Method for parking a motor vehicle in a parking zone with an autonomous parking process starting from a temporary parking position, parking assistance system and motor vehicle

Description

[0001] One aspect of the invention relates to a method for parking a motor vehicle in a parking zone, in which the motor vehicle is driven along a path outside the parking zone to the parking zone and is then parked autonomously in the parking zone. Another aspect of the invention relates to an electronic parking assistance system for a motor vehicle. Another aspect of the invention also relates to a motor vehicle.

[0002] It is well known that motor vehicles can be parked by a driver in a marked and thus defined parking zone. The driver manually performs the necessary movements of the vehicle by operating the steering wheel and braking or accelerating the vehicle.

[0003] It is also known that partially or even fully autonomous parking procedures are performed in motor vehicles. In this case, the driver in the vehicle is only partially involved or not involved at all in the parking process. The parking process is then carried out at least partially by the vehicle's electronic parking assistance system.

[0004] DE 10 2012 222 562 A1 discloses a system for managed parking areas for transferring a vehicle from a starting position to a destination position. Furthermore, DE 10 2016 122 760 A1 discloses a method for operating a driver assistance system of a motor vehicle to maneuver the motor vehicle to various destinations. In this context, it is also known that the vehicle is manually moved by the driver outside the parking zone to the parking zone, and the actual parking process is then carried out by the parking assistance system. This is known, for example, from DE 10 2009 046 912 A1.

[0005] US 2015 / 039173 A1 describes a method in which a vehicle parked improperly in a parking zone can be re-parked into an improved parking position through an autonomous parking process after the driver has left the vehicle. Re-parking a motor vehicle in a parking zone is also known from DE 10 2014 224 454 A1.

[0006] During this maneuver, the driver remains in the vehicle during the parking process until it has reached its final position in the parking zone.

[0007] A parking space management system is known from DE 10 2016 219698 A1. The user parks their vehicle in a specified drop-off area of ​​the parking space and sends a parking request. The parking space management system assigns a parking space to this user's vehicle. The vehicle is then moved to the assigned parking space.

[0008] EP 2 886 420 A1 discloses a method for initiating the transmission of a parking instruction. This involves identifying a parking area for a vehicle and an object within the parking area, determining whether there is sufficient space within the parking area to create a parking space, determining a parking instruction based on the parking space and the object, and initiating the transmission of the parking instruction.

[0009] Furthermore, it is also known that a vehicle can be exited by the driver before the parking maneuver is to be performed. The driver then observes a subsequent autonomous parking maneuver into a parking zone from outside the vehicle, but is no longer in the vehicle itself. However, during these parking maneuvers of a motor vehicle controlled externally by the driver, the driver must still be in the vicinity of the vehicle and accompany or monitor the parking maneuver. EP 2 886 420 A1 discloses the features of the preamble of claim 1.

[0010] In this context, it should be noted that in all of the scenarios mentioned, in which at least a partially autonomous parking maneuver is performed, the time required is still relatively large. This also means that, especially in traffic scenarios in which other road users are also affected by such a parking maneuver, time is lost and they have to wait. This leads to traffic jams and, on the other hand, also annoys other road users. Another aspect is that the driver of the vehicle being parked must also be present during the parking maneuver and thus also loses time.

[0011] It is an object of the present invention to provide a method for parking a motor vehicle in which the motor vehicle is parked more appropriately and time losses and traffic disruptions can be reduced.

[0012] Furthermore, it is necessary to create a corresponding electronic parking assistance system and a corresponding motor vehicle.

[0013] This object is achieved by a method, an electronic parking assistance system and a motor vehicle according to the independent claims.

[0014] One aspect of the invention relates to a method for parking a motor vehicle in a parking zone, in which the motor vehicle is driven along a path outside the parking zone to the parking zone and is then parked autonomously in the parking zone. The motor vehicle is driven to the parking zone with a driver or vehicle occupant present in the motor vehicle and is parked in a temporary parking position in the parking zone. After the motor vehicle has reached the temporary parking position, the driver or vehicle occupant leaves the motor vehicle. Subsequently, an autonomous parking process is carried out if necessary, in particular depending on at least one decision criterion. As a result of an autonomous parking process, the motor vehicle is positioned in a final parking position in a free parking zone, in particular a different final parking position from the temporary parking position.Such a method for parking a motor vehicle makes the parking process more efficient. This is particularly true because it significantly reduces traffic disruptions that can occur with previously known parking procedures, especially with at least partially autonomous parking procedures. In addition to this, or instead of this, a further advantage is achieved in that a driver or vehicle occupant also saves time, as they can leave the vehicle immediately after reaching the temporary parking position and no longer have to attend to any subsequent autonomous parking procedure that may be carried out. They can therefore pursue their actual interests after leaving the vehicle and before carrying out the autonomous parking procedure and can then also move away from the vehicle.

[0015] It is intended that the autonomous parking process to reach the final position is initiated by the driver starting from the temporary parking position. This creates the opportunity for the driver to decide for themselves whether the temporary parking position is already so good that a subsequent autonomous parking process is not necessary. This can also be a decision criterion. In particular, however, this design makes it possible to meet high safety requirements. For example, the driver can take any objects still in the vehicle with them after leaving the vehicle. For example, it can be made possible for the driver to remove objects from the trunk or rear of the vehicle after reaching the temporary parking position and leaving the vehicle without the vehicle having to begin the autonomous parking process.This allows the driver to carry out actions that he wishes to perform in the area of ​​the vehicle after leaving it without restriction, without the autonomous parking process possibly starting in an undesirable manner.

[0016] A parking zone is a designated parking area or parking area. A parking zone can be located in a parking garage, a parking deck, or in an open parking area.

