METHOD FOR DETERMINING A PARKING POSITION FOR A MOTOR VEHICLE, DRIVER ASSISTANCE SYSTEM FOR CARRYING OUT SUCH A METHOD, AND MOTOR VEHICLE WITH A DRIVER ASSISTANCE SYSTEM

Description

[0001] According to claim 1, the invention relates to a method for determining or ascertaining a parking position for a motor vehicle that is not yet parked and is to be parked in a perpendicular parking space based on the determined or to be determined parking position. Furthermore, according to claim 8, the invention relates to a driver assistance system, in particular an at least partially automatic parking steering assistance system. Finally, according to claim 90, the invention relates to a motor vehicle, in particular a passenger car, equipped with such a driver assistance system.

[0002] Driver assistance systems that at least partially support a user, in particular the driver, of a motor vehicle when parking the vehicle, or corresponding methods, are known from the prior art. For example, US 10 606 272 B2 discloses a method for guiding a vehicle operating in a parking mode, wherein a control unit selects whether the vehicle to be parked is to be parked facing forward or backward in a parking space based on the parking orientation of at least one adjacently parked vehicle.

[0003] US Pat. No. 8,319,663 B2 discloses a parking assistance system with a parking assistance control unit, by means of which the width and depth of a parking space and the objects delimiting the parking space can be detected. The parking assistance control unit then defines a parking target position as an occupable parking space by comparing the width and depth of the parking space with the vehicle dimensions of a vehicle equipped with the parking assistance system.

[0004] Furthermore, EP 3 081 731 A1 discloses a method performed by a vehicle exit assistance system for optimizing the exit of an occupant from a vehicle equipped with this assistance system while the vehicle is parked. In this conventional method, a door opening space is determined based on seat occupancy detection. This space is required for the occupant identified by the seat occupancy detection to exit the vehicle through the corresponding door opening. Based on this, an optimal parking route and parking position are determined.

[0005] For example, EP 2 597 016 A1 discloses a parking assistance system for vehicles. Here, sensors can be used to detect an area in the vicinity of the vehicle in order to classify parked vehicles in that area with regard to their parking direction.

[0006] EP 2 597 016 A1 shows the features of the preamble of claim 1.

[0007] Furthermore, DE 10 2011 077 173 A1 discloses a method for determining a parking trajectory of a vehicle into a perpendicular parking space.

[0008] Furthermore, WO 2018 / 177702 A1 discloses a parking assistance system of a vehicle with which it can be determined whether there is a risk of collision between a door of the vehicle and a neighboring vehicle.

[0009] However, nowadays there is often the problem that parking spaces, especially perpendicular parking spaces, which are demarcated from one another, for example, by floor markings, cannot be fully or completely used because vehicles parked adjacent to this perpendicular parking space in their respective adjacent parking spaces are parked too close to the designated perpendicular parking space or even partially occupy the perpendicular parking space in which the vehicle is intended to be parked. In other words, the neighboring vehicles at least partially block the perpendicular parking space by parked on the floor markings or by overhanging the floor markings.While it might be possible under certain circumstances for the driver to exit their own vehicle using a conventional vehicle exit assistance system, situations may arise in which the optimal parking position determined by the vehicle exit assistance system no longer safely guarantees entry and, consequently, the driving away of a neighboring vehicle. For example, if the vehicle is parked according to the parking position determined by the vehicle exit assistance system, it could be too close to the neighboring vehicle, meaning that, for example, a driver's door of the neighboring vehicle can no longer be opened or can only be opened insufficiently, making it particularly difficult for the driver of the neighboring vehicle to enter their vehicle.There is also a risk that the driver of the neighboring vehicle may damage the vehicle equipped with the vehicle exit assistance system when attempting to open the driver's door.

[0010] This creates a risk of accidents between adjacent vehicles, and also increases the stress and / or frustration levels of the driver attempting to drive off in the adjacent vehicle, which can negatively impact road safety during the journey. The driver of the adjacent vehicle perceives the vehicle equipped with the vehicle exit assistance system as being particularly reckless. This entire problem is further exacerbated by the fact that in densely populated areas, such as large cities, parking space is generally scarce, and therefore, particularly efficient use of parking space is essential.

[0011] The object of the present invention is to enable particularly efficient and particularly safe parking of motor vehicles.

[0012] This object is achieved by a method having the features specified in claim 1, which is designed to determine a parking position for a motor vehicle. Furthermore, this object is achieved by a driver assistance system having the features specified in claim 8. Finally, this object is achieved by a motor vehicle having the features specified in claim 9.

[0013] Features, advantages, and advantageous embodiments of the driver assistance system according to the invention are to be regarded as features, advantages, and advantageous embodiments of the method according to the invention, wherein the means of the driver assistance system are used or can be used to carry out the method steps. Features, advantages, and advantageous embodiments of the driver assistance system according to the invention are to be regarded as features, advantages, and advantageous embodiments of the motor vehicle according to the invention, and vice versa.

[0014] According to the invention, a method for determining a parking position for a motor vehicle is proposed. The method determines or ascertains a parking position for the not-yet-parked motor vehicle, whereby the motor vehicle is then to be parked in a perpendicular parking space based on the determined or to-be-determined parking position. The motor vehicle to be parked based on the parking position is referred to below as the ego motor vehicle and is designed in particular as a motor vehicle, for example, a passenger car.

[0015] In the method, a transverse parking space is at least partially detected using sensors on the ego vehicle. In other words, the sensors on the ego vehicle generate data that characterize the transverse parking space, for example, representing a width, depth, etc. of the transverse parking space. Accordingly, in the method, the sensors provide a parking space data set that at least partially characterizes the transverse parking space, which is then made available to a control unit on the ego vehicle. The control unit is, in particular, the control unit of a driver assistance system, in particular a park steering assistance system. The parking space data set therefore at least partially characterizes the transverse parking space on / in which the ego vehicle is to park. This means that the prevailing conditions at the transverse parking space are characterized by the parking space data set.Consequently, the conditions characterizing the perpendicular parking space are provided to the control unit of the ego vehicle in data form, namely in the form of the parking space data set. The conditions that at least partially characterize the perpendicular parking space include—in addition to the width and depth of the perpendicular parking space—whether at least one other motor vehicle is parked adjacent, in particular directly adjacent, to the perpendicular parking space, the orientation or parking position of the adjacent parked motor vehicle in its parking space, objects in / at the perpendicular parking space, etc.

[0016] The method further provides that the parking position is determined by the control unit based on the parking space data record and on at least one access parameter of the ego motor vehicle, wherein the access parameter of the ego motor vehicle characterizes the opening possibility of at least one flap element of the ego motor vehicle. The at least one access parameter of the ego motor vehicle thus characterizes whether and to what extent the corresponding flap element of the motor vehicle can be opened when the ego motor vehicle has been parked in the perpendicular parking space. The flap element is, in particular, a door or other flap of the ego motor vehicle, wherein this flap or the corresponding flap element is adjustable between a closed position and at least one open position.In the closed position, which is formed by a first end stop of the flap element, an opening in an outer skin of the ego motor vehicle is completely closed by means of the flap element. In contrast, in a position of the flap element that differs from the closed position, that opening is at least partially open, which means that the flap element in this state is then at least partially adjusted to the open position as soon as the cap element has disengaged from the end stop of the closed position. At an end stop opposite or opposite to the first end stop along an adjustment path of the flap element, the cap element is completely adjusted to the open position and the associated opening in the outer skin of the ego motor vehicle is opened as wide as is possible during intended use of the flap element, in particular to its maximum.

