Fine positioning of the vehicle within a parking space

Abstract

The invention relates to a method for operating a vehicle (100) in order to position the vehicle (100) at least assisted, automated or automatic within a parking space (201, 202), in particular to finely position it, exhibiting: - Recognizing an impending parking maneuver in the parking space (201, 202), - Determining the orientation of the parking space (201, 202) in relation to a direction of travel on an adjacent roadway (200), - Determining different parking positions (P1, P2, P3) in the parking space (201, 202).

Description

[0001] The invention relates to a method for operating a vehicle to position the vehicle, at least with assistance, automatically, or automatically, within a parking space, and in particular to perform precise positioning. The invention further relates to a corresponding computer program, a corresponding control unit, a corresponding intelligent parking assistant, and a corresponding vehicle for carrying out this method.

[0002] Parking assistants are generally well-known. These systems help drivers maneuver their vehicles into and out of parking spaces. They use sensors located near the bumper to warn the driver if an obstacle is detected in front of or behind the vehicle. However, the driver still needs to manually park the vehicle and position it within the parking space.

[0003] It is therefore an object of the present invention to overcome at least one of the disadvantages described above, at least partially. In particular, it is an object of the invention to provide an improved method for operating a vehicle in order to position the vehicle, at least with assistance, automatically, or automatically, within a parking space, and especially to fine-tune its positioning, in order to increase user comfort and operational safety when parking. Furthermore, it is an object of the invention to provide a corresponding computer program, a corresponding control unit, a corresponding intelligent parking assistant, and a corresponding vehicle for carrying out such a method.

[0004] The foregoing problem is solved by a method for operating a vehicle with the features of the independent method claim. Furthermore, the problem of the invention is solved by a corresponding computer program product, a corresponding control unit, a corresponding intelligent parking assistant, and a corresponding vehicle for carrying out a corresponding method with the features of the dependent claims. Features and details described in connection with the different embodiments and / or aspects of the invention naturally also apply in connection with the other embodiments and / or aspects, and vice versa, so that the disclosure relating to the individual embodiments and / or aspects always includes, or can include, reciprocal references.

[0005] The preceding problem is solved by: a method for operating a vehicle in order to operate the vehicle. - at least assisted (this can involve providing instructions to a user of the vehicle), - automated (driving functions can be provided at least partially automatically, possibly under the supervision of a vehicle user) or - to automatically position (for this purpose, driverless driving functions can be provided) within a parking space, in particular to fine-tune the positioning (i.e., to a specific position within the parking space).

[0006] The procedure includes the following actions / procedural steps: - Recognizing an impending parking maneuver in the parking space, - Determining the orientation of the parking space in relation to a direction of travel on an adjacent roadway, - Determining different parking positions in the parking space.

[0007] A parking space within the meaning of this disclosure can be understood to be a perpendicular parking space, a diagonal parking space, a parallel parking space, a loading and / or filling station space, a garage space, etc.

[0008] The invention recognizes that the following inconveniences can arise when a vehicle is positioned centrally in a parking space. If a person needs more space to open a door, for example, to unload a wheelchair, take out a stroller, or remove a child from a car seat, a central parking position can be disadvantageous. Positioning the vehicle further to one side or the other can create more space. The same applies to the front and / or rear of the vehicle, for example, to load or unload the trunk.

[0009] Using the proposed method, the user, for example, has the option in perpendicular parking spaces to shift the vehicle to the left or right in order to create more space on one side of the vehicle. This can advantageously be done before the parking maneuver. Possible positioning options include: - left (a passenger door opens at least to a first locking position), - in the middle (so-called normal parking position - no change to the left or right is necessary because, for example, the parking space is sufficiently large), and / or - right (a driver's door opens at least to a first locking position).

[0010] Using the proposed method, the user, for example, has the option in parallel parking spaces to move the vehicle forward or backward to create more space on the side of the desired trunk. This can be done either before or after the parking maneuver, possibly depending on the detected load in the trunk. Possible positioning options include: - slightly forward (this makes a trunk at the rear of the vehicle more easily accessible), - in the middle (so-called normal parking position - no change forward or backward is necessary because, for example, the parking space is sufficiently large) and / or - slightly to the rear (this makes a trunk at the front of the vehicle more easily accessible).

