METHOD FOR SUPPORTING A PARKING PROCESS, PARKING ASSISTANCE SYSTEM AND COMPUTER PROGRAM

Description

[0001] The invention relates to a computer-implemented method for supporting a parking operation of a vehicle from a starting position to a parking position in a perpendicular parking space, a parking assistance system and a computer program.

[0002] Various parking assistance systems are known from the state of the art that can support the parking process. For example, they can provide the driver with hints or instructions, such as regarding steering behavior. In addition, the parking process can be carried out partially or fully automatically by influencing or even taking over the lateral and possibly also the longitudinal control of the vehicle. With automatic lateral control, the parking assistance system takes over the steering of the vehicle. Longitudinal control, on the other hand, concerns the acceleration and braking of the vehicle, as well as any changes of direction between forward and reverse driving, which, depending on the degree of automation, can also be partially or fully taken over by the parking assistance system.

[0003] Parking assistance systems can support or carry out the parking process in parallel parking spaces and / or perpendicular parking spaces, whereby parallel parking spaces are essentially parallel to the direction of travel of the main traffic or to the roadway and perpendicular parking spaces are essentially perpendicular to the direction of travel of the main traffic or to the roadway.

[0004] Parking in perpendicular parking spaces, in particular, often presents a dangerous situation, as it frequently requires corrective maneuvers to reach the desired parking position. These maneuvers often necessitate re-entering the roadway after the vehicle has already entered the perpendicular parking space. This can cause following traffic to accelerate again, obstructing the corrective maneuver. Consequently, a collision can occur between the following traffic and the parking vehicle performing the corrective maneuver.

[0005] To avoid accidents, a method for preventing accidents with following traffic during an automated parking maneuver of a motor vehicle with a parking assistance system with at least automatic lateral guidance is known, for example, from DE 10 2014 220 298 A1. If it is determined that a corrective maneuver is necessary to reach the parking position, the system prevents the vehicle from entering the parking space so deeply that the driver would no longer have a clear view of following traffic due to an obstruction caused by a vehicle bordering the parking space.

[0006] To determine if a vehicle is parked too deeply in a perpendicular parking space, a line of sight is defined, typically formed by the rear or front of one or more vehicles bordering the space, as viewed from the road. A reference point is then defined, for example, on the line connecting the two B-pillars of the vehicle. It is then checked whether this reference point reaches or exceeds the line of sight, possibly with a specific offset.

[0007] Determining the line of sight requires appropriate monitoring of the vehicle's surroundings and localization of the vehicles bordering the perpendicular parking space using suitable environmental sensors, as the line of sight is determined by the position of these vehicles. Furthermore, situations may arise where the line of sight cannot be determined, or cannot be reliably determined, for example, if the perpendicular parking space is only bordered on one side by a vehicle, or in cases of non-straight road layouts where the front or rear of the vehicles bordering the parking space are not parallel to each other. These situations can also lead to a complex and computationally intensive determination of the line of sight.

[0008] The procedure described in DE 10 2014 220 298 A1 can indeed prevent the driver's view of the parking vehicle from being obstructed by neighboring parked vehicles, thus allowing the driver to adequately observe following traffic when making corrections. However, regardless of the question of a line of sight between the driver and following traffic, the following traffic itself presents a further source of danger. A situation can arise in which following traffic accelerates again or doesn't even stop before the parking maneuver is complete and the parking position has not yet been reached.A corrective maneuver may be necessary, for example, if the parking vehicle has already entered the perpendicular parking space too far and a corrective maneuver is no longer expected, and / or if it is already possible to drive around the vehicle that has entered the perpendicular parking space without obstructing oncoming traffic. This could potentially lead to a collision between the parking vehicle and the following traffic while the corrective maneuver is being carried out.

[0009] The method proposed in DE 10 2014 220 298 A1 can also potentially ensure that the parking vehicle remains visible to following traffic during the parking process until shortly before reaching its final parking position. However, the extent of this effect is highly dependent on the definition of the reference point with respect to the end of the parking vehicle furthest from the perpendicular parking space and therefore cannot be reliably achieved. Depending on the design of the parking vehicle, for example, the length of the front hood, the degree of visibility may vary.Whether it's a van with a short hood, a sports car with a long hood, or the specific design of the vehicle's rear, and depending on whether it's a forward or reverse parking maneuver, a more or less significant portion of the parking vehicle remains visible to following traffic, and a more or less significant section of the roadway is blocked by the parked vehicle. In other words, the mere existence of a line of sight does not necessarily mean that the roadway is blocked for following traffic, especially if the driver of the parking vehicle is seated very far forward (when parking forwards) or very far back (when parking backwards).The definition of sight line and reference point proposed in DE 10 2014 220 298 A1 is therefore not suitable to reliably prevent following traffic from accelerating again or not stopping at all during the parking process, even though the parking process has not yet been completed and the parking position has not yet been reached.

[0010] Against this background, the object of the invention is to provide a method, a parking assistance system and a computer program with which the disadvantages described above can be avoided and road safety can be increased.