[0017] This enables a more intelligent scenario during the parking process, which in many respects counteracts the actual conditions of current parking processes, which are also carried out at least partially autonomously. Namely, because the motor vehicle enters the parking zone and assumes the temporary parking position upon approaching the parking zone and then without performing an autonomous parking process, which is therefore also not partially autonomous, any traffic flow that arises or prevails around the parking zone and / or the motor vehicle is not impaired by this primary parking process, which is carried out during the entire parking process.Since such a primary parking process can be carried out very quickly and immediately, other road users are not affected and may not have to wait a relatively long time until the motor vehicle enters the parking zone and assumes the temporary parking position. In the temporary parking position, the motor vehicle is, in particular, driven or parked at least far enough into the parking zone that it does not impede the flow of traffic on a roadway that runs past the parking zone. Thus, the temporary parking position is intended to be at least one in which other road users can pass on the roadway that runs past the parking zone.

[0018] Through this primary or first parking process in the described overall parking scenario, the motor vehicle is initially parked in an intermediate parking position, which is the temporary parking position, in the parking zone and thus, in particular, manually driven into the parking zone as quickly as possible, so that the focus in this primary parking process is on not obstructing the flow of traffic. On the other hand, this primary parking process ensures that the motor vehicle is parked as quickly as possible so that the driver or vehicle occupant can already exit it, thus minimizing the time required for the driver to travel from the parking zone outside the parking zone to the temporary parking position.In the described, subsequent second parking process of the entire parking scenario, namely the autonomous parking process, the motor vehicle is then parked in such a way that it is positioned in a final parking position in a parking zone, in particular if this is necessary, regardless of the presence of the driver, both in the motor vehicle and in the immediate surrounding area of ​​the motor vehicle.

[0019] Advantageously, an electronic parking assistance system of the motor vehicle assesses whether this second parking maneuver, which is then a fully autonomous parking maneuver, is necessary or not. This can, for example, be dependent on the temporary parking position as a possible decision criterion. For example, the orientation of the motor vehicle relative to the parking zone and / or to a neighboring parking zone, and / or the occupancy status of the parking zone and / or the neighboring parking zone by the motor vehicle, and / or the position of the motor vehicle relative to the roadway adjacent to the parking zone can be a decision criterion. In addition to or instead of this, environmental information and / or other parking zone information can also be mentioned as decision criteria.

[0020] In particular, it can be provided that during the autonomous parking process, the motor vehicle is parked in the parking zone in which it was, at least primarily, also located in the temporary parking position. However, it can also be provided that the motor vehicle is autonomously parked in another parking zone, in particular one directly adjacent to this parking zone, in particular directly adjacent, in particular directly adjacent. This is particularly true if it was previously detected that this other parking zone is free. The parking assistance system therefore advantageously also has such intelligence that it can decide in which of two adjacent free parking zones it will park the motor vehicle during the autonomous parking process.

[0021] Such a system-side decision may depend on decision criteria, in particular the decision criteria mentioned above.

[0022] It is advantageous if this decision regarding which of at least two adjacent free parking zones the vehicle will park in during the second parking process, namely the fully autonomous parking process, is based on a system-based comparison of the times for autonomous parking in one parking zone and autonomous parking in the other parking zone. These times can be estimated by the parking assistance system, particularly depending on the decision criteria mentioned above. This allows the autonomous parking process to be carried out particularly quickly and thus with the least disruption to traffic flow.

[0023] The method is also advantageous in that a temporary parking position can also be one that is incorrect or only partially suitable with regard to parking regulations in the parking zone and / or other requirements. For example, a temporary parking position can also be one in which the motor vehicle is arranged at an angle in a parking zone designed as a parallel parking space or perpendicular parking space. This means that the vehicle's longitudinal axis can also be oriented at a large angle to a longitudinal axis of the parking zone.Such a temporary parking position, which is also possible and permissible for the scenario presented here, would, however, also result in other adjacent parking zones possibly no longer being usable by other motor vehicles, or in vehicles already parked there being difficult to access, for example, for entry and / or in more difficult conditions for exiting. Since such a temporary parking position is disadvantageous, at least for other road users, for using adjacent parking zones, the proposed entire parking scenario requires that this temporary parking position be corrected as soon as possible, and the then correct final parking position be adjusted for the autonomous parking process.Furthermore, a temporary parking position can also be one in which the motor vehicle protrudes, at least in part, into another parking zone adjacent to the parking zone, thus making use of such an adjacent parking zone only possible to a limited extent or possibly no longer possible at all. Likewise, a temporary parking position can be one in which the vehicle's longitudinal axis is aligned essentially parallel to the longitudinal axis of the parking position, but the motor vehicle is positioned significantly off-center with regard to the width direction of the parking zone. For example, in this context, a temporary parking position can also be one in which the motor vehicle is parked, for example, on a ground marking that represents a longitudinal boundary of the parking zone. This also means that an immediately adjacent parking zone is no longer usable for another motor vehicle, or can only be used with great difficulty and to a limited extent.Likewise, a temporary parking position can be one in which the motor vehicle has not yet fully entered the parking zone and, in this context, is still positioned slightly beyond the entry area of ​​the parking zone. All of these exemplary explanations for temporary parking positions are possible in the present context of the proposed method and occur relatively frequently in actual practice. This is particularly the case in that drivers only occupy such temporary parking positions due to great haste and / or only create such temporary parking positions due to driving limitations.

[0024] The proposed method takes all of the above-mentioned aspects into account, thus enabling a more efficient overall parking scenario in many respects, in which potential disadvantages during parking are cleverly exploited in order to achieve an improved overall parking process for potentially diverse participants through an overall consideration.

[0025] In an advantageous embodiment, the temporary parking position is reached by the driver manually guiding the vehicle. This is an advantageous embodiment because it enables the aforementioned initial parking process to be carried out particularly quickly and, due to existing implementation options, can usually be accomplished more quickly than an autonomous parking process would be possible.

[0026] Preferably, the temporary parking position is reached by a single entry of the vehicle into the parking zone from outside the parking zone. This allows for the initial parking maneuver to be completed particularly quickly, as no extensive, multi-step execution of the initial parking maneuver is required, and thus no maneuvering is necessary. This not only enables the initial parking maneuver to be completed very quickly, but also minimizes the disruption to traffic flow in the area surrounding the parking zone.