[0017] Since typical motor vehicles have multiple flap elements, it is specifically intended that the number of access parameters of the ego vehicle corresponds to the number of flap elements of the ego vehicle. For example, if the ego vehicle has four doors and a cargo area flap, this means that these five flap elements of the ego vehicle are relevant for the method. In this case, the ego vehicle has, for example, five access parameters that must be considered separately. If additional flap elements of the ego vehicle are to be considered for the method, such as an engine compartment flap, a fuel tank flap, etc., the number of access parameters increases accordingly.

[0018] In order to enable particularly safe and efficient parking of the ego vehicle using the method, the invention provides that the parking position is determined based on at least one further access parameter of at least one further motor vehicle parked adjacent to the designated or intended parking position. The further access parameters of the at least one further motor vehicle are configured analogously to the previously described access parameters of the ego vehicle.

[0019] Accordingly, the parking position is determined by the control unit by processing or further processing the parking space data set, the at least one access parameter of the ego vehicle, and the at least one additional access parameter of the adjacently parked motor vehicle. In other words, the control unit evaluates the parking space data set and the access parameters of the ego vehicle together with the access parameters of the adjacent motor vehicle in order to determine or determine the parking position based on which the ego vehicle is ultimately to be or is parked in the parking space or perpendicular parking space.

[0020] By taking into account not only the access parameters of the ego vehicle but also the access parameters of the adjacently parked motor vehicle, the method ensures particularly efficient and particularly safe parking of the ego vehicle. This is because it not only focuses on particularly easy and low-effort exiting the ego vehicle, but also takes into account the orientation and / or opening option of at least one flap element of the adjacently parked motor vehicle. This ensures particularly easy opening of the corresponding flap element and, consequently, particularly easy entry into the adjacently parked motor vehicle. Consequently, the ego vehicle is parked particularly efficiently, with the adjacent parked motor vehicle being blocked to a particularly small extent.This reduces the risk that a user, in particular the driver, of the adjacent parked motor vehicle, when opening a corresponding flap element, for example a driver's door of the adjacent parked motor vehicle, will undesirably hit the ego vehicle, thereby damaging the adjacent parked motor vehicle and / or the ego vehicle. Furthermore, the driver of the adjacent parked motor vehicle perceives that the ego vehicle has been parked particularly considerately, which advantageously results in a particularly high level of acceptance of the ego vehicle and consequently of the driver assistance system of the ego vehicle. Furthermore, a stress level orThe frustration level of the driver of the adjacently parked vehicle when getting into the vehicle is advantageously particularly low, which subsequently leads to particularly high road safety, for example, when subsequently driving in the adjacently parked vehicle. Road safety depends to a large extent on the state of mind of (human) road users.

[0021] To determine the parking position, the control unit uses the parking space dataset and the access parameters, i.e., both the at least one access parameter of the ego vehicle and the at least one access parameter of the adjacently parked motor vehicle, to determine an orientation of a forward direction of travel of the ego vehicle relative to the perpendicular parking space. In other words, to determine the parking position, the control unit determines whether the ego vehicle is driving or should be driving forward or backward into / onto the perpendicular parking space.If the perpendicular parking space in / on which the ego vehicle is to be parked is bordered on the right and left by a respective adjacent parked motor vehicle, both of which are parked facing forward, the ego vehicle can be parked particularly efficiently by reversing between the two adjacent parked motor vehicles. A passenger side of the ego vehicle and a passenger side of one of the adjacent parked motor vehicles then face each other, whereby a driver side of the ego vehicle and a driver side of the corresponding other adjacent parked motor vehicle face each other. This makes it possible, for example, to choose a distance between the said passenger sides that is smaller than a distance between the said driver sides, whereby a particularly large amount of space or area is created in the area of ​​the respective driver door of the ego vehicle and the adjacent parked motor vehicle.Space is reserved so that both the driver of the ego vehicle and the driver of the corresponding adjacently parked vehicle can get in and out with minimal effort.

[0022] According to the invention, it has been found to be advantageous if the orientation of the forward direction of travel of the ego motor vehicle relative to the perpendicular parking space is further made dependent on a road type adjacent to the perpendicular parking space and / or a complexity of a driving maneuver required to drive into the perpendicular parking space and / or an orientation of a forward direction of travel of the adjacently parked motor vehicle and / or a loading state of a cargo space of the ego motor vehicle. In connection with the orientation of the forward direction of travel of the ego motor vehicle relative to the perpendicular parking space, i.e., whether the ego motor vehicle is parked backward or forward in the perpendicular parking space, a respective preferred orientation is provided.For example, if the perpendicular parking space borders a local road, meaning that the vehicle is driving into the perpendicular parking space while leaving the local road, determining the parking position preferably involves reversing into / into the perpendicular parking space. If the maneuver to be performed in the perpendicular parking space is particularly complex, for example, due to particularly high traffic volumes on the road adjacent to the perpendicular parking space, it can be provided that the vehicle enters the perpendicular parking space in a forward-facing direction in order to clear the road of the ego vehicle as quickly as possible and, preferably, to disrupt traffic flow on the road as little as possible.Furthermore, and as already described above, the orientation of the forward direction of travel of the ego motor vehicle can be selected based on a forward direction of travel of at least one adjacently parked motor vehicle or based on a respective forward direction of travel of adjacently parked motor vehicles. In order to enable particularly efficient and low-effort unloading or loading of the cargo space of the ego motor vehicle, for example a trunk, the orientation of the forward direction of travel of the ego motor vehicle can be determined accordingly in such a way that the user of the ego motor vehicle can open or close the corresponding flap element of the cargo space, for example the trunk lid, with particularly little effort and can reach it particularly easily beforehand.

[0023] A further advantageous embodiment of the method provides that, in order to determine the parking position by means of the control unit based on the parking space data set and the access parameters—that is, based on the access parameter(s) of the ego vehicle in conjunction with the access parameter(s) of the adjacently parked motor vehicle—a horizontal offset between a vertical longitudinal center plane of the ego vehicle and a vertical longitudinal center plane of the perpendicular parking space is determined. This means that the control unit determines the parking position, for example, such that the vertical longitudinal center plane of the ego vehicle and the vertical longitudinal center plane of the perpendicular parking space coincide, if this is possible due to the conditions at the perpendicular parking space characterized by the parking space data set and the access parameters.In this case, the horizontal offset between the longitudinal center planes is zero. Furthermore, the control unit can determine the parking position such that the vertical longitudinal center plane of the ego vehicle and the vertical longitudinal center plane of the perpendicular parking space diverge, if this is determined by at least one of the access parameters. In this case, the horizontal offset between the longitudinal center planes is not zero, which means that the ego vehicle is parked off-center relative to the perpendicular parking space, for example, to ensure safe entry and exit into and out of the ego vehicle and / or into and out of the adjacent parked motor vehicle.

[0024] It is provided that, based on an available width of the transverse parking space, on a width of the ego vehicle (ego vehicle width) and on the at least one access parameter that characterizes an open position of the flap element, the transverse parking space is categorized by means of the control unit as a safely usable transverse parking space, as a small transverse parking space, as a critical transverse parking space or as a transverse parking space that cannot be used safely. In this case, the available width of the transverse parking space is detected or determined by means of the sensor system of the ego vehicle, wherein the available width of the transverse parking space may deviate from a marked width of the transverse parking space. This is because - as already mentioned at the beginning - conditions may exist at the transverse parking space that make complete or partial access impossible.at least hinder the full use of the transverse parking space, for example if one of the neighboring motor vehicles parks partially on or above the floor markings of the transverse parking space. Accordingly, a transverse width between the floor marking lines is greater than the actually available width of the transverse parking space, so that the transverse parking space can only be used to the extent of the actually available width. Consequently, if at least one object, for example an adjacently parked motor vehicle, protrudes into the transverse parking space in which the ego motor vehicle is to park, the actual width of the transverse parking space available for parking is reduced by that object. If the transverse parking space is bordered on the right and left by an adjacent parked motor vehicle each, the available width of the transverse parking space is measured accordingly, for example, between the adjacent parked motor vehicles spaced apart from one another by the transverse parking space.The vehicle width of the ego vehicle or the ego vehicle width is known from the manufacture of the ego vehicle and is stored, for example, in a memory unit of the control unit or the driver assistance system. Accordingly, the control unit has access to information characterizing the ego vehicle width in data form to determine the parking position.

