Method for carrying out an automated parking maneuver of a vehicle and vehicle

Abstract

The invention relates to a vehicle and a method for carrying out an automated parking maneuver of a vehicle (1) using a mobile terminal (2) connected to the vehicle (1) and having a terminal camera, comprising the following method steps: - Activating a parking assistant to perform a parking maneuver, - Capturing the vehicle surroundings as an environment image, - Capturing the desired parking space position as a parking space image by the terminal camera and transmitting the parking space image to the vehicle (1), - Receiving the parking space image by the vehicle (1), - transmitting an activation signal to a control unit (3) to take the parking space image into account and transmitting the parking space image to the control unit, - Receiving the activation signal and the parking space image by the control unit (3), - Carrying out an environmental comparison of the parking space image with the vehicle environment captured as an environmental image after receiving the activation signal, - Carrying out the automated parking maneuver if the environment comparison is successful and the control unit (3) checks whether an automated parking maneuver can be carried out based on the environment comparison, and parking the vehicle (1) in the desired parking position by the control unit (3) of the vehicle (1) based on a continuous recording of the environment and evaluation during the parking maneuver, wherein feedback generated by the control unit (3) is output during the parking maneuver, - Generation of a message in case of non-executability due to an unsuccessful environment comparison and non-execution of the parking maneuver.

Description

[0001] The invention relates to a method for performing an automated parking maneuver of a vehicle using a mobile terminal connected to the vehicle and having a terminal camera, the vehicle having a surround-view environment system. The invention further relates to a vehicle.

[0002] Methods and devices for assisting the driver when parking a vehicle into a parking space are already in use in current motor vehicles. Such parking assistants are equipped with environmental sensors that collect environmental data about the immediate surroundings of the vehicle and use this to determine possible parking spaces. The environmental sensors required for this purpose are based, for example, on ultrasonic sensors, radar sensors, or imaging sensors such as cameras or video cameras.

[0003] EP 1 792 776 A2 discloses a method for detecting and displaying a parking space suitable for a motor vehicle in a rearview screen of a rearview parking system of the motor vehicle, which has a rearview camera, a computing unit, and an image processing unit, wherein a parking space symbol representing the vehicle is displayed on the rearview screen, comprising the steps of: measuring a parking space below a limit speed of the vehicle using a sensor system, calculating by means of the computing unit whether the detected parking space is suitable for the vehicle with the vehicle's external dimensions, calculating whether the detected parking space can be approached given a maximum steering angle, and displaying a perspectively correct parking space symbol representing the external dimensions of the vehicle on the rearview screen together with the detected parking space and its surroundings.if the detected parking space is suitable for the vehicle.

[0004] Further methods for autonomous parking are known, for example, from DE 10 2018 221 186 A1 and DE 10 2019 106 520 B4.

[0005] It is therefore an object of the invention to provide an improved method for carrying out an automated parking maneuver and a vehicle improved thereto.

[0006] The problem is solved by a method having the features of claim 1 and a vehicle having the features of claim 14.

[0007] Advantageous embodiments emerge from the dependent patent claims, the description and the figures.

[0008] The object is achieved by a method for carrying out an automated parking maneuver of a vehicle using a mobile terminal connected to the vehicle with a terminal camera, the vehicle having a SurroundView environment system and an antenna system, with the following method steps: - Activating a parking assistant to perform a parking maneuver, - Recording of the vehicle surroundings by the SurroundView environment system as an environment image, - Capturing the desired parking space position as a parking space image using the device's camera and transmitting the parking space image to the vehicle, - Receiving the parking space image through the vehicle's antenna system - Transmission of an activation signal by the antenna system to a control unit to take the parking space image into account and transmission of the parking space image to the control unit, - Receiving the activation signal and the parking space image by the control unit, - Carrying out an environmental comparison of the parking space image with the vehicle environment captured as an environmental image after receiving the activation signal, - Carrying out the automated parking maneuver if the environment comparison is successful and the control unit checks, based on the environment comparison, whether an automated parking maneuver is feasible, and parking the vehicle in the desired parking position by the vehicle's control unit based on continuous recording of the environment and evaluation by at least the SurroundView environment system during the parking maneuver, wherein feedback generated by the control unit is output during the parking maneuver, - Generation of a message in case of non-executability due to an unsuccessful environment comparison by the control unit and non-execution of the parking maneuver.