[0027] In addition, this also makes it possible for the driver to have the option of leaving the vehicle as quickly as possible, so that he or she does not lose any time in carrying out the activities he or she has planned after parking the vehicle.

[0028] In an advantageous embodiment, the actual start of the autonomous parking process, which has then already been initiated by the driver, is determined by an electronic parking assistance system of the motor vehicle itself. This is a further very advantageous embodiment, as it is no longer the driver's responsibility to observe the area surrounding the parking zone and decide whether the autonomous parking process can be carried out. This also achieves a corresponding time advantage for the driver and enables a certain degree of independence for the driver with regard to the decisions to be made. The driver can therefore, for example, initiate the autonomous parking process relatively soon after leaving the motor vehicle, and the electronic parking system is thus put into a state such that it knows that it should carry out an autonomous parking process in the future.The electronic parking assistance system can then decide for itself when to actually carry out this autonomous parking process.

[0029] Furthermore, this actual initiation of the autonomous parking process by an electronic parking assistance system of the motor vehicle can also occur independently of the previous initiation by a driver. For example, if such initiation is not provided for in one exemplary embodiment. This can also be the case if a driver should initiate the process but forgets to do so, for example. In this context, it can be provided that, in an advantageous embodiment, a time interval is specified which elapses since the temporary parking position is reached, in particular between the driver leaving the motor vehicle after reaching the temporary parking position, and which the parking assistance system waits to determine whether an initiation occurs.If no such initiation is registered by the electronic parking assistance system within such a time interval, it can still automatically carry out such an autonomous parking process in such cases.

[0030] Preferably, this actual initiation of the autonomous parking process is carried out by a parking assistance system of the motor vehicle depending on current traffic situations and / or future traffic situations in an area of ​​a roadway adjacent to the parking zone. This allows for the least possible disruption to traffic flow on the roadway in the area of ​​the parking zone. In particular, in this context, it can wait until it is recognized that there is no or only a low volume of traffic on this roadway or that such traffic is expected.Additionally or instead of this, it can also be provided that this actual starting of the autonomous parking process is carried out by the parking assistance system of the motor vehicle regardless of whether the driver is still next to the motor vehicle or not, in particular regardless of the driver moving away from the motor vehicle after leaving the motor vehicle. In this embodiment, it is therefore not necessary for the driver to remain in the area surrounding the motor vehicle until the autonomous parking process is carried out, in particular until it has ended. This is a significant advantage in that it saves time for the driver, as they can devote themselves to other tasks immediately after leaving the motor vehicle and no longer have to attend to the further, second parking process of the motor vehicle, and in particular no longer have to observe and monitor it.

[0031] It is intended that the driver, when initiating the autonomous parking process, specifies whether the vehicle should be parked forwards or backwards into the parking zone during the autonomous parking process. This is a further advantage because it allows user preferences to be taken into account with regard to how the vehicle should then proceed when exiting a parking space. In particular, if the driver manually wishes to exit the parking zone, an advantageous orientation of the vehicle can be set through the autonomous parking process and the final position of the vehicle can be reached in such a way that the vehicle is oriented in a way that is advantageous for the driver during the subsequent exit. In particular, an accelerated exit from the parking space and / or a safe exit from the parking space can also be enabled in this context.In particular, this option also offers the advantage that it may make loading the vehicle parked in its final position easier. If, for example, the driver recognizes that the parking zone is bordered by raised boundary elements such as a wall, post, or plant at the end of the parking area opposite the entry zone, but that he or she will be loading the trunk after returning to the vehicle because he or she may have purchased or received corresponding items, it may be advantageous to park the vehicle forward into the parking zone. On the other hand, reversing into the parking zone may be advantageous if exiting the parking zone is relatively difficult because it may be relatively unclear when entering the roadway adjacent to the parking zone.

[0032] Advantageously, it is provided that, starting from the temporary parking position of the motor vehicle, in particular by the motor vehicle's electronic parking assistance system, a starting position for the motor vehicle to carry out the autonomous parking process into the parking zone outside the parking zone is determined, and the motor vehicle is moved autonomously from the temporary parking position to the starting position out of the parking zone. After reaching the starting position, the further autonomous parking into the parking zone is carried out until the motor vehicle reaches the final position in the parking zone. This is also a further very advantageous embodiment, since the system already intelligently determines a particularly suitable starting position. By taking into account the temporary parking position, which can be diverse, such a starting position can also be determined while driving out of the parking zone from the temporary parking position.This also reduces the time required for the autonomous parking process. In particular, it makes it possible to dynamically find a suitable starting position. However, it can also be provided that such a starting position for the vehicle outside the parking zone is determined or specified independently of the temporary parking position.

[0033] In general, this advantageous design makes it possible to position the vehicle in a favorable starting position, which can then be done relatively quickly, allowing for the most efficient and thus fastest possible second part or sub-phase of the autonomous parking process, which then extends from the reached starting position to the final position in the parking zone. This also makes it possible to ensure that the traffic flow on the road outside the parking zone is disrupted as little as possible during the autonomous parking process.

[0034] In particular, in this context, it is also possible to determine, depending on the temporary parking position and / or possibly also on the driver's specification as to whether the motor vehicle should be oriented forwards or backwards into the parking zone in the end position, whether the starting position is selected such that, starting from the starting position, the end position can be reached in a single-move autonomous parking maneuver. Likewise, in this scenario, it is then also possible to determine whether it might be advantageous to select a starting position in which a multi-move, for example, two-move, parking maneuver from the starting position to the end position is then carried out autonomously.These options, which are determined by the electronic parking assistance system, can be carried out depending in particular on which autonomous parking process is the fastest in terms of time or in which scenario the fastest autonomous parking process can be carried out.