[0025] The at least one access parameter of the ego vehicle, which is used to categorize the perpendicular parking space, represents at least one open position of one of the ego vehicle's doors, for example the driver's door. It is known that a driver's door of a motor vehicle, when pivoted from a fully closed state toward a fully open position, is held in a first detent position which can be overridden by applying a further opening force, so that after overcoming the first detent position, the driver's door is then held in a second detent position, which represents a designated end stop in the open position of the driver's door. In other words, in order to fully adjust the driver's door to the open position, it must be pushed beyond the first detent position until the driver's door is fully open or, as intended, maximally open in the second detent position.In connection with the respective access parameter of the ego vehicle, this means that a first access parameter of the ego vehicle characterizes the driver's door in the first latching position, whereas a second access parameter, which differs from the first access parameter, characterizes the driver's door in the second latching position or in the fully open state. With the driver's door arranged in the respective latching position, there is a lateral space requirement that is necessary to adjust the driver's door or the corresponding flap element to the corresponding latching position. In other words, a first distance is provided on one side (driver's side or passenger side) of the ego vehicle, which is necessary to adjust the corresponding flap element to the first latching position.Furthermore, a second distance is provided on the same side, which is, on the one hand, greater than the first distance and, on the other hand, is required to adjust the corresponding flap element to the second locking position. Furthermore, a safety distance is provided on this side, which is smaller than the first distance, which is required for the ego motor vehicle, in particular the driver assistance system or at least partially automatic parking assistance system, to function as intended in order to provide the user or driver of the motor vehicle with the assistance functions for parking, in particular the method described herein.

[0026] During the process or during the execution of the process, the perpendicular parking space in which the ego vehicle is to be parked is categorized as a safely usable perpendicular parking space. This is the case if B ≥ b + 2 ⋅ d 2 with B:available width of the transverse parking space b:ego vehicle width d 2 : second distance.

[0027] If these conditions apply to the parked ego vehicle in the perpendicular parking space, it is possible to open the respective flap element, in particular the driver's door and the passenger door, to the maximum width on both the driver's and passenger sides of the ego vehicle, i.e., to adjust each to the second detent position. This ensures particularly easy and comfortable entry and exit for the ego vehicle users.

[0028] The transverse parking space on which the ego vehicle is to be parked is categorized as a small transverse parking space if b + 2 ⋅ d 2 > B ≥ b + 2 ⋅ d 1 with d 1 : first distance.

[0029] This means that the use of the perpendicular parking space for parking the owner's vehicle is at least limited, as under these conditions it is no longer possible to move both the passenger door and the driver's door to the second detent position or fully open them. However, it is possible to move the corresponding flap elements on the right and left sides of the owner's vehicle—i.e., the passenger door and the driver's door—to the first detent position. Although the respective doors are not fully open, they still allow entry and exit.

[0030] Furthermore, the transverse parking space on which the ego vehicle is to be parked is categorized as a critical transverse parking space if b + 2 ⋅ d 1 > B ≥ b + 2 ⋅ d S with d S : safety distance.

[0031] If the ego vehicle is parked in such a critical perpendicular parking space, it is no longer possible to adjust the passenger door or driver's door on either side of the ego vehicle to the first detent position. Consequently, the ego vehicle users would have to hold the respective door between the fully closed position and the first detent position, for example, to exit the ego vehicle. This is particularly time-consuming, making it impossible to exit the ego vehicle easily.

[0032] Finally, it is also conceivable that the perpendicular parking space is not suitable for safely parking the ego vehicle. In other words, the procedure can categorize the perpendicular parking space as an unsafe perpendicular parking space. This is the case if B < b + 2 ⋅ d S

[0033] In the case of the perpendicular parking space categorized as not being safe to use, the safety distance d S is still maintained on both the left and right sides of the ego vehicle, but opening the passenger door and / or driver's door is only possible to such an extent that safe exiting and entering of the ego vehicle can no longer be guaranteed.

[0034] It is advantageous for the method to know the parking category of the perpendicular parking space before the ego vehicle drives into the perpendicular parking space and ultimately parks there. For example, the recognized category of the perpendicular parking space can be provided to a user of the ego vehicle, in particular the driver, via an output unit (display, loudspeaker, etc.), whereupon the driver is given a choice as to whether to actually park in that perpendicular parking space or whether to continue searching for a parking space.

[0035] If, in this context, the perpendicular parking space is categorized as a small perpendicular parking space, it is preferred that the parking position is determined by means of the control unit in such a way that a comfortable distance from the adjacent parked motor vehicles is provided at at least one of the flap elements of the ego vehicle—for example, at the driver's door or the passenger door. Furthermore, it can optionally be provided that, before the ego vehicle enters the parking space, it is suggested that the passenger and / or another passenger of the ego vehicle on the passenger side exit / exit the ego vehicle. The output unit can be used for this purpose, for example.Therefore, if the comfort distance - which is the second distance - is provided on at least one side of the ego vehicle, even in the case of a transverse parking space that is at least partially restricted in its use, it is possible at least for the driver and / or passengers on the driver's side of the ego vehicle to adjust the speaking flap element to the second locking position in order to exit the ego vehicle particularly comfortably.

[0036] If the perpendicular parking space is categorized as a critical perpendicular parking space, it is preferred that the parking position be determined by means of the control unit in such a way that a minimum distance, which is the first distance, is provided to the adjacently parked motor vehicles at at least one of the flap elements of the ego motor vehicle. In this case, it can optionally be suggested that, before the ego motor vehicle drives into the critical perpendicular parking space, the passenger and / or passengers on the passenger side of the ego motor vehicle exit / exit the ego motor vehicle.If the perpendicular parking space is further restricted, so that the perpendicular parking space is no longer a small perpendicular parking space but a critical perpendicular parking space whose available width is smaller than that of a small perpendicular parking space, then at least the driver of the ego vehicle and / or passengers on one driver's side of the ego vehicle are able to move the corresponding flap element or the driver's door, or a door of the ego vehicle that is different from the driver's door and located on the driver's side of the ego vehicle, to the first detent position. This ensures efficient use of the parking space and continues to ensure that at least the driver can exit the ego vehicle if the ego vehicle has been positioned in the critical perpendicular parking space based on its parking position.

[0037] In a further embodiment, the sensor system, by means of which the perpendicular parking space is at least partially detected in order to provide the parking space data set, has two differently designed sensor units. For the method used to detect the perpendicular parking space, this means that the two differently designed sensor units of the sensor system are used, wherein a first of these sensor units detects a ground marking defining the perpendicular parking space and a second of these sensor units, which is designed differently from the first sensor unit, detects a free volume of the perpendicular parking space. Accordingly, the first sensor unit is a sensor unit by means of which parking marking detection can be carried out or is carried out. Accordingly, the second sensor unit is a sensor unit by means of which free volume detection can be carried out or is carried out.For example, the sensor unit for parking marking detection is a camera-based sensor system that detects the floor markings or parking markings and provides the control unit with a reference data set characterizing the floor markings or parking markings. The sensor unit for free volume detection, for example, is a radar sensor system that detects the free volume of the perpendicular parking space and provides the control unit with a free volume data set that partially characterizes the perpendicular parking space. The free volume of the perpendicular parking space is a volume of the perpendicular parking space that is free of objects, such as vehicles, pillars, and / or other solid objects. The free volume or free volume of the perpendicular parking space is arranged above a floor surface of the perpendicular parking space, i.e., it is limited at the bottom by the floor surface of the perpendicular parking space.