[0009] A SurroundView environment system can comprise a SurroundView camera system for creating a 3D image using at least several, in particular four, cameras arranged around the vehicle. Furthermore, ultrasound and radar, etc., can also be used to fully generate a 3D image.

[0010] The control unit has the appropriate software to carry out the corresponding tasks.

[0011] The driver / user can take a picture of the parking space inside or outside the vehicle.

[0012] The activation signal indicates the presence of a parking space image to the respective control unit. If one is not available, the standard parking assistant can be used, for example.

[0013] The control unit checks whether an automated parking maneuver is feasible based on the determined position of the vehicle relative to the desired parking space (desired parking space) and the desired parking space itself. This means that both the distance to the parking space and the parking space itself must be taken into account, and the parking space image must be recognized in the surrounding image. A check can also be performed, for example, to determine whether the parking space is large / sufficient, considering the dimensions of the vehicle (with safety margins), or whether other obstacles are present.

[0014] An environment comparison can be understood, for example, as a matching of the parking space image with the 3D image captured as an environment image by the SurroundView environment system. Such image matching methods are well known. A successful comparison of the surroundings can be understood, for example, as a successful matching, i.e. as a successful image correlation of the surroundings image and the parking space image; in this way, the vehicle recognizes its position in relation to the desired parking space.

[0015] The automated parking maneuver, if executable for parking the vehicle in the desired parking space by the vehicle's control unit, is based on continuous recording of the surroundings and evaluation by at least the SurroundView environment system during the parking maneuver. Feedback generated by the control unit is output during the parking maneuver. This can, for example, be a warning tone or another acoustic output that can also be heard by other road users.

[0016] Continuous recording ensures obstacle-free parking.

[0017] In particular, a smart antenna system is used. This enables wireless connection to the driver / user's mobile device and thus the reception of driver preferences. The smart antenna system can also be configured to identify the direction from which the received signal is coming and add this information to the received data.

[0018] This allows a comparison of the surroundings of the parking space image with the vehicle surroundings captured as an environment image to be carried out more quickly if, for example, it is determined that the parking space image was taken outside, directly in front of the parking space.

[0019] The invention recognizes that, until now, it was only possible to select a parking space from existing marked parking spaces, for example, in a parking garage. It is not yet possible to select a parking space, for example, in front of the front door or in the driveway.

[0020] The method according to the invention now makes it possible to select a specific spot in a (parking) space using the device camera. This allows the driver to choose the best parking spot based on their preferences, for example, in front of the garage in the driveway, near the house, near the supermarket, etc.

[0021] Through the connection between the vehicle and the mobile device, using a wireless connection protocol, the device camera can be activated as a real-time mirror screen for the vehicle to receive inputs about the driver's parking preference from the mobile device. At the same time, the 3D vehicle environment is captured by the SurroundView environment system.

[0022] Subsequently, a real-time image processing comparison is performed as an environmental comparison between the parking space image and the vehicle surroundings captured as surround view images. If feasible, the control unit initiates parking of the vehicle in the desired parking position by generating appropriate control commands.

[0023] Using the method according to the invention, any unfenced parking space can be selected as the desired parking space.

[0024] Human analysis and decision-making support requires less computing power, which can speed up the automatic parking process.

[0025] The method according to the invention provides an extension of the standard automatic parking system for new applications. It is no longer necessary to select a parking space from a predetermined set of parking spaces; instead, parking can take place anywhere, for example, even in gravel parking lots, on private property, or similar.

[0026] In further training, the process step includes: Capturing the vehicle surroundings by the SurroundView environment system as an environment image, the following process steps: - Recording of the vehicle surroundings by the SurroundView environment system, - Evaluation of the recording by the control unit to generate the surroundings image.