[0011] This problem is solved by the subject matter of the independent claims. The dependent claims relate to embodiments of these solutions according to the invention.

[0012] A fundamental idea of ​​the present invention is to release the traffic space for following traffic only when no further corrective maneuvers are required during a parking maneuver. This is achieved by keeping the parking vehicle occupying this space, so that it is obvious to following traffic that the parking maneuver is not yet complete and that further corrective maneuvers are still to be expected. Dangerous situations caused by the vehicle re-entering the traffic space during a corrective maneuver can thus be avoided.

[0013] A first aspect of the invention relates to a computer-implemented method for supporting a parking operation of a vehicle from a starting position to a parking position in a perpendicular parking space.

[0014] A vehicle can be understood as any mobile means of transport, such as a passenger car. The vehicle has a parking assistance system that can support the parking process. In a simple design, the parking assistance system gives the driver hints or instructions. In a more advanced design, the parking assistance system can be configured for automatic lateral guidance of the vehicle. This means that the steering of the vehicle is automatically taken over by the parking assistance system. In a further development, the parking assistance system can be configured for automatic lateral and longitudinal guidance of the vehicle. This means that, in addition to steering the vehicle, braking and acceleration of the vehicle, as well as changes of direction between forward and reverse driving, e.g.,Control of the vehicle's transmission can be carried out partially or fully automatically. The latter is also referred to as "fully assisted parking" in English.

[0015] The proposed method comprises the steps described in more detail below. These steps can be performed in the order listed, but can also be carried out simultaneously, overlapping in time, or in a different order, as required. The method will be computer-implemented; that is, at least one, and preferably several or all, of the method steps will be executed using a computer program.

[0016] The first step of the process involves determining a trajectory, i.e., a movement path, for moving the vehicle into the parking position with at least one parking maneuver. The trajectory can be determined, for example, from the starting position to the parking position. In addition, the trajectory can be updated periodically or continuously, so that the trajectory is determined from the vehicle's current position to the parking position. The trajectory can be designed for execution in either the forward or reverse direction, depending, for example, on whether the parking maneuver is to be performed forwards or backwards. In other words, the proposed method is applicable regardless of the direction of travel, i.e., for parking both in reverse and forwards.

[0017] Depending on the design of the parking assistance system, the trajectory can be displayed to the driver, allowing them to execute their maneuver accordingly. Alternatively, the trajectory can be used for automatic lateral and, if necessary, longitudinal guidance of the vehicle.

[0018] The trajectory includes at least one parking maneuver. The first parking maneuver begins in the starting position. A parking maneuver is a driving maneuver performed in the direction of the parking position, i.e., the vehicle approaches the parking position. Accordingly, when parking in reverse, all parking maneuvers are performed in reverse, and when parking in forward, all parking maneuvers are performed in forward.

[0019] In addition, the trajectory may include one or more correction maneuvers. A correction maneuver is a driving maneuver in which the vehicle moves away from its parking position. Accordingly, when parking in reverse, all correction maneuvers are performed in the forward direction, and when parking forward, all correction maneuvers are performed in reverse.

[0020] During the parking process, parking maneuvers and correction maneuvers alternate; that is, after each correction maneuver, a parking maneuver is performed, and after each parking maneuver, a correction maneuver is performed if the parking position has not yet been reached. The parking process therefore comprises n parking maneuvers and n-1 correction maneuvers, where n ≥ 1. Each parking maneuver and each correction maneuver typically begins and ends with the vehicle stationary and is completed in either the forward or reverse direction, according to the determined trajectory. Consequently, each parking maneuver and each correction maneuver begins with a change of direction compared to the immediately preceding correction or parking maneuver.

[0021] InIn a further step, the system checks whether the trajectory requires one or more corrective maneuvers. Corrective maneuvers are necessary, for example, if the desired parking position cannot be reached with the first parking maneuver. Various criteria can be defined to determine whether the desired parking position has been reached. Such criteria might include the distance of the vehicle to the vehicles bordering the perpendicular parking space or a rotation between the vehicle's orientation and the orientation of the parking space.

[0022] In a further process step, a blocking line is defined. The blocking line runs longitudinally through the vehicle positioned in its initial position. "Longitudinally" means that the blocking line intersects the rear and front of the vehicle, i.e., it runs through both the rear and front of the vehicle. The blocking line is defined independently of the design and boundaries of the perpendicular parking space, and in particular independently of any vehicles bordering the perpendicular parking space. This eliminates the need for corresponding environmental sensors and allows the blocking line to be defined with less computational effort compared to the prior art. Furthermore, the blocking line is also suitable for other applications compared to the line of sight known from the prior art, e.g., on roads with non-straight lines, thus preventing the rear or front of the vehicle from being obstructed.The front sides of the vehicles bordering the perpendicular parking space are not arranged parallel to each other, so that the proposed method can be used more broadly.

[0023] The process step of defining the blocking line can occur before, after, overlapping with, or simultaneously with determining the trajectory and checking whether the trajectory includes one or more corrective moves. Optionally, defining the blocking line can also be conditional upon the trajectory including one or more corrective moves.

