functional zone 6, and therefore the motor vehicle 3 could be parked at least semi-autonomously in one of the free parking areas 1 by means of the electronic parking assistance device 7.FIG. 4 shows a schematic illustration of the first example, in which the motor vehicle 3 has moved in the forward direction along the road 16. This can be done, for example, when the user of the motor vehicle 3 has decided to initially not park in the free parking areas 1, but rather to search for free parking areas that are more favourable for the user. However, this searching can be unsuccessful, so that the user decides to park in one of the free parking areas 1 at the point in time shown in FIG. 4. However, the free parking areas 1 identified previously are no longer located in the first functional zone 6 of the parking assistance device. However, it is provided that the free parking areas 1 are offered for parking the motor vehicle 3 in the free parking area 1 even if the free parking areas 1 are located outside the first functional zone 6 of the parking assistance device 7. The reversing assistance device 9 can have, in particular, a second functional zone 10, within which the motor vehicle 3 can be reversed at least semi-autonomously by means of the reversing assistance device 9. The second functional zone 10 can be embodied to be significantly larger than the first functional zone 6 at least in a rear space of the motor vehicle 3 in the rearward direction.In order to be able to offer the free parking areas 1 for parking, it can be provided that the parking is planned by means of the reversing assistance device 9 and the parking assistance device 7. Depending on a user selecting the offered, free parking area 1, the motor vehicle 3 can then be parked at least semi-autonomously in a selected one of the two free parking areas 1, wherein the motor vehicle 3 is at least semi-autonomously backed off, in particular by means of the backup assistance device 9, to such an extent that the free parking area 1 is again located in the first functional zone 6 of the parking assistance device 7.For example, it may be provided that motor vehicle 3 moves backward along trajectory 11 traveled and stored in forward driving operation during reversing and then parks into free parking area 1 according to a parking trajectory ascertained by parking assist device 7.FIG. 5 shows a schematic illustration of a second example of a parking space situation 1. In contrast to the first example, the detected parking areas 2 are only detected as occupied parking areas 2. For example, occupied parking areas 2 can be detected from the fact that other vehicles 12 are parked on the side of the road. By measuring the dimensions of the other vehicles 12, it can be determined, for example, whether a occupied parking area 2 is suitable for parking for the motor vehicle 3 after the other vehicle 12 has been unparked, in particular by measuring the other vehicle 12 and comparing it with the known dimensions of the own motor vehicle 3. The occupied parking area 12 can correspond in particular to a rectangle on the ground surrounding the other vehicle 12.FIG. 6 shows a schematic illustration of the second example, in which the motor vehicle 3 has moved in the forward direction along the road 16. This can be done, for example, when the user of the motor vehicle 3 continues to search for a free parking area. For example, the situation may arise in which a foreign vehicle 12 is leaving a parking space from the detected, occupied parking area. For example, the unparking other vehicle 12 can be detected by means of a second detection system 18 of the motor vehicle 3, which has a second detection range 22, wherein in particular the unparking other vehicle 12 can be detected within the second detection range 22. The second detection region 22 can preferably be formed in a rear space of the motor vehicle 3 and can be significantly larger in the rear space than the first functional zone 6 of the parking assistance device 7.In the detected rear space, the detected other vehicle 12 can be detected as unparking of the other vehicle 12 from the detected, occupied parking area 2, for example by means of a third detection unit 21. Depending on the detected outward parking, the parking area 2 previously detected as occupied can now be detected as free parking area 1, in particular by means of a third detection unit 12. Depending on the user selecting the offered, free parking area 1, the motor vehicle 3 can then be parked at least semi-autonomously in a selected one of the two free parking areas 1, wherein the motor vehicle 3 is at least semi-autonomously backed off, in particular by means of the backup assistance device 9, preferably along the stored trajectory 11, to the extent that the free parking area 1 is again located in the first functional zone 6 of the parking assistance device 7.In particular, the two examples according to FIGS. 3 and 4 and also FIGS. 5 and 6 can be combined with one another. In particular, it can be provided that free parking areas 1 are recognized directly as such and additionally occupied parking areas 2 are recognized as free parking areas 1 by the recognized unparking.FIG. 7 shows a schematic representation of an exemplary embodiment of a motor vehicle 3 according to the invention with a vehicle guidance system 14 according to the invention. The vehicle guidance system 14 can have, in particular, a computing unit 17, the first and second detection systems 5, 18, the electronic parking assistance device 7, the electronic backup assistance device 9, and a first to third recognition unit 19, 20, 21.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedGB 2484398 B

[0005] DE 10 2021 110 348 A1

[0006]