[0027] The surroundings image is, in particular, a 3D surroundings image. The individual images captured by the respective cameras (streaming images) are combined to form a 3D surroundings image. This can be done, for example, in one of the control units. In particular, the control unit can thus combine the streaming images from the SurroundView cameras.

[0028] In a further embodiment, the method step comprises: capturing the desired parking space position as a parking space image by the terminal device's camera and transmitting the parking space image to the vehicle, the following method steps: - Recording of the parking area surroundings and the desired parking position as a parking area image by the device's camera, - Marking the desired parking space position in the parking space surroundings image and transmitting the marked parking space surroundings image as a parking space image to the vehicle via the antenna system.

[0029] This means that the driver / user draws and marks the preferred parking space on the device connected to the vehicle or on the captured image. The resulting parking space image is then shared with the vehicle's antenna system, i.e., transmitted to the vehicle. This type of transmission can also be performed using NFC (Near Field Communication) and can work, for example, even in parking garages without an internet connection.

[0030] This makes a connected parking solution possible anywhere using the driver's device. However, the vehicle should preferably have LTE / 4G / 5G / Wi-Fi connection management to enable the exchange of image data between the device and the vehicle.

[0031] Such marking makes it easy to select a desired parking space. Even a rough (approximate) marking can be considered sufficiently accurate. This simple selection increases driver convenience and improves the overall user experience.

[0032] In a further development, the environment comparison is accomplished using an image processing comparison between the parking space image and the vehicle surroundings captured as the surroundings image. The control unit performs image processing on the received parking space image and the four streaming images from the SurroundView cameras of the SurroundView environment system, combined as the surroundings image, to make a decision about the location of the desired parking space. A matching image algorithm can be used for this purpose. In particular, the image processing comparison can be performed in real time by the control unit, resulting in little or no delay.

[0033] In a further embodiment, the comparison of the surroundings is carried out taking into account the weather and / or the quality of the transmitted parking space image. This means that if the captured parking space image is of poor quality or, for example, in bad weather conditions such as rain, snow, or fog, automated parking is not possible because the two images cannot be successfully matched (superimposed, image correlation). As feedback, a rejection of the parking maneuver can be displayed on the mobile device, and the driver can be prompted, for example, to re-enter a parking space image.

[0034] In a further development, if the control unit fails to compare the surroundings, the message includes a request to recapture the desired parking space position as a parking space image using the device's camera. The failure could, for example, be due to the vehicle being unable to find the parking space based on the driver's input, namely the parking space image. This can be issued as an acoustic message to the driver about the unavailability of the parking assistant for safety reasons, while simultaneously asking the driver to create a new photo of the desired parking space as a parking space image.

[0035] In further development, manual inputs entered into the terminal device regarding the parking maneuver are executed with priority during the parking maneuver. This could, for example, be an abort or correction of the parking maneuver being performed. This ensures that control of the vehicle always remains with the driver, thus ensuring safety goals. The driver can therefore make adjustments at any time. Through human analysis and decision-making support, the vehicle or parking assistant requires less computing power. This can accelerate the entire automatic parking process. Prioritization also enables rapid execution of manual inputs.

[0036] In further training, if an impossibility to perform a parking maneuver is detected during execution, the vehicle will immediately stop and a message will be issued. If an obstacle, such as a pedestrian, is detected, the vehicle can stop automatically. This allows a safe parking maneuver to be performed even if the driver is inattentive during the maneuver, for example, or if the driver fails to adequately supervise the maneuver.

[0037] In a further embodiment, the vehicle has a human interface, such as a touchscreen, in which the parking assistant is activated to perform a parking maneuver based on an input into the human interface. The driver thus activates the parking assistant himself using the menu parameters on the vehicle's central screen.

[0038] In a further development, communication between the mobile device and the vehicle is only established after the vehicle has previously authenticated the mobile device. This ensures that the data is transmitted from the correct device.