[0038] The free-volume data set and the reference data set are combined or linked with each other, for example, using the sensor technology, and in particular further processed to form the parking space data set or linked with the parking space data set. In other words, the parking space data set is provided to the control unit using the sensor technology based on the reference data set and the free-volume data set, and as a result, the control unit determines a corresponding parking position that characterizes safe parking of the ego vehicle in the perpendicular parking space.

[0039] By using two differently designed sensor units to detect the perpendicular parking space, particularly reliable detection of the actual free volume of the perpendicular parking space is ensured, with the floor markings of the perpendicular parking space or the parking space marking serving as a reference for the parking space data set. This makes parking using the method particularly intuitive for the user of the ego vehicle, since during unassisted parking, the (human) driver of the ego vehicle also uses the parking space markings or floor markings of the perpendicular parking space as a reference for the parking process.

[0040] If the free volume, which in simplified terms has a rectangular base area on the floor surface of the perpendicular parking space, and the, for example, rectangular parking markings are located at an angle to one another, deviating from the ideal case, the space in the perpendicular parking space that can actually be used for parking changes depending on the position of the free volume. This can be the case, for example, if at least one motor vehicle parked adjacent to the perpendicular parking space, in particular the two motor vehicles adjacent to the perpendicular parking space, are parked at an angle in their (perpendicular) parking spaces, which can impede entry into the perpendicular parking space. Furthermore, due to the inclined position of the adjacent parked motor vehicles along a longitudinal direction of the perpendicular parking space and / or along the forward direction of travel of the ego motor vehicle, there are different distances between the ego motor vehicle and the respective adjacent parked motor vehicle.In this context, the method provides that the available width of the transverse parking space is measured between the points of the adjacently parked motor vehicles in relation to a transverse direction of the transverse parking space which are arranged closest to each other due to the inclination of the adjacent motor vehicles.

[0041] Alternatively or additionally, it can be provided that the available width of the perpendicular parking space is determined only at the height of the driver's door of the ego vehicle. When determining the parking position, the control unit then takes into account that there may be a narrower distance between one of the neighboring vehicles and the ego vehicle away from the driver's door of the ego vehicle.

[0042] The invention further relates to a driver assistance system, which is particularly designed as an at least partially automatic parking assistance system. The driver assistance system or the at least partially automatic parking assistance system is designed to carry out the method according to the above description. This means that the driver assistance system has means configured to carry out method steps of the above-specified method.

[0043] The invention also includes further developments of the driver assistance system according to the invention that have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the driver assistance system according to the invention are not described again here.

[0044] Finally, the invention relates to a motor vehicle, in particular a passenger car, which has a driver assistance system as described above.

[0045] The invention also includes further developments of the motor vehicle according to the invention that have features already described in connection with the further developments of the method according to the invention or the driver assistance system according to the invention. For this reason, the corresponding further developments of the motor vehicle according to the invention are not described again here.

[0046] The invention also includes combinations of the features of the described embodiments.

[0047] An exemplary embodiment of the invention is described below. It shows: Fig. 1 is a schematic view of a parking area having at least three transverse parking spaces, of which an empty transverse parking space is bordered on the right and left by an adjacent parked motor vehicle, wherein an ego vehicle is to be driven into the empty transverse parking space; Fig. 2 is a schematic view of four parking situations, based on which a forward direction of travel of the ego vehicle is aligned with respect to the transverse parking space; Fig. 3 is a schematic view of the ego vehicle parked in the transverse parking space, wherein a longitudinal center plane of the ego vehicle and a longitudinal center plane of the transverse parking space diverge; Fig. 4 is a schematic view of the ego vehicle to illustrate distances relevant for parking; Fig. 5 is a flowchart to illustrate method steps of a method for determining a parking position for the ego vehicle, and Fig.6A schematic view of the perpendicular parking space, which is detected by two sensor units.

[0048] The embodiment explained below is a preferred embodiment of the invention.

[0049] In the figures, functionally identical elements are provided with the same reference numerals. A method for determining a parking position 1 for a motor vehicle 2, referred to below as the ego motor vehicle 2, a driver assistance system 3 for implementing the method, and the ego motor vehicle 2 itself are described together below.

[0050] This shows Fig. 1 in a schematic view, a parking area 4 which has at least three transverse parking spaces 5, of which an empty one (designated by reference numeral 6) of the transverse parking spaces 5 is bordered on the right and left by a directly adjacent parked motor vehicle 7. The ego motor vehicle 2 is to be driven into the transverse parking space 6 in order to park the ego motor vehicle 2 in the transverse parking space 6. For this purpose, the parking position 1 is determined by means of a sensor system 8 or by means of the driver assistance system 3 having the sensor system 8. Based on the determined or to be determined parking position 1, the ego motor vehicle 2 is to be aligned or positioned in / on the transverse parking space 6.For this purpose, the transverse parking space 6 is at least partially detected by means of the sensor system 8 of the ego motor vehicle 2, and a parking space data set that at least partially characterizes the transverse parking space 6 is generated and provided to a control unit 9 of the ego motor vehicle 2, in particular of the driver assistance system 3. This means that the control unit 9 can be a control unit of the driver assistance system 3. When the transverse parking space 6 is detected by the sensor system 8, conditions that have an effect on or in the transverse parking space 6 are detected. For example, the sensor system 8 detects a width and a depth of the transverse parking space 6 and / or whether the transverse parking space 6 is restricted by at least one object, i.e. whether the transverse parking space 6 cannot be fully or completely used due to the object.

[0051] In the method for determining the parking position 1 for the ego motor vehicle 2, access parameters 10 of the ego motor vehicle 2 are also taken into account. This means that the access parameters 10 are provided to the control unit 9 in data form, for example, stored in advance by means of a memory unit of the control unit 9. The access parameters 10 of the ego motor vehicle 2 characterize a respective opening possibility of cap elements 11 (see Fig. 4 ) of the ego motor vehicle 2. The respective flap element 11 is, for example, a driver's door 12 of the ego motor vehicle 2 or a passenger door 13 of the ego motor vehicle 2. It is known that a motor vehicle—and thus the ego motor vehicle 2—can have multiple flap elements 11, with the method then being applied analogously to these additional flap elements. This means that although only the driver's door 12 and the passenger door 13 are discussed below, these merely represent or exemplify each flap element of the ego motor vehicle 2.

[0052] In order to enable particularly safe and efficient parking of the ego motor vehicle 2, further access parameters 14 are provided to the control unit 9, which are also used to determine the parking position 1 for the ego motor vehicle 2. This means that the parking space data set, the access parameters 10 and the further access parameters 14 are provided to the control unit 9 for determining the parking position 1. The control unit 9 then forms the parking position 1 based on the access parameters 10, 14 and the parking space data set, which represents the orientation and / or positioning of the ego motor vehicle 2 before the ego motor vehicle 2 has finally been parked in / on the transverse parking space 6. In other words, the parking position 1 forms a target orientation or target positioning for the ego motor vehicle 2, which - in particular with the help of the driver assistance system 3 - is parked according to the determined ordetermined parking position 1 onto / into the transverse parking space 6. In this case, it is provided in particular that the driver assistance system 3, which is designed in particular as an at least partially automatic park steering assistance system, guides the ego motor vehicle 2 along a parking trajectory 15 onto / into the transverse parking space 6. It is particularly preferred if the ego motor vehicle 2 drives to the transverse parking space 6 for parking, i.e., carries out the parking, partially automatically, fully automatically, or autonomously by means of the driver assistance system 3 or park steering assistance system.