[0011] Additionally, the following can be provided for narrow parking spaces (Current definition: A parking space is marked as narrow if, in the middle position, both doors cannot open to a first locking position): - No pre-selection / recommendation of a narrow parking space. However, the user can select a narrow parking space themselves, e.g., by clicking a button (= selection button) on a display unit. If a narrow parking space is selected, the user can subsequently be warned about it via a notification.

[0012] Possible situational suggestions include: 1. Positioning suggestion (usually so that the driver can get out), 2. Suggestion for exiting the vehicle and / or parking (e.g., before the parking maneuver begins), 3. Proposal to switch to a remote parking assistant (possibly also after detection of seat occupancy or seatbelt use; occupants on one or both sides get out so as not to have to squeeze out of the vehicle afterwards).

[0013] The desired positioning can be selected, for example, via corresponding buttons (= selection buttons).

[0014] Advantageously, even before the parking process or positioning, a display can be provided showing the distances to neighboring vehicles, parking space boundaries, obstacles, etc., after reaching a desired / recommended position within the parking space.

[0015] During the parking process or positioning, it is advantageous to have a display that provides information about the distances to neighboring vehicles, parking space boundaries, obstacles, etc.

[0016] Existing display devices in the vehicle can be used for this purpose, to schematically indicate in which direction and how much distance is available.

[0017] In addition, a display of possible door openings can be shown: The possible available door openings are displayed to schematically illustrate which door can be opened and how far (and which may not be open or not open as far).

[0018] This method can be advantageous, for example, in narrow parking spaces. If the vehicle parks in a narrow space, either the driver can manually select a position, or the system can proactively and intelligently suggest one of the two sides to make it easier for the driver or front passenger (as well as those in the rear of the vehicle) to exit.

[0019] Intelligent suggestions can take the vehicle's seating occupancy into account. For example, if people are detected on the passenger side, but the vehicle is parking slightly further to the right so the driver can exit on the left, the vehicle can provide a warning before parking, prompting the passengers on the passenger side to exit before parking.

[0020] The advantageous embodiments and further development of the method are described below.

[0021] If, for example, it has been determined that the parking space is oriented transversely to the direction of travel on the adjacent roadway, then the following parking positions can be prepared in relation to the longitudinal boundaries of the parking space: - left, - center and / or - right.

[0022] In this way, it is possible to position the vehicle in a perpendicular parking space, which ensures that vehicle doors can be opened on a desired side of the vehicle at least up to a first locking position.

[0023] If, for example, it has been determined that the parking space is aligned lengthwise with respect to the direction of travel on the adjacent roadway, then the following parking positions can be prepared in relation to the end boundaries of the parking space: - in front, - center and / or - rear.

[0024] In this way, it is possible to position the vehicle in a parallel parking space, ensuring that the vehicle hatches at the front or rear can be opened.

[0025] Advantageously, the process can further include (e.g., during or after determining the orientation of the parking space) the sensory detection of the area surrounding the parking space. This allows for the detection of neighboring vehicles, parking space boundaries, obstacles, fuel pumps, charging stations, measuring stations, infrastructure elements, etc. (as well as, if applicable, the distances between the vehicle and these objects after reaching a desired / recommended position within the parking space). This enables not only improved and more convenient parking, but also enhanced and expanded functionality during vehicle operation (during or after parking, e.g., for opening doors, refueling, charging, tire pressure monitoring, etc.).

[0026] Furthermore, the procedure can exhibit: - Determining a recommended parking position in the parking space.

[0027] In this way, not only can possible parking positions be determined, but also a specific position within the parking space that might be particularly convenient, for example, for getting in and / or out of the vehicle, as well as for loading and / or unloading. The recommended parking position can be highlighted on a display, allowing, for example, a driver or user of the vehicle to manually navigate to this position. The recommended parking position can also be suggested to a user for confirmation, enabling at least semi-automated access to this parking position. Furthermore, the recommended parking position can be navigated to automatically or autonomously, possibly after the user confirms their agreement with the recommended parking position.