[0035] Preferably, a parking scenario or a second parking process of the entire parking process is carried out during autonomous parking. This parking scenario or the second parking process is determined by an electronic parking assistance system of the motor vehicle depending on the orientation of the motor vehicle in the temporary parking position and / or depending on the orientation of the motor vehicle in the end position specified by the driver and / or depending on environmental information and / or parking zone information that was recorded before and / or during the motor vehicle's entry into the parking zone to reach the temporary parking position, and / or depending on environmental information and / or parking zone information that was recorded in the temporary parking position of the motor vehicle. In particular, the aforementioned information can be recorded using at least one, in particular several, recording units of the motor vehicle.If, in this context, it is possible for information about the size and / or location of the parking zone and / or information about neighboring parking zones to be recorded by corresponding recording units when approaching the parking zone, this information can then be used. Information recorded when the vehicle enters the parking zone to reach the temporary parking position can also be used. Regarding the orientation of the vehicle in the temporary parking position, a forward-parked temporary parking position or a reverse-parked temporary parking position can be taken into account. The orientation of a vehicle's longitudinal axis relative to a longitudinal axis of the parking zone in this temporary parking position can also be taken into account.

[0036] In particular, such information can be captured, for example, by an optical detection device, such as a camera. Images captured in this regard can be evaluated to determine such a non-parallel position of the motor vehicle in the temporary parking position to the longitudinal axis of the parking zone.

[0037] Environmental information can, for example, be information about traffic flow on the roadway in the area of ​​the parking zone. Environmental information can also be information about other, particularly static, objects that are located on the roadway in the area surrounding the parking zone or that border the roadway on the opposite side of the parking zone. These can, for example, be other parked vehicles. However, they can also be additional elements such as walls, bushes, garbage cans, or the like. Environmental information can also be information that relates to a parking zone directly adjacent to the parking zone in which the motor vehicle is to park. In this context, the orientations and positions of these objects in the other neighboring parking zones can also be taken into account.

[0038] Furthermore, it is also possible for further such information, in particular environmental information and / or parking zone information, to be captured and taken into account during the autonomous parking process, particularly on the way from the temporary parking position out of the parking zone. This also makes it possible, in particular, for an initially determined starting position to be corrected again.

[0039] In an advantageous embodiment, the above-mentioned information is recorded using at least two detection units of the motor vehicle that have different detection functions. This achieves a further advantage because it allows comprehensive information and / or more precise information to be obtained. This is because different detection units can be better or less suitable for different conditions. By using at least two detection units that have different detection functions, multiple and improved information evaluations can be achieved, thus enabling a more comprehensive and precise overall picture or a more accurate overall assessment. Detection units can be, for example, a radar sensor, an ultrasonic sensor, an optical detection unit such as a camera, or even a laser scanner.

[0040] In an advantageous embodiment, it is provided that the motor vehicle is completely removed from the parking zone again during the autonomous parking process, which in particular extends from the temporary parking position to the final parking position, and is parked into the parking zone from a starting position then located outside the parking zone until it has reached the final parking position.

[0041] In an advantageous embodiment, the motor vehicle locks itself automatically after the driver has left the vehicle, at least when the driver is outside a predetermined range of the vehicle. This satisfies the highest security requirements in the present scenario. This is because, precisely when the driver leaves the vehicle after reaching the temporary parking position, and also immediately leaves the area surrounding the vehicle, so that he or she no longer observes or can no longer observe the further autonomous parking process of the vehicle, unauthorized access to the vehicle by third parties is also prevented. The advantageous embodiment mentioned above, in particular, also prevents this automatically.Such automatic locking can advantageously also occur regardless of whether the motor vehicle is still in the temporary parking position, is already performing the autonomous parking process, or has already been positioned in the end position. In particular, such automatic locking occurs at the latest when the motor vehicle reaches the end position in the parking zone. This means that unauthorized access to the motor vehicle by third parties can be prevented even during an autonomous parking process unsupervised by the driver. However, it can also be provided that the driver manually initiates locking of the motor vehicle, thus making such locking user-initiated. This can be the case, for example, if the driver leaves or has left the motor vehicle after reaching the temporary parking position, but is still in the area surrounding the motor vehicle.However, it can also be provided that such locking occurs automatically when the driver has moved so far away from the motor vehicle that they have left a reference zone around it. Such a reference zone is, in particular, predetermined. In this context, such leaving of the reference zone around the motor vehicle can be detected, for example, by wireless communication between a vehicle-mounted communication unit and a portable electronic key carried by the driver. This ensures that if the driver forgets to lock the vehicle, this does not result in the vehicle being parked unlocked in the parking zone.

[0042] Preferably, it is provided that at least when the motor vehicle moves out of the parking zone onto an adjacent roadway during the autonomous parking process, a visual warning device of the motor vehicle is activated by the motor vehicle's electronic parking assistance system. This can increase the attention of other road users. In particular, this also allows other increased safety aspects to be met. In this context, other road users can then also recognize at an early stage that a motor vehicle is performing a fully autonomous parking process.

[0043] A further aspect of the invention relates to a parking assistance system for a motor vehicle. The electronic parking assistance system has a control unit. The electronic parking assistance system is designed to carry out a method according to the above-mentioned aspect or an advantageous embodiment. In particular, the parking assistance system has a computer program product. The computer program product has instructions which, when the computer program is executed by a computer, in particular the parking assistance system, cause the computer to carry out the method according to the above-mentioned aspect or an advantageous embodiment thereof.

[0044] A further aspect of the invention relates to a motor vehicle with an electronic parking assistance system according to the above-mentioned aspect and / or a computer program product according to the above-mentioned aspect.

[0045] The invention also includes combinations of the features of the described embodiments.