[0053] The additional access parameters 14 are assigned to the additional motor vehicles 7 that are parked adjacent to the parking position 1 and, as a result, are located or have been parked in a respective transverse parking space 5 directly adjacent to the transverse parking space 6. The additional access parameters 14 characterize an opening possibility of at least one flap element of the adjacently parked motor vehicle 7 and are each configured analogously to the access parameters 10 of the ego motor vehicle 2. In order to be able to incorporate the access parameters 14 into the method for determining the parking position 1, the additional access parameters 14 are provided to the control unit 9, for example, detected by the sensor system 8 of the ego motor vehicle 2. For example, the additional access parameters 14 characterize whether a respective driver's door or a respective passenger door of the correspondingly adjacently parked motor vehicles 7 faces the transverse parking space 6. Fig. 1 Due to the positional alignment of the adjacently parked motor vehicles 7 on the corresponding transverse parking spaces 5, the respective passenger doors of the adjacently parked motor vehicles 7 face the transverse parking space 6, onto which the ego motor vehicle 2 is to be driven using the method.

[0054] Fig. 2 shows in schematic view 4 parking situations a), b), c) and d), based on which a forward direction 16 of the ego vehicle 2 is aligned in relation to the respective transverse parking space 6. Based on a respective positional arrangement of the access parameters 10, 14, which in Fig. 2 a position of a respective driver's door 12 of the ego motor vehicle 2 and a respective driver's door of the adjacent parked motor vehicles 7 characterizes, particularly in connection with the parking situations b), c) and d), how a respective orientation of the forward travel direction 16 of the ego motor vehicle 2 in relation to the respective transverse parking space 6 and / or in relation to the adjacent parked motor vehicles 7 influences particularly convenient and low-effort access to the respective driver's door 12 of the ego motor vehicle 2 and / or to the respective driver's door of the adjacent parked motor vehicles 7. Thus, with the common orientation of the forward travel directions 16, 17, a constant distance is possible between the adjacent parked motor vehicles 7 and the ego motor vehicle 2, whereas - see parking situations a) and c) - a particularly large amount of space can advantageously be provided at the driver's doors.This becomes particularly clear in connection with the parking situation a), where the ego motor vehicle 2 has been parked off-center in the transverse parking space 6 in order to use the particularly generous space between the one in . Fig. 2 to the right of the adjacent parked motor vehicles 7 and the ego motor vehicle 2.

[0055] Furthermore, the respective orientation of the forward direction of travel 16 of the ego motor vehicle 2 in relation to the transverse parking space 6 can be determined based on a type of road from which the transverse parking space 6 is directly accessed. This means that the transverse parking space 6 and the road are adjacent to one another in such a way that, upon leaving the road, the vehicle can drive directly or immediately onto the transverse parking space 6. Thus, the orientation of the forward direction of travel 16 and, consequently, the parking position 1 in the transverse parking space 6 can depend on whether the road to which the transverse parking space 6 is adjacent is a federal highway, a motorway, a local road, a road used solely for parking space traffic, etc. With further reference to Fig. 1 Furthermore, the orientation of the forward direction of travel 16 when parking the ego motor vehicle 2 or for determining the parking position 1 of the ego motor vehicle 2 can be selected depending on the complexity of a driving maneuver required to park in the transverse parking space 6. Such a driving maneuver is characterized, for example, by the parking trajectory 15, which can vary depending on the conditions prevailing in the vicinity of the ego motor vehicle 2 or the transverse parking space 6, for example, depending on the traffic situation or traffic density. If, for example, there is a need to clear the street adjacent to the transverse parking space 6 particularly quickly in order to maintain traffic flow on this street, the parking position 1 or the transverse parking space 6 can be entered using a first parking trajectory 18.If traffic is light, a second parking trajectory 19 can be used to drive into parking position 1 and consequently into the transverse parking space 6, wherein the second parking trajectory 19 and the first parking trajectory 18 differ in particular in that the second parking trajectory 19 has at least one further move, since the ego motor vehicle 2 must first be reversed in order to then drive forward into the transverse parking space 6. Furthermore, a third parking trajectory 20 is conceivable, using which the ego motor vehicle 2 reverses into the transverse parking space 6 in one move, which likewise requires the possibility of reversing on the street adjacent to the transverse parking space 6, which may be prevented, for example, by particularly heavy traffic on the street or may at least be particularly costly or complex.

[0056] Furthermore, the orientation of the forward direction of travel 16 of the ego motor vehicle 2 with respect to the transverse parking space 6 can be determined based on the respective orientation of the forward direction of travel 17 of the respective adjacently parked motor vehicle 7. For example, it is conceivable that a respective orientation of the forward direction of travel 17 of the adjacently parked motor vehicles 7 is taken into account by orienting the ego motor vehicle 2 towards the transverse parking space 6 according to a majority of the motor vehicles 7 parked in the vicinity of the transverse parking space 6. In other words, the parking position 1 is determined by means of the control unit 9 such that the forward direction of travel 16 of the ego motor vehicle 2 in the transverse parking space 6 corresponds to a majority orientation of the respective forward directions of travel 17 of the adjacently parked motor vehicles 7.

[0057] In Fig. 2 In parking situations a), b), c), and d), a respective wall element 21 is shown, which at least makes access to a cargo area flap of the ego motor vehicle 2 difficult - see parking situations a) and b). Accordingly, it is expedient to determine the orientation of the forward direction of travel 16 of the motor vehicle 2 based on whether a user of the ego motor vehicle 2 requires access to the cargo area of ​​the ego motor vehicle 2. If this is the case, the method provides that the control unit 9 determines the parking position 1 such that the forward direction of travel 16 of the ego motor vehicle 2 points toward the corresponding wall element 21, so that the flap element of the cargo area of ​​the ego motor vehicle 2 is particularly easily accessible.

[0058] Fig. 3 shows a schematic view of the ego motor vehicle 2 parked in the transverse parking space 6, wherein a longitudinal center plane 22 of the ego motor vehicle 2 and a longitudinal center plane 23 of the transverse parking space 6 diverge. In other words, the parking position 1 has been determined or ascertained by the control unit 9 in such a way that the ego motor vehicle 2 has been parked off-center in the transverse parking space 6. In other words, the ego motor vehicle 2 has taken up parking position 1 in the transverse parking space 6, wherein the parking position 1 has been arranged off-center with respect to a transverse direction of the transverse parking space 6. The longitudinal center planes 22, 23 are thus spaced from one another by a horizontal offset 24, but (still) arranged parallel to one another. Both longitudinal center planes 22, 23 are perpendicular to the parking area 4, which has or contains the transverse parking spaces 5, 6.