[0028] When determining a recommended parking position, it is advantageous to take into account at least one of the following operating parameters of the vehicle: - Seating capacity, - Occupancy, - Use of seatbelt buckles, - Loading, - State of charge of a vehicle battery, - Fuel tank condition of a vehicle and / or - Tire pressure.

[0029] Seat occupancy data can be used to determine which sides of the vehicle people can exit. Passenger occupancy data (e.g., a small child, an overweight person, or a person with a disability, etc.) can be used to determine which sides of the vehicle people need more space to exit. Seatbelt buckle data makes it particularly easy to determine which sides of the vehicle people can exit. Load data can be used to determine whether the trunk should be unloaded from the front or rear. Load and / or fuel level data can be used to determine whether more space is needed on the side with charging and / or refueling connections. If, for example, a loss of tire pressure is detected, the vehicle can be positioned in a parking space so that the affected tire is closest to a pressure monitoring station.Furthermore, the system may include recording the vehicle's surroundings to enable the detection of a measuring station. It may also allow for automatic or automated repositioning between different parking positions if, for example, more than one tire is affected, in order to inspect multiple tires.

[0030] Preferably, at least one of the following vehicle navigation data and / or user calendar data can be taken into account when determining a recommended parking position. For example, if navigation data and / or calendar data indicate that a stop is planned at a school, then more space can be created on the passenger side for getting in and out. Similarly, if navigation data and / or calendar data indicate that a stop at a hardware store is planned, then more space can be created on the trunk side for loading the vehicle.

[0031] Furthermore, the procedure can exhibit: - Suggesting different parking positions and / or a recommended parking position in the parking space to a user of the vehicle.

[0032] This can be done, for example, using a display unit in the vehicle.

[0033] In this way, the user can be informed about available parking positions. With assisted driving, the user can, if necessary, drive to a desired parking position themselves. With automated driving, the user can at least be assisted in reaching a desired parking position. With autonomous driving, a recommended parking position can be approached automatically, possibly after confirmation by the user.

[0034] Preferably, the parking space can be highlighted on the display unit, for example, by color and / or symbol. This way, the user can recognize that they are being assisted while parking.

[0035] It is preferable to highlight different parking positions, for example, using color and / or symbols. This allows the user to recognize that they have several parking options in different positions when parking.

[0036] In particular, a recommended parking position can be highlighted, for example, by color and / or symbol. This allows the user to recognize which parking position is particularly advantageous when parking.

[0037] Furthermore, it can be advantageous to visualize possible door opening positions, at least in one detent position. This allows for intuitive interaction with the user.

[0038] In principle, it is conceivable that if a perpendicular parking space is detected and only one user is identified in the vehicle, such a parking position is suggested as a recommended parking position that allows for convenient exit from the vehicle for that one user.

[0039] Furthermore, the procedure can exhibit: - Providing a choice between different parking positions and / or a confirmation option for a user of the vehicle regarding a recommended parking position in the parking space.

[0040] This can be achieved, for example, using a display unit in the vehicle, where different parking positions and / or a recommended parking position (P1, P2, P3) can be shown, for example, using selection buttons. This allows for convenient interaction with the user.

[0041] Furthermore, the procedure can exhibit: - Determining the width and / or height of the parking space in relation to the possibility of opening vehicle doors on both sides of the vehicle to a locking position and / or opening vehicle hatches to a certain height.

[0042] A parking space can be considered narrow if the vehicle doors on both sides of the vehicle cannot be opened to a first locking position.

[0043] A parking space can be considered normal if the vehicle doors on both sides of the vehicle can be opened at least to a first locking position or further.

[0044] Furthermore, it is conceivable that if a narrow parking space is detected, a side parking position in the parking space will be recommended.