[0046] An embodiment of the invention is described below. It shows: Fig. 1 a schematic representation of a scenario in which a motor vehicle is parked in a temporary parking position in a parking zone; Fig. 2 the scenario according to Fig. 1 , in which the motor vehicle performs a partial phase of an autonomous parking process starting from the Fig. 1 shown temporary parking position to a starting position outside the parking zone; Fig. 3 a representation of the scenario according to Fig. 1 und Fig. 2 , in which the motor vehicle is positioned in a final parking position in the parking zone reached by an autonomous parking process; Fig. 4 shows a further embodiment in which a scenario is shown in which the motor vehicle is shown in a temporary parking position in a parking zone; Fig. 5 shows a representation of the scenario according to Fig. 4 , in which the motor vehicle has left the parking zone from the temporary parking position through a partial phase of an autonomous parking process and has reached a starting position outside the parking zone; Fig. 6 a representation of the scenario according to Fig. 4 and Fig. 5 , in which the motor vehicle has reached an intermediate position outside the parking zone during the autonomous parking process; and Fig. 7 a representation of the scenario according to Fig. 4 bis Fig. 6 in which the motor vehicle is shown in a final parking position in the parking zone.

[0047] The embodiment explained below is a preferred embodiment of the invention.

[0048] In the figures, functionally identical elements are provided with the same reference numerals. Fig. 1 A traffic scenario 1 is shown in a schematic representation. A parking area 2 is shown, which has a plurality of parking zones, in particular at least two. The parking zones are marked and identified by predetermined boundaries. For example, a parking zone 3, a parking zone 4, a parking zone 5, a parking zone 6, and a parking zone 7 are provided with the corresponding reference symbols. In addition, as can be seen, there are further parking zones, which are uniformly and partially provided with the reference symbol 8.

[0049] In addition, a lane 9 is also shown. Lane 9 is located outside the areas of parking zones 3 to 8.

[0050] In Fig. 1 It is shown by way of example that a motor vehicle 10 was moved on an exemplary path marked by an arrow P1 on the roadway 9. In particular, it is provided that the motor vehicle 10 was moved by a vehicle occupant, in particular a driver, located in the motor vehicle 10 along this movement path according to P1 on the roadway 9 up to the parking zone 6. This movement process is carried out manually, in particular, by the driver of the motor vehicle 10. Furthermore, it can be seen that the motor vehicle 10 in Fig. 1 is already parked in a temporary parking position 15 in parking zone 6. In particular, the driver of motor vehicle 10 manually operated motor vehicle 10 from its position outside parking zone 6 to this temporary parking position 15 in parking zone 6. The driver thus controlled motor vehicle 10 himself along the path indicated by arrow P1 to this temporary parking position 15 in parking zone 6.

[0051] As can be seen, this is in Fig. 1 However, the exemplary temporary parking position 15 shown is one that does not represent a designated and required parking position. In particular, the driver has parked the motor vehicle 10 in a single-movement parking process from outside the parking zone 6 into this Fig. 1 shown inaccurate temporary parking position 15. In the exemplary embodiment, the parking zone 6 is a transverse parking space which has a longitudinal axis B. The motor vehicle 10 has a vehicle longitudinal axis A. As in the non-exhaustive example in Fig. 1 As shown, the motor vehicle 10 is parked with its longitudinal axis A positioned significantly obliquely to the longitudinal axis B of the parking zone 6. In particular, in the temporary parking position 15 shown as an example, the motor vehicle 10 is parked in such a way that it partially protrudes into the further parking zone 5 adjacent to the parking zone 6. Furthermore, in this temporary parking position 15, the motor vehicle 10 is also positioned, by way of example, to protrude slightly from an entry area 11 of the parking zone 6 facing the roadway 9 into the roadway 9.

[0052] The motor vehicle 10 has an electronic parking assistance system 12. The motor vehicle 10 has at least one detection unit 13 for detecting the surroundings. In particular, the motor vehicle 10 has a plurality of detection units 13. Preferably, the plurality of detection units 13 are different detection units 13 with regard to their detection function.

[0053] It can be provided that this at least one detection unit 13 detects information as the motor vehicle 10 moves along the path of movement according to arrow P1. In particular, in addition to or instead of this, this at least one detection unit 13 can also detect information in the Fig. 1 shown temporary parking position 15 of the motor vehicle 1. This can be environmental information and / or parking zone information. In addition to or instead of this, this can also be information about the orientation of the motor vehicle 10, in particular to the parking zone 6 and / or other adjacent parking zones. This can also be corresponding information regarding the orientation of the motor vehicle 10 to the roadway 9. Furthermore, this can also be information about the traffic scenario on the roadway 9.

[0054] The manual parking of the motor vehicle 10 in the parking zone 6, in particular by a driver, up to the Fig. 1 The temporary parking position 15 shown represents, in an advantageous embodiment, a first parking operation of an entire parking scenario of the motor vehicle 10 into the parking zone 6. Based on this first parking operation, it is then provided that the driver of the motor vehicle 10 leaves the motor vehicle 10. Subsequently, in particular depending on at least one decision criterion, it is provided that in particular a second parking operation of the entire parking scenario is carried out, which is an autonomous parking operation. In particular, if the temporary parking position 15 is one that causes the impairment of other road users and / or impairs the use of neighboring parking zones 5 and / or 7 and / or if other vehicles already parked there are prevented from accessing and / or leaving the parking space, this second autonomous parking operation is carried out.In particular, however, it is provided that this second parking process, namely the autonomous parking process, is carried out when the temporary parking position 15 is present as one that does not correspond to the correct parking positions. In particular, it is possible for the electronic parking assistance system 12 to detect whether a current temporary parking position 15 does not correspond to such correct parking positions. This can be the case, in particular, depending on the acquired environmental information and / or parking zone information. For example, this can occur depending on whether it is detected that the motor vehicle 10 is parked at an undesirable angle in the parking zone 6 and / or protrudes undesirably backwards out of the parking zone 6 into the roadway 9 and / or neighboring parking zones, here parking zone 5, are partially occupied.

[0055] However, it can also be provided that the autonomous parking process is carried out when this is initiated and thus specified by a driver of the motor vehicle 10.

[0056] This autonomous parking process to reach the final position of the motor vehicle 10 in the parking zone 6 is carried out starting from the temporary parking position 15.