[0059] In summary, the Fig. 3 with Fig. 2 - Parking situation a) and c) - the motivation to park off-center becomes particularly clear with regard to the access parameters 10, 14: Since the Fig. 3 Since the motor vehicle 7 shown on the right has been parked particularly close to the transverse parking space 6, there would be particularly little space on the driver's side of the ego motor vehicle 2 to open the driver's door 12 if the ego motor vehicle 2 had been parked centrally in the transverse parking space 6. Therefore, if the longitudinal center planes 22, 23 coincided, i.e., if the offset 24 between the longitudinal center planes 22, 23 were zero, the driver's exit from the ego motor vehicle 2 would at least be hindered, since the distance between the driver's side of the ego motor vehicle 2 and the passenger side of the motor vehicle 7 shown on the right would be disadvantageously particularly small. This is counteracted in the method by determining or ascertaining the parking situation 1 before the ego motor vehicle 2 drives into the transverse parking space 6 in such a way that the longitudinal center planes 22, 23 diverge, as explained.As a result, there is enough space between the ego motor vehicle 2 and the adjacent parked motor vehicle 7 shown on the right so that the driver of the ego motor vehicle 2 can open the driver's door 12 wide enough as intended to be able to get out with particularly little effort, i.e. comfortably.

[0060] To clarify the distances relevant for parking the ego motor vehicle 2, Fig. 4 a schematic view of the ego motor vehicle 2. The ego motor vehicle 2 has the ego motor vehicle width b, which in Fig. 4 bears the reference number 25. The available width B of the transverse parking space 6 (reference number 26) is measured in the present example between the adjacently parked motor vehicles 7, which are in Fig. 4 are merely indicated. If the transverse parking space 6 is selected for parking with the ego motor vehicle 2, wherein there is no object delimiting the transverse parking space 6 to the right and left of the transverse parking space 6, i.e., for example, no adjacently parked motor vehicle 7, it can alternatively be provided that the available width 26 (B) is measured between a floor marking or parking marking 27 defining the transverse parking space 6. The floor marking 27 is, in particular, a color marking on the parking area 4 in order to visually delimit the transverse parking spaces 5, 6 from one another, so that the driver of the motor vehicle 2, 7 to be parked can orient themselves using the floor marking 27.

[0061] As already explained above, the ego motor vehicle 2 has the flap elements 11, with reference to the driver's door 12 and the passenger door 13. The doors 12, 13 of the ego motor vehicle 2 can be adjusted to a respective first locking position 28 and a respective second locking position 29. In the respective locking positions 28, 29, the corresponding flap element 11 protrudes from the ego motor vehicle 2, forming a distance between the corresponding side of the ego motor vehicle 2 and a respective outer edge of the corresponding flap element 11. Here (explained using the example of the driver's door 12), in the second locking position 29 of the driver's door 12 on the driver's side of the ego motor vehicle 2, the second distance d 2 or the comfort distance is formed between the outer edge of the driver's door 12 and the ego motor vehicle 2, which in Fig. 4 which has the reference number 30.

[0062] If, however, the respective flap element 11 is adjusted to the first detent position 28, this means (again explained using the example of the driver's door 12) that the first distance d 1 , which is referred to as the minimum distance (reference number 31), is formed between the driver's side of the ego motor vehicle 2 and the outer edge of the driver's door 12.

[0063] The access parameters 10 of the ego motor vehicle 2 characterize the respective locking positions 28, 29 to which the corresponding flap element 11—for example, the driver's door 12 and / or the passenger door 13—is or can be adjusted. In other words, the access parameters 10 characterize the ability of the respective flap element 11 to be adjusted to the respective locking position 28, 29. Consequently, the access parameters 10 characterize which of the distances 30, 31 is formed between the corresponding side of the ego motor vehicle 2 and the corresponding outer edge of the respective flap element 11 when the respective flap element 11 is adjusted to the first locking position 28 or the second locking position 29.

[0064] For the safe parking of the ego motor vehicle 2 - in particular by means of the at least partially automatic parking steering assistance system - the safety distance d S (reference number 32) is determined on the right and left sides of the ego motor vehicle 2, which is required so that the ego motor vehicle 2 can safely enter the transverse parking space 6.

[0065] Fig. 5 shows a flow chart to illustrate the process steps of the method for determining the parking position 1 for the ego vehicle 2. In a first process step S1, the transverse parking space 6 is detected by the sensor system 8, in particular the dimensions of the transverse parking space 6 are recorded (see Fig. 4 ). In other words, the parking space data set then has dimensions of the transverse parking space 6, for example, the available width 26 (B). The parking space data set is then further processed by the control unit 9. In this case, the parking space data set at least partially characterizing the transverse parking space 6 is examined to determine whether, taking into account the ego vehicle width 25 (b), the comfort distance 30 or the second distance d 2 would be present on the right and left sides of the ego vehicle 2 if the parking position 1 were determined accordingly or if the ego vehicle 2 were then parked in the transverse parking space 6 according to the parking position 1. In other words, in method step S2, it is examined whether a driver as well as a front passenger or a passenger arranged on the front passenger side of the ego vehicle 2 can each adjust the responsive flap element 11 to the respective second detent position 29 or beyond.It is therefore investigated whether it would be possible for the ego motor vehicle 2 parked in parking position 1 to adjust both the driver's door 12 and the passenger door 13 to the second locking position 29. Expressed using a mathematical formula, it is investigated in method step S2 whether... B ≥ b + 2 ⋅ d 2

[0066] If this is the case, method step S2 is followed by a further method step S3, in which the transverse parking space 6 is categorized as a safely usable transverse parking space. Then, in a further method step S4, the parking position 1 is determined such that the ego motor vehicle 2, as soon as it is or is parked in the transverse parking space based on the parking position 1, is parked centrally between the adjacent parked motor vehicles 7 and in particular centrally on the transverse parking space 6. This means that in method step S4, the ego motor vehicle 2 or the parking position 1 is aligned such that the longitudinal center planes 22, 23 coincide as soon as the ego motor vehicle 2 is parked in the transverse parking space 6. In this case, due to the parking of the ego motor vehicle 2 in the transverse parking space 6, the second distance 30 or the comfort distance d 2 or a larger distance is then formed on both sides of the ego motor vehicle 2.

[0067] If, in method step S2, in which it is examined whether the flap elements 11 on both sides of the ego motor vehicle 2 can be adjusted to the respective second locking position 29 or further, it is determined that this would not be possible after the ego motor vehicle 2 has been parked in the transverse parking space 6, the dimensions of the transverse parking space 6 or the parking space data set are examined in a further method step S5 to determine whether the transverse parking space 6 is a small transverse parking space 6. Expressed in a mathematical formula, the transverse parking space 6 or the parking space data set characterizing the transverse parking space 6 is analyzed to determine whether the following applies: b + 2 ⋅ d 2 > B ≥ b + 2 ⋅ d 1

[0068] In a small perpendicular parking space 6 that is not a critical perpendicular parking space 6 (which will be examined further below), it is not possible for the ego vehicle 2, when parked as intended in the small perpendicular parking space 6, to simultaneously move the driver's door 12 and the passenger door 13 to the second detent position 29. Instead, it is only possible to move the corresponding door 12, 13 to the first detent position 28 and beyond - but not to the second detent position 29. Accordingly, method step S5 is followed by method step S6, in which the perpendicular parking space 6 is categorized as a small perpendicular parking space 6.

[0069] Method step S6 is then followed by a further method step S7, in which the parking situation in which the empty perpendicular parking space 6 is found is examined to determine whether a driver's door of the adjacent motor vehicle 7 parked to the right is facing the empty perpendicular parking space 6 and whether the comfortable distance 30 (d 2 ) can be established on at least one side of the ego motor vehicle 2. Here, "right" and "left" are to be understood with reference to the forward direction of travel 16 of the ego motor vehicle 2. Thus, if the driver's door of the right-parked motor vehicle 7 is directed toward the perpendicular parking space 6, the method provides in a further method step S8 that the parking position 1 is determined or specified such that the ego motor vehicle 2 is positioned centrally between the adjacent parked motor vehicles 7.Accordingly, when the ego vehicle 2 is parked, the first distance 31 or minimum distance d 1 or a greater distance (which is smaller than the comfort distance 30 or d 2 ) is established on both sides of the ego vehicle 2 based on the determined parking position 1. In other words, when the ego vehicle 2 is fully parked, the motor vehicle 7 parked on the right is at least at a distance of the first distance 31 (d 1 ) from the ego vehicle 2. The same applies to the motor vehicle 7 parked on the left: This is at least at a distance of the first distance 31 (d 1 ) from the ego vehicle 2.