[0045] Advantageously, if a narrow parking space is detected, at least one corresponding notification can be provided to the vehicle's occupant. This way, the occupant can be warned that exiting the vehicle might be difficult.

[0046] Another advantage is that, when a narrow parking space is detected, a specific mode (so-called remote parking assistant) for parking, particularly driverless parking, can be suggested to and / or automatically initiated by the vehicle's user, preferably without any occupants in the vehicle. This allows the occupant to exit and / or unload before the vehicle automatically performs and / or completes the parking maneuver.

[0047] Advantageously, for example before initiating a specific mode for parking, especially driverless parking, at least one instruction for action can be provided to a user and / or occupants of the vehicle: - Exiting the vehicle and / or - Unloading a car trunk.

[0048] This allows for particularly convenient use of the procedure.

[0049] Furthermore, the procedure can exhibit: - Performing an assisted, automated or automatic parking maneuver within the parking space in a selected and / or recommended parking position.

[0050] This can be done in particular depending on the user's selection of the desired parking position and / or depending on a recommended and possibly confirmed parking position.

[0051] According to a further aspect, the invention provides a computer program product comprising instructions which, when executed by a computer, such as the processing unit of a control unit, cause the computer to carry out the method, which can proceed as described above. The same advantages described above in connection with the method according to the invention can be achieved with the computer program product. These advantages are fully referenced herein.

[0052] A corresponding control unit provides a further aspect of the invention. A computer program in the form of code can be stored in a memory unit of the control unit. When the code is executed by a processing unit of the control unit, this program performs a procedure that can proceed as described above. The same advantages described above in connection with the method according to the invention can be achieved with the help of the control unit. These advantages are fully referenced herein.

[0053] A corresponding driving assistant also constitutes an aspect of the invention, wherein the driving assistant comprises a corresponding control unit. The same advantages described above in connection with the method according to the invention can be achieved with the aid of the driving assistant. These advantages are fully referenced herein.

[0054] A corresponding vehicle also represents an aspect of the invention, wherein the vehicle has a corresponding intelligent parking assistant. The same advantages described above in connection with the method according to the invention can be achieved with the vehicle. These advantages are fully referenced herein.

[0055] Further advantages and features of the invention will become apparent from the following description, in which several embodiments of the invention are described in detail with reference to the drawings. The drawings schematically illustrate: Fig. 1 to 3 exemplary parking situations for carrying out a proposed procedure and Fig. 4. An exemplary sequence of a proposed procedure.

[0056] In the following figures, identical reference numerals are used for the same technical features, even for different embodiments.

[0057] As it is Fig. As illustrated in Figure 1, a procedure for operating a vehicle 100 is proposed.

[0058] The procedure is used to make the vehicle 100 - at least assisted (for this purpose, at least instructions for action can be provided to a user of vehicle 100), - automated (for this purpose, driving functions can be provided at least partially automatically, possibly under the supervision of a user of the vehicle 100) or - automatically (driving functions can be provided automatically or driverlessly) to position within a parking space 201, 202, in particular to position precisely (i.e., in a special position within the parking space 201, 202).

[0059] The procedure includes the following actions / procedural steps: 110 Recognizing an impending parking maneuver in the parking space 201, 202, 120 Determining the orientation of the parking space 201, 202 in relation to a direction of travel on an adjacent roadway 200, 130 Determining different parking positions P1, P2, P3 in parking space 201, 202.

[0060] A perpendicular parking space 201 (see below) can be created under a parking space 201, 202. Fig. 1), a diagonal parking space, a parallel parking space 202 (see Fig. 2) a loading and / or filling station space, a garage space, etc.

[0061] Positioning the vehicle 100 in the center of a parking space 201, 202 can generally cause inconveniences, e.g. when getting out of the vehicle 100 or when unloading the vehicle 100.

[0062] For example, if a person needs more space to open a vehicle door, to remove a wheelchair, take out a stroller, or get a child out of a child seat, positioning the vehicle 100 centrally in a parking space 201, 202 may be disadvantageous.

[0063] Rather, in such situations, positioning the vehicle 100 more to one side or the other of the parking space 201, 202 may be more advantageous and create more space.