[0039] Furthermore, the object is achieved by a vehicle for carrying out an automated parking maneuver using a mobile terminal connected to the vehicle with a terminal camera, the vehicle having a surround view environment system and an antenna system, further comprising a parking assistant for carrying out a parking maneuver, wherein the SurroundView environment system is designed to capture the vehicle environment as an environment image after activation of the parking assistant, wherein the antenna system is designed to receive a parking space image for transmission to a control unit, wherein a desired parking space position is designed as a parking space image captured by a terminal camera of a terminal, and wherein the antenna system, upon reception, is designed to generate an activation signal for transmission to a control unit to take the parking space image into account, and wherein the control unit is designed to receive the activation signal and the parking space image through the antenna system and is designed to carry out an environmental comparison between the parking space image and the vehicle surroundings captured as an environmental image after receiving the activation signal, wherein the control unit is designed to carry out the automated parking maneuver upon successful environmental comparison and a check by the control unit based on the environmental comparison as to whether an automated parking maneuver can be carried out, and further designed to park the vehicle in the desired parking position by the control unit based on continuous recording of the environment and evaluation at least by the SurroundView environmental system during the parking maneuver, wherein feedback generated by the control unit can be output during the parking maneuver, and wherein the control unit is designed to generate a message in case of non-executability due to an unsuccessful environment comparison and is further designed not to execute the parking maneuver.

[0040] In particular, the vehicle can be configured to carry out the method according to the invention. Advantages and advantageous embodiments of the method can be transferred to the vehicle.

[0041] Further features and advantages of the present invention will become apparent from the following description with reference to the accompanying figures, which schematically show: Fig. 1: a method according to the invention, Fig. 2: a vehicle according to the invention.

[0042] Fig. Figure 1 shows a method according to the invention for performing an automated parking maneuver of a vehicle 1 using a mobile terminal 2 connected to the vehicle 1 and having a terminal camera. The vehicle 1 has a SurroundView environment system and an antenna system. The antenna system can be a smart antenna system, which also detects the direction from which the received signal / data originates.

[0043] Furthermore, the vehicle 1 includes an HMI interface, for example, a touchscreen 5 / infotainment system for entering data or for displaying, etc. In a first step S1, the driver / user activates a parking assistant. This can be done, for example, by entering corresponding menu parameters on the touchscreen 5 / infotainment system. Alternatively or additionally, an acoustic input can be made via microphone to activate the parking assistant.

[0044] In a second step S2, the vehicle surroundings are captured as an environment image by the SurroundView environment system. A SurroundView environment system can comprise a SurroundView camera system for creating a 3D image as a surround view of the vehicle 1 using at least several, in particular four, cameras arranged around it. The SurroundView environment system can comprise a SurroundView front camera 6a, a SurroundView right camera 6b, a SurroundView left camera 6c, and a SurroundView rear camera 6d. The recordings recorded in this way (streaming images) can be combined to form a 3D image of the surroundings as an environment image. This can be done, for example, in the control unit 3. In particular, the control unit 3 can combine the streaming images from the SurroundView cameras.

[0045] Furthermore, ultrasound and radar etc. can also be used to create a complete 3D image.

[0046] In a third step S3, the driver / user takes a picture of the parking area surrounding the desired parking position from outside / inside, i.e. inside or outside the vehicle 1, using the terminal camera of the terminal 2, which is an unfenced parking area.

[0047] The driver then marks the desired parking space position in the recording and transmits the thus marked recording as a parking space image to the control unit 3 via the smart antenna system 4. The terminal camera thus serves as a real-time mirror screen for the vehicle 1 in order to receive inputs about the driver's parking space preference from the mobile device 2.

[0048] The transmission can be carried out using NFC (Near Field Communication), making it possible, for example, even in parking garages without an internet connection. This makes a networked parking solution with the driver's terminal device 2 possible anywhere. Vehicle 1 can also preferably have LTE / 4G / 5G / Wi-Fi connection management to enable the exchange of image data between terminal device 2 and vehicle 1.