[0070] If the driver's door of the motor vehicle 7 parked on the right faces away from the perpendicular parking space 6, instead of method step S8, another method step S9 is performed, in which the second distance 30 or comfort distance d 2 is established while parking the ego motor vehicle 2 based on the parking position 1 on the driver's side of the ego motor vehicle 2, i.e., to the vehicle 7 parked on the left, with at least the safety distance 32 (d S ) being established on the passenger side of the ego motor vehicle 2. In other words, the ego motor vehicle 2 is then aligned off-center between the adjacent parked motor vehicles 7 based on the parking position 1. Consequently, when determining the parking position 1, the offset 24 between the longitudinal center planes 22, 23 is selected or dimensioned such that when the ego motor vehicle 2 enters the parking position 1, the comfort distance 30 (d 2 ) is provided on the left side and at least the safety distance 32 (d S ) is provided on the right side.

[0071] If, in method step S5, in which it is checked whether the flap elements 11 or the doors 12, 13 on both sides of the ego motor vehicle 2 can be adjusted to the first locking position 28 or further, it is determined that this will not be possible after the ego motor vehicle 2 has been parked in the transverse parking space 6, the dimensions of the transverse parking space 6 or the parking space data record are examined in a further method step S10 to determine whether the transverse parking space 6 is a critical transverse parking space 6. Expressed in a mathematical formula, the transverse parking space 6 or the parking space data record characterizing the transverse parking space 6 is analyzed to determine whether the following applies: b + 2 ⋅ d 1 > B ≥ b + 2 ⋅ d S

[0072] In a critical perpendicular parking space 6, which is still a safely usable perpendicular parking space 6 (which will be examined further below), it is not possible for the ego vehicle 2, when parked as intended in the critical perpendicular parking space 6, to simultaneously move the driver's door 12 and the passenger door 13 to the first detent position 28. Instead, it is only possible to disengage the corresponding door 12, 13 from the fully closed position - but not to the first detent position 28. Accordingly, method step S10 is followed by method step S11, in which the perpendicular parking space 6 is categorized as a critical perpendicular parking space 6.

[0073] Method step S11 is then followed by a further method step S12, in which the parking situation in which the empty perpendicular parking space 6 is found is examined to determine whether a driver's door of the motor vehicle 7 parked to the right is facing the empty perpendicular parking space 6 and whether the minimum distance 31 (d 1 ) can be formed on at least one side of the ego motor vehicle 2. If the driver's door of the motor vehicle 7 parked to the right is facing the perpendicular parking space 6, the method provides in a further method step S13 that the parking position 1 is determined or specified in such a way that the ego motor vehicle 2 is arranged centrally between the adjacent parked motor vehicles 7. Accordingly, when the ego motor vehicle 2 is parked, the safety distance d S or a greater distance (which is smaller than the minimum distance 31 ord 1 is formed). In other words, when the ego motor vehicle 2 is completely parked, the motor vehicle 7 parked on the right is spaced from the ego motor vehicle 2 by at least the safety distance 32 (d S ). The same applies to the motor vehicle 7 parked on the left: This is spaced from the ego motor vehicle 2 by at least the safety distance 32 (d S ).

[0074] If the driver's door of the motor vehicle 7 parked on the right faces away from the perpendicular parking space 6, instead of method step S13, another method step S14 takes place, in which the first distance 31 or minimum distance d 1 is established while parking the ego motor vehicle 2 based on the parking position 1 on the driver's side of the ego motor vehicle 2, i.e., to the vehicle 7 parked on the left, with at least the safety distance 32 (d S ) being established on the passenger side of the ego motor vehicle 2. In other words, the ego motor vehicle 2 is then aligned off-center between the adjacent parked motor vehicles 7 based on the parking position 1. Consequently, when determining the parking position 1, the offset 24 between the longitudinal center planes 22, 23 is selected or dimensioned such that when the ego motor vehicle 2 enters the parking position 1, the first distance 31 (d 1 ) is provided on the left side and at least the safety distance 32 (d S ) is provided on the right side.

[0075] If, in method step S10, in which it is checked whether the flap elements 11 or the doors 12, 13 on both sides of the ego motor vehicle 2 can be adjusted to the first locking position 28 or further, it is determined that, after the ego motor vehicle 2 has been parked in the transverse parking space 6, the doors cannot be adjusted to the first locking position 28, the transverse parking space 6 is then a transverse parking space 6 that cannot be used safely. This means that the transverse parking space 6 fulfills the following condition: B < b + 2 ⋅ d S

[0076] A perpendicular parking space 6 with such a width 26 (B) does not offer sufficient space on the right and left sides of the ego motor vehicle 2 to drive safely – in particular at least partially automatically, fully automatically, or autonomously – into / onto the perpendicular parking space 6 with the ego motor vehicle 2 in order to park it there. In this case, method step S10 is followed by a further method step S15, in which the perpendicular parking space 6 is categorized as a perpendicular parking space 6 that cannot be used safely ("is too small"). After this method step S15, the parking space search must then be continued or the ego motor vehicle 2 must be parked manually, with particular attention being paid to the parking maneuver and to opening the flap elements 11 in order not to damage the adjacent parked motor vehicles 7 when parking the ego motor vehicle 2.

[0077] Fig. 6 shows a schematic view of the transverse parking space 6, which is detected by means of two sensor units 33, 34. The sensor units 33, 34 are in particular part of the driver assistance system 3, preferably the sensor system 8. This means that the ego motor vehicle 2, which is equipped with the driver assistance system 3, has the sensor system 8 and consequently the sensor units 33, 34. When detecting the transverse parking space 6 with the two sensor units 33, 34, the first sensor unit 33 detects the floor marking 27 of the transverse parking space 6. Furthermore, the second sensor system 34 detects, for example simultaneously or subsequently, a free volume 35 of the transverse parking space 6. The free volume 35 of the transverse parking space 6 is characterized in that it is free of objects, in particular motor vehicles 7, so that the free volume 35 of the transverse parking space 6 is available for parking or can be used.Furthermore, the free volume 35 is arranged above the parking area 4, i.e. the free volume 35 is limited at its bottom by the parking area 4.

[0078] By detecting the floor marking 27 of the perpendicular parking space 6, the first sensor unit 33 provides a reference data set. For example, the first sensor unit 33 provides the reference data set to the control unit 9. Accordingly, the second sensor unit 34 provides a free volume data set by detecting the free volume 35. In particular, the second sensor unit 34 provides the free volume data set to the control unit 9. The reference data set and the free volume data set are then further processed by the control unit 9 to form the parking space data set or are data-technically associated with or linked to the parking space data set, so that the control unit 9 subsequently determines or establishes parking position 1 based on the reference data set and the free volume data set, and possibly based on the parking space data set.

[0079] The first sensor unit 33, by means of which the floor marking 27 of the perpendicular parking space 6 is detected, is designed in particular as an image-processing sensor unit. This means that the floor marking 27 of the perpendicular parking space 6 is detected by the image-processing sensor unit 33. In contrast, the second sensor unit 34 is a sensor unit based on a different sensor principle than the first sensor unit 33. In the present example, the sensor unit 34 is designed as a radar sensor unit.