[0057] In the Fig. 1 In the exemplary scenario shown, in which, as already exemplified above, the driver has left the motor vehicle 10 after reaching the temporary parking position 15 shown and has thus exited, an autonomous parking process is carried out, particularly due to the unsuitable and improper parking position in the form of the temporary parking position 15. In particular, it is provided here that this is initiated by the driver.

[0058] Advantageously, it is provided that the actual start of this autonomous parking process, in particular initiated by the driver, is determined by the electronic parking assistance system 12 of the motor vehicle 10 itself. This can be carried out, in particular, depending on current traffic situations on the roadway 9 and / or depending on future traffic situations expected on the roadway 9, in particular in the area of ​​the roadway 9 adjacent to the parking zone 6. In particular, in addition to or instead of this, the actual start of this autonomous parking process can be carried out regardless of whether the driver who has exited the vehicle is still next to the motor vehicle 10 or not. In particular, the start of the autonomous parking process thus occurs regardless of the driver's possible departure from the motor vehicle 10 after leaving the motor vehicle 10.

[0059] In the presentation in Fig. 2 In this context, a scenario is shown in which the fully autonomous parking process is carried out starting from the Fig. 1 reached temporary parking position 15 has already started and the motor vehicle 10 has already been completely parked out of parking zone 6.

[0060] As can be seen in the exemplary scenario, which is not intended to be exhaustive, Fig. 2 the motor vehicle 10 is shown in a starting position 14. This starting position 14 is completely outside the parking zone 6. It is also different from the one in Fig. 1 shown temporary parking position 15, in which the motor vehicle 10 is roughly positioned in the parking zone 6 and positioned accordingly.

[0061] The starting position 14 is in the example according to Fig. 2 selected such that it extends into the opposite parking zones 8, so that the motor vehicle 10 is also parked in these parking zones 8. This can be done in the exemplary embodiment shown because the parking zones 8 on the opposite area to the parking zone 6 are not occupied. In particular, such a starting position 14 can be assumed because the at least one detection unit 13 has recognized that these parking zones 8 are not occupied. This enables the autonomous parking process to be carried out quickly and intelligently and the surrounding area to be used in such a way that the autonomous parking process can be completed as quickly as possible. In the exemplary embodiment shown, the specific situation makes it possible for the motor vehicle 10 to be brought from the temporary parking position 15 to the starting position 14 in a first move and then to be moved from the starting position 14 to the Fig. 3 The final parking position 16 shown in the parking zone 6 is driven autonomously. This also enables a very efficient, particularly fast, autonomous parking process in the illustrated embodiment, which represents the second parking process of the entire parking scenario. In this Fig. 3 The final parking position 16 of the motor vehicle 10 in parking zone 6 shown also represents a proper parking position. In particular, the vehicle's longitudinal axis A is parallel or substantially parallel to the longitudinal axis B of parking zone 6.

[0062] In particular, it is provided that, starting from the temporary parking position 15 of the motor vehicle 1, in particular by the electronic parking assistance system 12 of the motor vehicle 10, the starting position 14 for the motor vehicle 10 to carry out the autonomous parking process in the parking zone 6 is determined, in particular its position outside the parking zone 6 is determined.

[0063] In particular, the fully autonomous parking process is carried out depending on the orientation of the motor vehicle 10 in the temporary parking position 15, and / or depending on an orientation of the motor vehicle 10 in the end position 16 specified by the driver, and / or depending on environmental information that was acquired before and / or during the entry of the motor vehicle 10 into the parking zone 6 to reach the temporary parking position 15, and / or depending on parking zone information that was acquired before and / or during the entry of the motor vehicle 10 into the parking zone 6 to reach the temporary parking position 15. In addition to or instead of this, it can also be provided that the fully autonomous parking process is determined depending on environmental information that was acquired in the temporary parking position 15 of the motor vehicle 10 and / or depending on parking zone information that was acquired in the temporary parking position 15 of the motor vehicle 10.In addition or instead, it can be provided that the fully autonomous parking process is determined depending on environmental information that is detected during the exit of the motor vehicle 10 from the parking zone 6 starting from the temporary parking position 15 and / or depending on parking zone information that is detected when the motor vehicle 10 exits the parking zone starting from the temporary parking position 15.

[0064] In particular, during this autonomous parking process, the motor vehicle 10 is again completely parked out of the parking zone 6 and, starting from the starting position 14 reached outside the parking zone 6, the motor vehicle 10 is then brought into a proper parking position in the parking zone 6 in a single-move or multi-move parking process, which is then also the final parking position 16 of the motor vehicle 10.

[0065] In the Fig. 1 bis Fig. 3 In the example shown, parking zone 7, which is formed to the right of parking zone 6, is occupied by another motor vehicle 17. Parking zone 5, which is formed to the left of parking zone 6, is not occupied.

[0066] In the Fig. 1 bis 3 In the scenario shown, the temporary parking position 15 is one in which the motor vehicle 10 is parked facing forward. This means that a front area 18 of the motor vehicle 10 faces a rear end 19 of the parking zone 6. In the scenario shown, it is provided that the motor vehicle 10 is also parked in the final parking position 16 in the parking zone 6 with the same orientation in this regard. In the final parking position 16, the motor vehicle 10 is thus again facing the rear end 19 of the parking zone 6 with its front area 18. In this context, an advantageous embodiment can provide for the electronic parking assistance system 12 to carry out the fully autonomous parking process in such a way that the motor vehicle 10 has the same orientation in this regard in the final parking position 16 as it was oriented in the temporary parking position 15.In this context, the orientation of the motor vehicle 10 in the temporary parking position 15 can be detected, in particular determined by information from the at least one detection unit 13.

[0067] However, it can also be provided that the orientation of the motor vehicle 10 is specified by the driver in an advantageous embodiment. This can be done by a corresponding input from the driver into the parking assistance system 12. For example, this can be done by a direct input into an input unit in the motor vehicle 10. However, it can also be done using a portable communication unit. Such a portable communication unit can, for example, be a communication terminal of the driver, such as a mobile radio terminal. However, a portable vehicle key, which is used to authorize driving and / or access to the motor vehicle 10, can also be such an input unit.