[0049] In a fourth step S4, the parking space image with the desired marked parking position is received by the smart antenna system 4 of the vehicle 1. The smart antenna system 4 transmits the parking space image and an activation signal to the control unit 3. The activation signal allows the control unit 3 to take the parking space image into account during the parking maneuver. The activation signal thus indicates the presence of a parking space image to the respective control unit 3. If one is not available, the normal parking assistant can be used, for example.

[0050] In a fifth step S5, an environmental comparison of the parking space image with the vehicle environment captured as an environmental image is carried out after receipt of the activation signal.

[0051] An environment comparison can, for example, be a matching of the parking space image with the 3D image recorded as an environment image by the SurroundView environment system.

[0052] During matching, the control unit 3 performs image processing of the received parking space image and the four streaming images of the surround-view cameras combined as an environment image in order to make a decision / recognition about the location of the desired parking space or the parking space position in the environment image.

[0053] If the matching is successful and the vehicle's position relative to the desired parking space can be identified, i.e., the two images can be fitted (adjusted) to each other; this allows the vehicle, for example, to identify its position relative to the desired parking space. Thus, the parking space position is essentially transformed into the vehicle's local coordinate system to perform the parking maneuver.

[0054] Furthermore, the control unit 3 takes into account the weather and / or the quality of the transmitted parking space image when comparing the surroundings. This means that if the recorded parking space image is of poor quality or, for example, if the weather is bad, such as rain or fog, automated parking is not possible because the parking space image cannot be recognized in the surrounding image. Vehicle 1 thus analyzes its ability to perform automatic parking based on the quality of the image provided by the driver and the weather conditions.

[0055] In a sixth step S6, the environment comparison is used to check whether an automated parking maneuver can be carried out.

[0056] If the matching is successful in a seventh step S7, ie a position of the vehicle 1 relative to the desired parking space can be recognized, the control unit 3 can recognize the trajectory in the surroundings image, based on which the vehicle 1 can reach the desired parking position.

[0057] Thus, based on the successful comparison of the surroundings, the position of vehicle 1 relative to the desired parking space is known. Furthermore, a further check to determine whether an automated parking maneuver is feasible can be performed based on the determined position of vehicle 1 relative to the desired parking space and the desired parking space itself.

[0058] If the image processing comparison algorithm matches the capabilities of vehicle 1 or the desired parking position can be recognized and vehicle 1 is capable of performing such a parking maneuver, the automated parking maneuver is executed in an eighth step S8. Thus, if the parking of vehicle 1 in the desired parking position is feasible, the control unit 3 executes the parking maneuver based on continuous recording of the surroundings and evaluation by at least the surround-view environment system and other sensors during the parking maneuver. Based on the radar / lidar sensors and the surround-view cameras, vehicle 1 now begins the automatic parking maneuver. During the parking maneuver, feedback generated by control unit 3, for example, an acoustic feedback, is output to the driver.

[0059] Control of vehicle 1 always remains with the driver to ensure safety objectives in case the driver needs to make adjustments.

[0060] This means that, for example, manual inputs entered into terminal 2 regarding the parking maneuver are executed with priority during the parking maneuver. This could, for example, be an abort or correction of the parking maneuver being performed. The driver can thus make adjustments at any time.

[0061] Human analysis and decision-making support reduce the computing power required by vehicle 1 and the parking assistant. This can speed up the entire automated parking process. Prioritization also allows for faster execution of manual inputs.

[0062] In an alternative seventh step S7a, vehicle 1 cannot perform an environmental comparison between the desired parking space position and the vehicle surroundings captured as an environmental image by the SurroundView environmental system. This means that vehicle 1 is unable to find the parking space based on the driver's inputs. If this cannot be carried out due to an unsuccessful environmental comparison, a message is generated, for example, an acoustic message to the driver about the unavailability of the parking assistant for safety reasons. Furthermore, a request to recapture the desired parking space position as a parking space image is issued by the terminal camera of terminal 2 (step S3), or the driver can abort the parking maneuver.

[0063] Fig.2 schematically shows a vehicle 1 according to the invention for carrying out an automated parking maneuver using a mobile terminal 2 connected to the vehicle 1 and having a terminal camera.