[0080] By detecting the transverse parking space 6 by the at least two sensor units 33, 34, the parking space data set that characterizes the transverse parking space 6 particularly precisely can be generated, whereupon the parking position 1 can be determined or ascertained particularly efficiently in relation to the transverse parking space 6. Furthermore, in a parking situation as in Fig. 6 is shown, the free volume 35 - which is assumed for the sake of simplicity to have a rectangular base area - and the floor marking 27 - which is also assumed for the sake of simplicity to delimit a rectangular transverse parking space 6 - lie diagonally towards one another. This is - as shown - the case in the following example, since the motor vehicles 7 parked adjacent to the transverse parking space 6 have been arranged or parked diagonally in their respective transverse parking space 5. In this case, it may be that central parking of the ego motor vehicle 2 in relation to the floor markings 27 would hinder the opening of at least one flap element 11 of the ego motor vehicle 2, so that, starting from the Fig. 6 In the parking situation shown, the method can provide for parking off-center between the floor markings 27 of the transverse parking space 6. On the one hand, there is the possibility of equating the available width B with an edge length 36 of a rectangular free space 37, wherein the width or edge length 36 of the rectangular free space 37 is present between a first point of the motor vehicle 7 parked adjacent to the left and a second point of the motor vehicle 7 parked adjacent to the right, wherein these two points of the adjacent parked motor vehicles 7, which determine the edge length 36, are each arranged closest to the transverse parking space 6. This means that in order to establish the parking position 1, the available width 26 of the transverse parking space 6 is determined by the edge length 36 of the free space 37.

[0081] Alternatively, the method can be designed to determine the available width 26 of the transverse parking space 6 only at the level of the driver’s door 12 of the ego vehicle 2. This is Fig. 6 characterized by a distance 38 that exists between the adjacent motor vehicle 7 parked to the left and the adjacent motor vehicle 7 parked to the right, specifically at the level of the driver's door 12 of the ego motor vehicle 2 when the latter is parked in the transverse parking space 6. In other words, the distance 38 between the adjacent parked motor vehicles 7 with respect to the parking position 1 is measured between the motor vehicles 7 where, according to the parking position 1, the driver's door 12 of the ego motor vehicle 2 will be located. This distance 38 is then used as the available width 26 (B) to determine, for example, the offset 24. Bezugszeichenliste

[0082] 1Parking position 2Ego-powered vehicle 3Driver assistance system 4Parking area 5Perpendicular parking space 6Perpendicular parking space 7Motor vehicle 8Sensors 9Control unit 10Access parameters 11Flap element 12Driver's door 13Passenger door 14Access parameters 15Parking trajectory 16Forward travel direction 17Forward travel direction 18First parking trajectory 19Second parking trajectory 20Third parking trajectory 21Wall element 22Longitudinal center plane 23Longitudinal center plane 24Offset 25Vehicle width 26Available width 27Floor marking 28First detent position 29Second detent position 30Second distance (comfort distance) 31First distance (minimum distance) 32Safety distance 33Sensor unit 34Sensor unit 35Free volume 36Edge length 37Free space 38Distance S1Process step S2Process step S3Process step S4Process step S5Process step S6Process step S7Process step S8Process step S9Process step S10Process step S11Process step S12Process step S13Process step S14Process step S15Process step

Claims

1. Method for determining a parking position (1) for a motor vehicle (2), wherein a perpendicular parking space (6) is detected by means of a sensor system (8) of the motor vehicle (2) and a parking space data set characterizing the perpendicular parking space (6) is provided to a control unit (9) of the motor vehicle (2), and the parking position (1) is determined by the control unit (9) on the basis of the parking space data set and on the basis of an access parameter (10) of the motor vehicle (2) which characterizes an opening possibility of at least one panel element (11, 12, 13) of the motor vehicle (2), and the parking position (1) is established on the basis of a further access parameter (14) of a further motor vehicle (7) that is parked adjacently to the parking position (1), characterized in that to determine the parking position (1) by means of the control unit (9) on the basis of the parking space data set and on the basis of the access parameters (10, 14), an orientation of a forward driving direction (16) of the motor vehicle (2) in relation to the perpendicular parking space (6) is determined, and the orientation of the forward driving direction (16) of the motor vehicle (2) in relation to the perpendicular parking space (2) is further determined on the basis of at least one of the following conditions: - type of road adjacent to the perpendicular parking space (6), - complexity of a driving maneuver (15, 18, 19, 20) required to drive into the perpendicular parking space (6), - orientation of a forward driving direction (17) of the adjacently parked motor vehicle (7), loading state of a storage space of the motor vehicle (2), and wherein, on the basis of an available width (26, B) of the perpendicular parking space (6), a motor vehicle width (25, b) and the access parameter (10) which characterizes an open position of the panel element (11, 12, 13), the perpendicular parking space (6) is assigned to one of the following categories by means of the control unit (9): - safe perpendicular parking space (6), - small perpendicular parking space (6), - critical perpendicular parking space (6), - perpendicular parking space (6) unsafe for use.

2. Method according to claim 1, characterized in that to determine the parking position (1) by means of the control unit (9) on the basis of the parking space data set and on the basis of the access parameters (10, 14), an offset (24) between a vertical longitudinal center plane (22) of the motor vehicle (2) and a vertical longitudinal center plane (23) of the perpendicular parking space (6) is determined.

3. Method according to claim 1 or claim 2, characterized in that the assigned category of the perpendicular parking space (6) is provided to a user of the motor vehicle (2), in particular via an output unit, whereupon the user is provided with a selection option as to whether parking should actually take place in the perpendicular parking space (6) or whether a parking space search should be continued.

4. Method according to any of the preceding claims, characterized in that the available width (26, B) of the perpendicular parking space (6) is determined at the level of a driver's door (12) of the motor vehicle (2), and, in particular when determining the parking position (1), it is then taken into account thereby that away from the driver's door of the motor vehicle (2) there may be a closer distance between one of the adjacent motor vehicles (7) and the motor vehicle (2).

5. Method according to any of the preceding claims, characterized in that if the perpendicular parking space (6) is categorized as a small perpendicular parking space (6), the parking position (1) is determined by means of the control unit (9) in such a way that a comfort distance (30, d2) with respect to the adjacently parked motor vehicle (7) is provided to at least one of the panel elements (11, 12, 13) of the motor vehicle (2).

6. Method according to any of the preceding claims, characterized in that if the perpendicular parking space (6) is categorized as a critical perpendicular parking space (6), the parking position (1) is determined by means of the control unit (9) in such a way that a minimum distance (31, d1) with respect to the adjacently parked motor vehicle (7) is provided to at least one of the panel elements (11, 12, 13) of the motor vehicle (2).

7. Method according to any of the preceding claims, characterized in that to detect the perpendicular parking space (6), two sensor units (33, 34) of the sensor system (8) which are designed differently from one another are used, a first of these sensor units (33, 34) detecting a ground marking (27) defining the perpendicular parking space (6) in order to provide the control unit (9) with a reference data set partially characterizing the perpendicular parking space (6), and a second of these sensor units (33, 34) detecting a free volume (35) of the perpendicular parking space (6) in order to provide the control unit (9) with a free volume data set partially characterizing the perpendicular parking space (6), so that the parking space data set is provided to the control unit (9) by means of the sensor system (8) on the basis of the reference data set and the free volume data set and as a result a corresponding parking position (1) is determined.

8. Driver assistance system (3) which is designed to carry out a method according to any of the preceding claims for determining a parking position (1) for a motor vehicle (2).

9. Motor vehicle (2) comprising a driver assistance system (3) designed according to claim 8.