[0064] Similar considerations can be made for the front and / or rear area of ​​the vehicle 100, for example to make loading or unloading a trunk more convenient.

[0065] As it is Fig. Figure 1 illustrates that, for example, a user of vehicle 100 in perpendicular parking spaces 201 has the option of moving vehicle 100 to the left or right to create more space on one side of the vehicle 100. This can advantageously be done before the parking maneuver. Possible positioning options include: P1 left (a passenger door opens at least to a first locking position), P2 in the middle (so-called normal parking position - no change to the left or right is necessary because, for example, parking space 201 is sufficiently large), and / or P3 right (one driver's door opens at least to a first locking position).

[0066] As it is Fig. Figure 2 illustrates that, for example, a user of vehicle 100 in parallel parking spaces 202 has the option of moving the vehicle 100 forwards or backwards to create more space on the side of the desired trunk. This can be done either before or after the parking maneuver, possibly depending on the detected load of vehicle 100. Possible positioning options include: P1 slightly forward (this makes the rear trunk of the vehicle 100 more easily accessible), P2 in the middle (so-called normal parking position - no change forward or backward is necessary because, for example, parking space 202 is sufficiently large), and / or P3 is moved slightly backwards (this makes the front trunk of the vehicle 100 more easily accessible).

[0067] As it is Fig. 3 illustrates that it can be specifically designed for narrow parking spaces (a parking space is marked as narrow if, in the middle position, both doors cannot open to a first locking position): - No pre-selection / recommendation of a narrow parking space. However, the user can select a narrow parking space themselves, e.g., by clicking a button (= selection button) on display unit 101. If a narrow parking space is selected, the user can subsequently be additionally warned about it by a notification.

[0068] The following use cases are conceivable: 1. Positioning suggestion (usually so that the driver can get out), 2. Suggestion for exiting the vehicle and / or parking (possibly even before the parking process is completed), 3. Proposal to switch to a remote parking assistant (possibly also after detection of seat occupancy or seatbelt use; occupants on one or both sides get out so as not to have to squeeze out of the vehicle afterwards).

[0069] The desired positioning can be selected, for example, via corresponding buttons (= selection keys), e.g., on a display unit 101 of the vehicle 100.

[0070] Advantageously, even before the parking process or positioning, a display can be provided showing the distances to neighboring vehicles, parking space boundaries, obstacles, etc., after reaching a desired / recommended position within parking space 201, 202.

[0071] During the parking process or positioning, it is advantageous to have a display that provides information about the distances to neighboring vehicles, parking space boundaries, obstacles, etc.

[0072] As it is Fig. As indicated by 1 to 3, a display device 101 can be used in the vehicle 100 to schematically show in which direction how much distance is available.

[0073] As it is Fig. 1 to 3 indicate a possible door opening: The possible available door opening is shown schematically to illustrate which door can be opened and how far (and which may not be open or not open as far).

[0074] As it is Fig. As indicated in section 3, this procedure can be advantageous in narrow parking spaces. If the vehicle 100 parks in a narrow parking space, either the driver can manually select a position, or the parking assistant IPA can proactively suggest a position to one side to make it easier for the driver or front passenger (as well as those in the rear of the vehicle 100) to exit.

[0075] Intelligent suggestions can take into account the seat occupancy in vehicle 100. For example, if people are detected on the passenger side, but vehicle 100 parks slightly further to the right so that the driver can exit on the left, vehicle 100 can issue a warning before parking so that the people on the passenger side can exit before parking.

[0076] Advantageously, the method can further provide for the sensory detection of the area surrounding parking space 201, 202. This allows for the identification of neighboring vehicles, parking space boundaries, obstacles, fuel pumps, charging stations, measuring stations, infrastructure elements, etc. (as well as, if applicable, the distances between the vehicle 100 and these objects after reaching possible parking positions P1, P2, P3 within parking space 201, 202). This enables improved and extended functionality in the operation of the vehicle 100 (especially during or after parking, e.g., for opening doors, refueling, charging, tire pressure monitoring, etc.).