Claims

Method (M1) for offering a free parking area (1) by means of a motor vehicle (3), comprising the steps of: - detecting a parking space situation (4) by means of a first detection system (5) of the motor vehicle (3) during a driving operation of the motor vehicle (3); - detecting a parking area (1, 2) in the detected parking space situation (4); - moving the motor vehicle (3) such that the detected parking area (1, 2) is located outside a first functional zone (6) of an electronic parking assistance device (7) of the motor vehicle (3), wherein the motor vehicle (3) can be parked at least semi-autonomously by means of the electronic parking assistance device (7) into a free parking area (1) located within the first functional zone (6); - detecting the detected parking area (1, 2) as a free parking area (1); offering the free parking area (1) for parking the motor vehicle (3) in the free parking area (1) even if the free parking area (1) is located outside the first functional zone (6) of the parking assistance device (7) of the motor vehicle (3).Method (M1) according to Claim 1, wherein the detected free parking area (1) is stored on an electronic storage medium (8) of the motor vehicle (3).Method (M1) according to Claim 1 or 2, wherein the parking is planned by means of an electronic reversing assistance device (9) of the motor vehicle (3) and the parking assistance device (7) which is different from the parking assistance device (7), wherein the reversing of the motor vehicle (3) is planned by means of the reversing assistance device (9) to such an extent that the free parking space (1) is again located in the first functional zone (6) of the parking assistance device (7).Method (M1) according to Claim 3, wherein the reversing assistance device (9) has a second functional zone (10), which is larger than the first functional zone (6) and within which the motor vehicle (3) can be reversed at least semi-autonomously by means of the reversing assistance device (9).Method (M1) according to Claim 3 or 4, wherein a trajectory (11) of the motor vehicle (3) is detected and stored during the driving operation, wherein the reversing of the motor vehicle (3) is planned by means of the reversing assistance device (9) backwards along the stored trajectory (11).Method (M1) according to Claim 5, wherein the trajectory (11) is only detected and stored when a parking area (1, 2) has been detected.Method (M1) according to one of the preceding claims, wherein the detected parking area (1, 2) is detected as the free parking area (1) when the motor vehicle (3) is driving past during the driving operation if the detected parking area (1, 2) is not occupied by a foreign vehicle (12) when driving past.Method (M1) according to one of Claims 1 to 6, wherein the detected parking area (1, 2) is initially detected as a occupied parking area (2) when the motor vehicle (3) is driving past during the driving operation, if the detected parking area (1, 2) is occupied when a foreign vehicle (12) is driving past, wherein a parking-out of the foreign vehicle (12) from the detected parking area (1, 2) is detected, wherein the detected parking area (1, 2) is detected as a free parking area (1) as a function of the detected parking-out.Method (M1) according to one of the preceding claims, wherein the detected parking area (1, 2) is stored on an electronic storage medium (8) of the motor vehicle (3).Method (M1) according to one of the preceding claims, wherein the free parking area (1) is offered by being displayed on a visual display device (13) of the motor vehicle (3), wherein the motor vehicle (3) can be parked in the free parking area (1) at least semi-autonomously as a function of a user selecting the displayed parking area (1).Method (M1) according to claim 10, wherein the free parking area (1) is displayed on a digital map of the display device (13).Method (M1) according to Claim 10, wherein the free parking area (1) is displayed on the display device (13) in a digitally generated plan view of a surrounding area of the motor vehicle (3).Method (M1) according to one of Claims 10 to 12, wherein the free parking area (1) located outside the first functional zone (6) is displayed on the display device (13) only when the user makes an input into a user interface of the motor vehicle (3) for expanding a display area of the display device (13).Method (M1) according to one of Claims 10 to 12, wherein the free parking area (1) outside the first functional zone (6) of the parking assistance device (7) is automatically displayed on the display device (13) if no further, free parking area is located within the first functional zone (6).Method (M1) according to one of the preceding claims, wherein the first functional zone (6) of the parking assistance device (7) has a range of at least two meters and up to ten meters around the motor vehicle (3).Method (M1) according to Claim 4, wherein the second functional zone (10) of the reversing assistance device (9) has a range of up to 200 meters.Method (M2) for parking a motor vehicle (3) in a free parking area (1), comprising the steps of: - offering the free parking area (1) according to a method (M1) according to the preceding claims; - at least semi-autonomous parking of the motor vehicle (3) in the offered free parking area (1) as a function of a user selecting the offered free parking area (1).Method (M2) according to Claim 17, wherein the parking is carried out by means of an electronic reversing assistance device (9) of the motor vehicle (3) and the parking assistance device (7) which is different from the parking assistance device (7), wherein the motor vehicle (3) is at least semi-autonomously reversed by means of the reversing assistance device (9) to such an extent that the free parking area (1) is located in the first functional zone (6) of the parking assistance device (7).Electronic vehicle guidance system (14) for a motor vehicle (3), having at least one arithmetic unit (17) which is designed and designed to carry out a method (M2) according to Claim 17 or 18.Motor vehicle (3) comprising an electronic vehicle guidance system (14) according to claim 19.Method, in particular a computer-implemented method, for detecting a free parking area (1) by means of a motor vehicle (3), having the steps: - providing a detected parking space situation (4) by means of a first detection system (5) of the motor vehicle (3) to a computing unit (17) during a driving operation of the motor vehicle (3); - providing a detected parking area (1, 2) in the detected parking space situation (4) to the computing unit (17); - providing a signal for moving the motor vehicle (3) such that the detected parking area (1, 2) is located outside a first functional zone (6) of an electronic parking assistance device (7) of the motor vehicle (3), wherein the motor vehicle (3) can be parked at least semi-autonomously by means of the electronic parking assistance device (7) into a free parking area (1) located within the first functional zone (6); detecting the detected parking area (1, 2) as a free parking area (1) by means of the arithmetic unit (21); providing a signal for offering the free parking area (1) for parking the motor vehicle (3) into the free parking area (1) by means of the arithmetic unit (17) even if the free parking area (1) is located outside the first functional zone (6) of the parking assistance device (7) of the motor vehicle (3).

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