[0068] In the representations according to Fig. 4 bis Fig. 7 In another exemplary scenario, the execution of a parking maneuver in parking zone 6 is described. Fig. 4 a corresponding scenario as in Fig. 1 shown, so that the relevant explanations on Fig. 1 It should be emphasized at this point that not only in the scenario in Fig. 4 , but also in Fig. 1 another temporary parking position, which in particular is not a proper parking position, may exist. This may, for example, be one in which the motor vehicle 10 is oriented somewhat further into the roadway 9 and / or the motor vehicle 10 is not arranged in the parking zone 6 with a corresponding inclination that it also partially protrudes into the adjacent free parking zone 7, but is arranged such that it is, for example, in particular possibly also relatively parallel to a longitudinal side boundary 20 ( Fig. 2 and Fig. 5 ) of Parking Zone 6, and in particular, is located practically directly adjacent to it. Various other temporary parking positions are also conceivable.

[0069] Based on the Fig. 4 Once the temporary parking position 15 has been reached, the driver then leaves the motor vehicle 10. According to the illustration in Fig. 5 A fully autonomous parking process is then carried out again. In the example shown here, however, it is provided that the driver has indicated that the motor vehicle 10 should be parked backwards in the final position in parking zone 6. Due to the fact that in the exemplary embodiment shown, in particular the temporary parking position 15 is a forward parking position, the electronic parking assistance system 12 then determines a suitable fully autonomous parking process on the basis of these specifications. In particular, a suitable fully autonomous parking process can also be determined here on the basis of the environmental information and / or parking zone information and / or the various other information already mentioned above. In the example presented here, it is provided, but by no means mandatory and conclusive, that the motor vehicle 10, starting from the temporary parking position 15, according to Fig. 4 is completely reversed autonomously out of the parking zone 6. In particular, it is parked in a starting position such that it is positioned essentially parallel to an orientation of the roadway 9. The autonomous parking process is carried out in several steps in the embodiment shown here. In the example according to Fig. 1 bis Fig. 3 This autonomous parking process is carried out in a minimal number of moves, namely only two moves, one backward and one forward. Fig. 4 bis Fig. 7 In the scenario explained, a first move is carried out in such a way that a reverse move starting from the temporary parking position 15 to the starting position 14 in Fig. 5 In order to satisfy the driver's request regarding a reverse parking of the motor vehicle 10 into the parking zone 6, as shown in Fig. 6 starting from the starting position 14 in Fig. 5 another move, namely a forward move, is carried out. In this context, the motor vehicle 6 is then shown in Fig. 6 shown in an exemplary intermediate position 21. In the further fully autonomous parking process, starting from the intermediate position 21, the motor vehicle 10 is then parked in the parking zone 6 in a further move, namely in a reverse move, and can then assume the desired final parking position there.

[0070] In Fig. 6 and Fig. 7 Another example is explicitly shown. In contrast to the scenario described above, it can also be possible, as in the example according to Fig. 4 bis 7 , in particular Fig. 6 and 7It is explicitly shown that, based on information, in particular the environmental information already mentioned in detail above and / or parking zone information and / or the temporary parking position 15 and / or specific orientations of the motor vehicle 10 and / or a desired orientation of the motor vehicle 10 in the final parking position 16 by the driver, the parking assistance system 12 independently determines which parking zone is used for parking the motor vehicle 10. In this context, it may also be possible that if, as in the exemplary case shown here, two directly adjacent parking zones 5 and 6 are free and therefore not occupied, this parking assistance system 12 determines the fastest and most efficient overall parking process possible, in particular selecting the more suitable parking zone.In this context, it can also be provided that, although the motor vehicle 10 is positioned in the parking zone 6 or mainly in the parking zone 6 in the temporary parking position 15, the electronic parking assistance system 12, depending on the above-mentioned information, comes to the conclusion that the adjacent free parking zone 5 would be the more suitable one. Thus, as shown in . Fig. 6 and Fig. 7 shown, it can be provided that the motor vehicle 10 is parked autonomously in the adjacent parking zone 5 and takes up the final parking position 16 there.

[0071] In particular, such a scenario occurs when a parking zone 5 immediately adjacent to the parking zone 6, which is essentially occupied by the temporary parking position 15, is free. For example, the described scenario can only be considered as a possibility by the parking assistance system 12 if such a directly adjacent parking zone 5 is free. This is particularly important given that the motor vehicle 10 is not parked an undesirably far away in the parking zone in which the driver consciously and knowingly parked their motor vehicle 10 in the temporary parking position 15. In this context, it should also be avoided that the driver, if they immediately leave the motor vehicle 10 and are no longer aware of the autonomous parking process, cannot find the motor vehicle 10 upon returning to the parking zone 6 because it would have been parked far away due to the autonomous parking process.However, by creating the possibility, but in particular limiting it to a maximum of parking in a free parking zone immediately adjacent to the parking zone in which the motor vehicle 10 was parked by the driver in the temporary parking position 15, it is also possible to avoid such a situation where the motor vehicle 10 cannot be found again by the returning driver.