[0077] As it is Fig. As indicated in section 4, the procedure may also include: 140 Determine a recommended parking position P1, P2, P3 in parking space 201, 202.

[0078] In this way, not only can possible parking positions P1, P2, P3 be determined, but also a special position within the parking space 201, 202, which may be particularly convenient, e.g. for getting in and / or out as well as for loading and / or unloading.

[0079] The recommended parking positions P1, P2, P3 can be highlighted on at least one display (see, for example, the dark black filled triangular button in the Fig. 3), so that, for example, a driver or user of vehicle 100 can manually select and / or confirm this position so that vehicle 100 can automatically or autonomously select this position.

[0080] The recommended parking position P1, P2, P3 can still be suggested to a user for confirmation in order to enable the reaching of this parking position P1, P2, P3 at least semi-automatically.

[0081] Furthermore, the recommended parking positions P1, P2, P3 can be automatically selected, possibly after confirmation by the user that he agrees with the recommended parking positions P1, P2, P3.

[0082] When determining a recommended parking position P1, P2, P3, various operating parameters of the vehicle 100 can be taken into account: - Seating capacity, - Occupancy, - Use of seatbelt buckles, - Loading, - State of charge of a vehicle battery, - Fuel tank condition of a vehicle and / or - Tire pressure.

[0083] Seat occupancy data can be used to determine which sides of the vehicle people can exit.

[0084] By considering the number of people in the vehicle (e.g., a small child, an obese person, or a disabled person, etc.), it can be determined on which sides people need more space to get out.

[0085] Using a seatbelt buckle makes it particularly easy to determine which sides of the vehicle people can exit.

[0086] The load can be used to determine whether the trunk should be unloaded at the front or the rear.

[0087] Using the state of charge and / or tank level, it can be determined whether more space is needed on the side of the charging and / or tank connections.

[0088] Tire pressure monitoring can determine whether, for example, a tire pressure loss has occurred in one tire. When positioning vehicle 100 in parking space 201, 202, the system can then ensure that the affected tire is closest to a measuring station. Furthermore, the system can be configured to use sensors to monitor the vehicle's surroundings and detect measuring stations. Additionally, if more than one tire is affected, the system can even enable automatic or automated repositioning between different parking positions 201, 202, allowing for the inspection of tires on different sides of vehicle 100.

[0089] Preferably, when determining a recommended parking position P1, P2, P3, at least one of the following navigation data of the vehicle 100 and / or calendar data of a user can be taken into account.

[0090] If, for example, navigation and / or calendar data indicates that a stop is planned at a school, then more space can be created on the passenger side for boarding. Similarly, if navigation and / or calendar data indicates that a stop at a hardware store is planned, then more space can be created on the trunk side for loading the vehicle.

[0091] As it is Fig. As indicated in point 4, the procedure may still exhibit: 150 Suggesting different parking positions P1, P2, P3 and / or a recommended parking position P1, P2, P3 in parking space 201, 202 to a user of vehicle 100.

[0092] This can be done, for example, using a display unit 101 of the vehicle 100.

[0093] This allows the user to be informed which parking positions P1, P2, P3 are possible within parking space 201, 202.

[0094] In assisted driving mode, the user can, if necessary, manually select a desired parking position P1, P2, P3.

[0095] In automated driving, the user can at least be assisted in reaching a desired parking position P1, P2, P3.

[0096] In autonomous driving mode, a recommended parking position P1, P2, P3 can be automatically approached, possibly after confirmation by the user.

[0097] Parking space 201, 202 itself can be highlighted on display unit 101, e.g., by color and / or symbol.

[0098] The different parking positions P1, P2, P3 can be highlighted on the display unit 101, e.g. by color and / or symbol.

[0099] Advantageously, a recommended parking position P1, P2, P3 can be highlighted, for example, by color and / or symbol. The user can then manually select the recommended parking position P1, P2, P3. Alternatively, the user can select the recommended parking position P1, P2, P3. The recommended parking position P1, P2, P3 can then be selected, at least partially or even automatically, by the parking assistant IPA.