[0064] The vehicle 1 has a SurroundView environment system. The SurroundView environment system can be a SurroundView front camera 6a, a SurroundView right camera 6b, a SurroundView left camera 6c, and a SurroundView rear camera 6d. The recordings (streaming images) recorded in this way can be combined in the control unit 3 to form a 3D image of the environment. The control unit 3 has appropriate software for this purpose.

[0065] Furthermore, the smart antenna system 4 is provided, which is connected to the control unit 3 and which is designed to receive the parking space image with the marked parking space position.

[0066] An HMI interface, such as a touchscreen 5, is also provided, in which the driver can activate the parking assistant to carry out the parking maneuver.

[0067] The control unit 3 is designed to receive the activation signal and to carry out the comparison of the surroundings between the parking space image and the vehicle surroundings captured as an environment image after receiving the activation signal.

[0068] Furthermore, the control unit 3 is designed to check, based on the comparison of the surroundings, whether an automated parking maneuver can be carried out.

[0069] In addition, the control unit 3 is further configured to carry out the automated parking maneuver, if feasible, for parking the vehicle 1 in the desired parking position of the vehicle 1 based on continuous recording of the surroundings and evaluation at least by the SurroundView environment system during the parking maneuver. For this purpose, the control unit 3 can generate operating parameters for positioning the actuators that enable an automated parking maneuver. For this purpose, the control unit 3 is connected to an EPS (Electric Power Steering) 7, which controls the vehicle steering, as well as to an ESP (Electronic Stability Program) 8 for controlling vehicle braking, and to a Powertrain ECU 9, which controls vehicle acceleration and direction.

[0070] The vehicle 1 according to the invention offers the driver the option of selecting a specific parking space using the terminal camera. The connection between vehicle 1 and terminal 2, for example, using a wireless connection protocol, activates a real-time mirror screen for vehicle 1 to receive inputs about the driver's parking preference from terminal 2. In parallel, the 3D vehicle environment captured by the surround-view camera system is analyzed and a real-time image processing comparison between the parking space image and the surrounding image is activated. Vehicle 1 checks the possibility depending on the quality of the driver's input and the environmental conditions (snow, fog, etc.) and the environmental comparison. Human analysis and decision-making support require less computing power, thus accelerating the automatic parking maneuver.

[0071] The vehicle 1 preferably has an LTE / 4G / 5G / Wi-Fi connection management to enable the exchange of image data between the terminal 2 and the vehicle 1. List of reference symbols 1 vehicle 2 end devices 3 Control unit 4 Smart Antenna System 5 touchscreen 6a SurroundView front camera 6b SurroundView right camera 6c SurroundView left camera 6d SurroundView-rear camera 7 EPS (Electric Power Steering) 8 ESP (Electronic Stability Program) 9 Powertrain ECU