[0072] In general, the motor vehicle may also have a warning device 22, which, in particular, enables visual signaling of a fully autonomous parking maneuver to other road users. In particular, the parking assistance system 12 has a control unit 23. It may also have an electronic data memory. Bezugszeichenliste

[0073] 1Traffic scenario 2Parking area 3Parking zone 4Parking zone 5Parking zone 6Parking zone 7Parking zone 8Parking zones 9Roadway 10Motor vehicle 11Entry area 12Parking assistance system 13Detection unit 14Starting position 15Temporary parking position 16End position 17Motor vehicle 18Front area 19Rear end 20Longitudinal side boundary 21Intermediate position 22Warning device 23Control unit AVehicle longitudinal axis BLongitudinal axis P1Movement path

Claims

1. Method for parking a motor vehicle (10) in a parking zone (5, 6) designed as a marked parking area, in which method the motor vehicle (10) is driven on a path outside the parking zone (5, 6) to the parking zone (5, 6) and is then parked autonomously in the parking zone (5, 6), the motor vehicle (10) being driven to the parking zone (5, 6) with the driver present in the motor vehicle (10) and being parked in a temporary parking position (15) in the parking zone (5, 6), the driver leaving the motor vehicle (5, 6) after the temporary parking position has been reached and then, depending on at least one decision criterion, an autonomous parking process being carried out and the motor vehicle (10) being positioned in a final parking position (16) in a parking zone (5, 6) by the autonomous parking process, characterized in that the execution of the autonomous parking process to reach the final position (16) starting from the temporary parking position (15) is initiated by the driver, the driver being able to decide himself whether the temporary parking position (15) is already so good that no execution of the autonomous parking process is necessary, the driver specifying, when initiating the autonomous parking process, whether the motor vehicle (10) is to be parked forward or backward into the parking zone (5, 6) during the autonomous parking process.

2. Method according to claim 1, characterized in that the temporary parking position (15) is reached by virtue of the driver manually driving the motor vehicle (10).

3. Method according to claim 1 or 2, characterized in that the temporary parking position (15) is reached by virtue of the motor vehicle (10) being driven into the parking zone (5, 6) from outside the parking zone (5, 6).

4. Method according to any of the preceding claims, characterized in that the actual start of the autonomous parking process, in particular initiated by the driver, is determined by a parking assistance system (12) of the motor vehicle (10) itself, is carried out in particular depending on current and / or future traffic situations in a region of a roadway (9) adjacent to the parking zone (5, 6) and is carried out regardless of whether the driver is still next to the motor vehicle (10) or not, in particular is carried out regardless of whether the driver has moved away from the motor vehicle (10) after leaving the motor vehicle (10).

5. Method according to claim 4, characterized in that the actual start of the autonomous parking process initiated by the driver is determined by a parking assistance system (12) of the motor vehicle (10) itself, the autonomous parking process being carried out if the temporary parking position (15) is one which does not correspond to correct parking positions, the detection of whether a current temporary parking position (15) does not correspond to correct parking positions of this kind being carried out by the electronic parking assistance system (12).

6. Method according to any of the preceding claims, characterized in that if the temporary parking position (15) is one that does not correspond to correct parking positions, the temporary parking position (15) is one - in which the motor vehicle (10) is arranged obliquely in the parking zone (5, 6) designed as a longitudinal parking space or transverse parking space, and / or - in which motor vehicles that have already been parked are difficult to access for boarding, and / or - which has a substantially parallel alignment of the longitudinal axis of the vehicle to the longitudinal axis of the parking position, but the motor vehicle (10) is positioned significantly off-center with respect to the width direction of the parking zone (5, 6), and / or - in which the motor vehicle (10) is also parked on a ground marking which represents a longitudinal boundary of the parking zone (5, 6), and / or - in which the motor vehicle (10) has not yet completely entered the parking zone (5, 6) and in this context is still arranged protruding a little from the parking zone (5, 6) beyond the entry region of the parking zone (5, 6).

7. Method according to any of the preceding claims, characterized in that starting from the temporary parking position (15) of the motor vehicle (10), a starting position (14) for the motor vehicle (10) for carrying out the autonomous parking process into the parking zone (5, 6) is determined outside the parking zone (5, 6), in particular by the parking assistance system (12) of the motor vehicle (10), and the motor vehicle (10) is moved autonomously from the temporary parking position (15) to the starting position (14) out of the parking zone (5, 6), the autonomous parking into the parking zone (5, 6) being carried out after the starting position (14) has been reached, up to the final parking position (16) of the motor vehicle (10) in the parking zone (5, 6).

8. Method according to any of the preceding claims, characterized in that the autonomous parking process is determined by a parking assistance system (12) of the motor vehicle (10) depending on the orientation of the motor vehicle (10) in the temporary parking position (15), and / or depending on an orientation of the motor vehicle (10) in the final parking position (16) specified by the driver, and / or depending on environmental information and / or parking zone information that was acquired before and / or during the entry of the motor vehicle (10) into the parking zone (5, 6) to reach the temporary parking position (15), and / or depending on environmental information and / or parking zone information that was acquired in the temporary parking position (15) of the motor vehicle (10), and / or depending on environmental information and / or parking zone information that is acquired during the exit of the motor vehicle (10) from the parking zone (10) starting from the temporary parking position (15).

9. Method according to claim 8, characterized in that said information is acquired by at least one acquisition unit (13) of the motor vehicle (10).

10. Method according to claim 9, characterized in that information is acquired by at least two acquisition units (13) of the motor vehicle (10) which have different acquisition functions.

11. Method according to any of the preceding claims, characterized in that the motor vehicle (10) is completely moved out of the parking zone (5, 6) again during the autonomous parking process and is parked again from a starting position (14) outside the parking zone (5, 6) until it has reached the final parking position (16).

12. Method according to any of the preceding claims, characterized in that the motor vehicle (10) locks itself automatically after the driver has left the vehicle at least when the driver is outside a predetermined range of the motor vehicle (10), in particular regardless of whether it is still in the temporary parking position (15) or in the midst of the autonomous parking process or already in the final parking position (16).

13. Method according to any of the preceding claims, characterized in that at least when the motor vehicle (10) moves out of the parking zone (5, 6) onto an adjacent roadway (9) during the autonomous parking process, an optical warning device (22) of the motor vehicle (10) is activated by the parking assistance system (12) of the motor vehicle (10).

14. Parking assistance system (12) for a motor vehicle (10), having a control unit (23), wherein the parking assistance system (12) is designed to carry out a method according to any of the preceding claims, in particular has a computer program product for this purpose.

15. Motor vehicle (1) having a parking assistance system (12) according to claim 13.