[0100] As it is Fig. 1 and Fig. As indicated in 3, 101 possible door opening positions can be visualized on the display unit, at least in one detent position.

[0101] As it is Fig. As indicated in section 4, the procedure may also include: 160 Providing a choice between different parking positions P1, P2, P3 and / or a confirmation option for a recommended parking position P1, P2, P3 in parking space 201, 202 to a user of vehicle 100.

[0102] This can be done, for example, using a display unit 101 of the vehicle 100, whereby different parking positions P1, P2, P3 and / or a recommended parking position P1, P2, P3 can be displayed, for example, using selection buttons. In this way, convenient interaction with the user can be enabled.

[0103] As it is Fig. As further indicated in point 4, the procedure may exhibit: 160 Determining a width and / or height of the parking space 201, 202 in relation to a possibility of opening vehicle doors on both sides of the vehicle 100 to a locking position and / or flaps of the vehicle 100 to a height.

[0104] In principle, it is conceivable that if a narrow parking space has been identified, cf. Fig. 3, a side parking position P1 or P3 in parking space 201, 202 is recommended.

[0105] Advantageously, if a narrow parking space has been detected, at least one corresponding notification can be provided to a user of vehicle 100 to warn the user that getting out may be difficult.

[0106] When a narrow parking space is detected, a specific mode (so-called remote parking assistant) for parking, particularly driverless parking, can be advantageously suggested to the vehicle's user and / or automatically initiated. This allows the user to exit and / or unload before the vehicle automatically performs and / or completes the parking maneuver.

[0107] Advantageously, for example before initiating a specific mode for parking, especially driverless parking, at least an action instruction can be provided to a user and / or occupants of the vehicle 100: - Exiting the vehicle 100 and / or - Unloading a car trunk.

[0108] Instructions for action can generally be issued before or after initiating a parking maneuver.

[0109] As it is Fig. As indicated in section 4, the procedure may also include: 170 Performing an assisted, automated or automatic parking maneuver within parking space 201, 202 in a selected and / or recommended parking position P1, P2, P3.

[0110] This can be carried out in particular depending on a selection of the desired parking position P1, P2, P3 by the user and / or depending on a recommended and possibly confirmed parking position P1, P2, P3 in an assisted, at least partially automated or even autonomous manner by the corresponding parking assistant IPA.

[0111] A corresponding computer program product, a corresponding control unit ECU, a corresponding parking assistant IPA and a corresponding vehicle 100 also represent aspects of the invention.

[0112] The preceding explanation of the embodiments describes the present invention solely by way of examples. Naturally, individual features of the embodiments can be freely combined with one another, provided this is technically feasible, without departing from the scope of the present invention. Reference symbol list 100 vehicles 101 Display unit 200 lanes 201 parking spaces 202 parking spaces P1 Parking position P2 Parking position P3 Parking position ECU control unit IPA Parking Assistant