Claims

[1] Method for carrying out an automated parking maneuver of a vehicle (1) using a mobile terminal (2) connected to the vehicle (1) with a terminal camera, the vehicle (1) having a SurroundView environment system and an antenna system, with the following method steps: - Activating a parking assistant to perform a parking maneuver, - Recording of the vehicle surroundings by the SurroundView environment system as an environment image, - Capturing the desired parking space position as a parking space image by the terminal camera of the terminal device (2) and transmitting the parking space image to the vehicle (1), - Receiving the parking space image through the vehicle's antenna system (1), - transmitting an activation signal through the antenna system to a control unit (3) to take the parking space image into account and transmitting the parking space image to the control unit (3), - Receiving the activation signal and the parking space image by the control unit (3), - Carrying out an environmental comparison of the parking space image with the vehicle environment captured as an environmental image after receiving the activation signal, - Carrying out the automated parking maneuver if the environment comparison is successful and the control unit (3) checks whether an automated parking maneuver can be carried out based on the environment comparison, and parking the vehicle (1) in the desired parking position by the control unit (3) of the vehicle (1) based on a continuous recording of the environment and evaluation at least by the SurroundView environment system during the parking maneuver, wherein feedback generated by the control unit (3) is output during the parking maneuver, - Generation of a message in case of non-executability due to an unsuccessful environment comparison by the control unit (3) and non-execution of the parking maneuver. [2] Method according to claim 1, characterized by that the antenna system is designed as a smart antenna system (4). [3] Method according to claim 1 or 2, characterized by that the recording of the vehicle surroundings by the SurroundView environment system as an environment image comprises the following procedural steps: - Recording of the vehicle surroundings by the SurroundView environment system, - Evaluation of the recording by the control unit (3) to generate the surroundings image. [4] Method according to one of the preceding claims, characterized by that the detection of the desired parking space position as a parking space image by the terminal camera of the terminal (2) and transmission of the parking space image to the vehicle (1) comprises the following method steps: - Recording of the parking area surroundings and the desired parking position as a parking area surroundings image by the terminal camera of the terminal device (2), - Marking the desired parking space position in the parking space surroundings image and transmitting the marked parking space surroundings image as a parking space image to the vehicle (1) via the antenna system. [5] Method according to one of the preceding claims, characterized by that the environment comparison is carried out using an image processing comparison between the parking space image and the vehicle environment captured as an environment image. [6] Method according to claim 5, characterized by that the image processing comparison is carried out in real time by the control unit (3). [7] Method according to one of the preceding claims, characterized by that the comparison of the surroundings is carried out taking into account the weather and / or the quality of the transmitted parking space image. [8] Method according to one of the preceding claims, characterized by that the message in the event of non-executability due to an unsuccessful comparison of the environment by the control unit (3) is coupled to a request to re-capture the desired parking space position as a parking space image by the terminal camera of the terminal device (2). [9] Method according to one of the preceding claims, characterized by that the control device (3) is coupled to the terminal (2) during the parking maneuver, in order to take into account manual inputs into the terminal (2) concerning the parking maneuver during the parking maneuver. [10] Method according to claim 9, characterized by that manual inputs into the terminal (2) concerning the parking maneuver entered by the terminal (2) are executed with priority during the parking maneuver. [11] Method according to one of the preceding claims, characterized bythat if it is detected that the parking maneuver cannot be carried out, an immediate stop is carried out and a message is issued. [12] Method according to one of the preceding claims, characterized by that the vehicle (1) has a human interface (HMI) in the vehicle (1) and the activation of the parking assistant to carry out a parking maneuver is accomplished by means of an input into the human interface. [13] Method according to one of the preceding claims, characterized by that communication between the mobile terminal (2) and the vehicle (1) is only established by the vehicle (1) after prior authentication of the mobile terminal (2) by the vehicle (1). [14] Vehicle (1) for carrying out an automated parking maneuver using a mobile terminal (2) connected to the vehicle (1) with a terminal camera, the vehicle (1) comprising a SurroundView environment system and an antenna system, further comprising a parking assistant for carrying out a parking maneuver, characterized by , that the SurroundView environment system is designed to capture the vehicle environment as an environment image after activation of the parking assistant, wherein the antenna system is designed to receive a parking space image for transmission to a control unit (3), wherein a desired parking space position is designed as a parking space image captured by a terminal camera of a terminal (2), and wherein the antenna system is designed, upon reception, to generate an activation signal for transmission to a control unit (3) for taking the parking space image into account, and wherein the control unit (3) is designed to receive the activation signal and the parking space image through the antenna system and is designed to carry out an environmental comparison between the parking space image and the vehicle environment captured as an environmental image after receiving the activation signal, wherein the control unit (3) is designed to carry out the automated parking maneuver upon successful environmental comparison and a check by the control unit (3) based on the environmental comparison as to whether an automated parking maneuver can be carried out, and further designed to park the vehicle (1) in the desired parking position by the control unit (3) based on a continuous recording of the environment and evaluation at least by the SurroundView environmental system during the parking maneuver, wherein feedback generated by the control unit (3) can be output during the parking maneuver, and wherein the control unit (3) is designed to generate a message in case of non-executability due to an unsuccessful environmental comparison and is further designed not to execute the parking maneuver.

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