Claims

[1] Method for operating a vehicle (100) in order to position the vehicle (100) at least assisted, automated or automatic within a parking space (201, 202), in particular to fine-position it, comprising: - Recognizing an impending parking maneuver in the parking space (201, 202), - Determining the orientation of the parking space (201, 202) in relation to a direction of travel on an adjacent roadway (200), - Determining different parking positions (P1, P2, P3) in the parking space (201, 202). [2] Method according to claim 1, where, if it has been determined that the parking space (201, 202) is oriented transversely to the direction of travel on the adjacent roadway (200), then the following parking positions (P1, P2, P3) are prepared in relation to the longitudinal parking space boundaries: - left, - center and / or - right, and / or wherein, if it has been determined that the parking space (201, 202) is longitudinally aligned with respect to the direction of travel on the adjacent carriageway (200), then the following parking positions (P1, P2, P3) are prepared in relation to the end-face parking space boundaries: - in front, - center and / or - rear. [3] Method according to any one of the preceding claims, wherein, in particular during or after determining an orientation of the parking space (201, 202), the area around the parking space (201, 202) is sensorially detected, to determine preferably adjacent vehicles, parking space boundaries, obstacles, infrastructure elements, fuel pumps, charging stations, measuring stations and, if necessary, distances between the vehicle (100) and detected objects after reaching possible parking positions (P1, P2, P3) within the parking space (201, 202). [4] Method according to any one of the preceding claims, further showing: - Determining a recommended parking position (P1, P2, P3) in the parking space (201, 202), where, in particular, when determining a recommended parking position (P1, P2, P3), at least one of the following operating parameters of the vehicle (100) is taken into account: - Seating capacity, - Occupancy, - Use of seatbelt buckles, - Loading, - State of charge of a vehicle battery, - Fuel tank condition of a vehicle and / or - Tire pressure, where preferably at least one of the following navigation data of the vehicle (100) and / or calendar data of a user is taken into account when determining a recommended parking position (P1, P2, P3). [5] Method according to any one of the preceding claims, further showing: - Suggesting different parking positions (P1, P2, P3) and / or a recommended parking position (P1, P2, P3) in the parking space (201, 202) to a user of the vehicle (100), in particular by a display unit (101) of the vehicle (100), preferably the parking space (201, 202) is highlighted, e.g. by color and / or symbol, where different parking positions (P1, P2, P3) are preferably highlighted, e.g. by color and / or symbol, where, in particular, a recommended parking position (P1, P2, P3) is highlighted, e.g. by color and / or symbol, preferably, possible door opening positions are visualized in at least one detent position. [6] Method according to any one of the preceding claims, further showing: - Providing a choice between different parking positions (P1, P2, P3) and / or a confirmation option for a recommended parking position (P1, P2, P3) in the parking space (201, 202) to a user of the vehicle (100), in particular by means of a display unit (101) of the vehicle (100), where preferably different parking positions (P1, P2, P3) and / or a recommended parking position (P1, P2, P3) are displayed using selection buttons. [7] Method according to any one of the preceding claims, further showing: - Determining a width and / or height of the parking space (201, 202) in relation to a possibility of opening vehicle doors on both sides of the vehicle (100) to a detent position and / or vehicle flaps (100) to a height, where in particular the parking space (201, 202) is defined as narrow if the vehicle doors on both sides of the vehicle (100) cannot be opened to a first locking position, where the parking space (201, 202) is preferably defined as normal if the vehicle doors on both sides of the vehicle (100) can be opened at least to a first locking position or further. [8] Method according to any one of the preceding claims, where, if a narrow parking space is detected, a lateral parking position (P1, P3) in the parking space (201, 202) is suggested as a recommended parking position (P2), and / or wherein, if a narrow parking space is detected, at least one corresponding notification is provided to a user of the vehicle (100), [9] Method according to one of the preceding claims, wherein, when a narrow parking space has been detected, a specific mode for parking, in particular driverless, is suggested to a user of the vehicle (100) and / or automatically initiated, preferably without occupants in the vehicle (100). [10] Method according to one of the preceding claims, wherein, in particular before initiating a specific mode for, in particular driverless, parking, at least one instruction for action is provided to a user and / or occupants of the vehicle (100): - Exiting the vehicle (100) and / or - Unloading a car trunk. [11] Method according to any one of the preceding claims, further showing: - Performing an assisted, automated or automatic parking maneuver within the parking space (201, 202) in a selected and / or recommended parking position (P1, P2, P3), in particular: depending on the user's selection of the desired parking position (P1, P2, P3) and / or depending on a recommended and possibly confirmed parking position (P1, P2, P3). [12] Computer program product comprising instructions which, when executed by a computer, cause the computer to carry out the method according to any of the preceding method claims. [13] Electronic control unit (ECU) comprising at least one storage unit in which instructions are stored which, when executed at least partially by a computing unit, perform a method according to one of the preceding method claims. [14] Intelligent Parking Assist (IPA) comprising a control unit (ECU) according to the preceding claim. [15] Vehicle (100) comprising an intelligent parking assistant (IPA) according to the preceding claim.

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