[0024] If it is determined that the trajectory requires one or more corrective maneuvers, a further step is to determine whether the blocking line will be cleared by the vehicle during a previous parking maneuver before the final parking maneuver is executed. In other words, it is checked whether a parking maneuver, other than the final one, has been or would be executed far enough towards the parking position that the blocking line has been or would be cleared, at least temporarily. The phrase "during a previous parking maneuver" means that any short period of time the blocking line is clear is sufficient; it does not mean that the blocking line must be clear for the entire duration of the previous parking maneuver.

[0025] A release of the blocking line is to be affirmed if the vehicle has already released the blocking line as part of a parking maneuver at the time of the test, or if, during a movement of the vehicle along the trajectory as part of a parking maneuver, the blocking line will be released before the vehicle performs the last parking maneuver.

[0026] If the blocking line is cleared by the vehicle before the final parking maneuver is executed, during a previous parking maneuver, a signal is issued. The blocking line can be considered cleared by the vehicle, for example, if the vehicle's contour no longer touches or intersects the blocking line. The vehicle's contour corresponds to its outer boundary line.

[0027] Furthermore, the system will not only check whether the blocking line will be cleared before the vehicle executes the final parking maneuver during a previous parking maneuver, but also whether the blocking line will be cleared before the vehicle executes the final parking maneuver during a previous corrective maneuver. In other words, it will be checked whether the blocking line has been cleared before the final parking maneuver, either in the direction of the side facing the parking position or in the direction away from the parking position.

[0028] This prevents following traffic from passing between the parking vehicle and the perpendicular parking space, for example if a particularly wide exit from the perpendicular parking space is required as part of a correction maneuver.

[0029] The signal output can, for example, trigger the determination of a corrected trajectory. The correction is carried out in such a way that the vehicle is prevented from releasing the blocking line before the final parking maneuver is completed.

[0030] The corrected trajectory can then be displayed to the driver, allowing them to adjust their driving maneuver accordingly. Alternatively, the corrected trajectory can be used as the basis for automatic lateral and, if necessary, longitudinal guidance of the vehicle. In other words, the procedure can include automatic lateral and, if necessary, longitudinal guidance of the vehicle along the corrected trajectory.

[0031] Alternatively or additionally, the signal can interrupt the parking maneuver and issue a warning message, for example, to the vehicle's driver. This warning message could, for instance, instruct the driver to pay attention to following traffic. Furthermore, the parking maneuver can be scheduled to resume only after a confirmation signal is received, indicating that the area of ​​the correction and / or parking maneuver is clear. This confirmation signal could, for example, be initiated by the driver.

[0032] Releasing or not releasing the blocking line is essentially equivalent to releasing or not releasing the traffic space required for corrective maneuvers and parking maneuvers to reach the parking position. For this purpose, the blocking line is positioned in such a way that subsequent vehicles are prevented from entering this traffic space until the parking vehicle has released the blocking line.

[0033] As a result, the parking maneuver can be completed more quickly, since an interruption from following traffic is not to be expected. Furthermore, traffic safety is increased for both the parking vehicle and following traffic, as following traffic can only start moving or accelerate again after the parking maneuver is complete, or shortly before it is completed, when no further corrective maneuver back towards the roadway is necessary.

[0034] Investigations by the inventors of the present invention also showed that a straight course of the blocking line through the vehicle positioned in the initial position in the longitudinal direction is sufficient in almost all applications to define the traffic space to be kept clear for the execution of the corrective maneuvers. Defining the traffic space to be kept clear as such with specific planar or spatial boundaries is therefore unnecessary. Further calculations can be carried out more easily and efficiently by considering the blocking line than by considering a two-dimensional surface or even a three-dimensional space.

[0035] If a corrected trajectory is determined to prevent the vehicle from clearing the blocking line before completing the final parking maneuver, this corrected trajectory can advantageously be taken into account within the framework of at least automatic lateral guidance of the vehicle. This enables safe, at least partially automatic, parking of the vehicle.

[0036] The demanding task of monitoring following traffic and the overall traffic situation during the parking process, e.g., in an SAE Level 2 system, can be supported, thus improving both road safety and driving comfort. Furthermore, the invention can also be applied to autonomous vehicles of SAE Level 4-5 and enable parking of driverless vehicles in combination with other functions and methods.

[0037] If the signal interrupts the parking maneuver and issues a warning to the driver, traffic safety during parking is increased because the driver is alerted to the potentially dangerous situation. Furthermore, if the parking maneuver can only be continued after a confirmation signal indicating a clear roadway in the area of ​​the correction and / or parking maneuver, the driver is (re)involved in the parking process, and traffic safety is enhanced by the driver's additional monitoring of the roadway.

[0038] The following explains various ways in which the blocking line can be set.

[0039] Depending on the design, the blocking line can be defined as running in a straight line and / or parallel to a boundary of the roadway.

[0040] The blocking line can therefore be a straight line in the geometric sense. This allows for easy definition of the blocking line and verification of whether the blocking line will be cleared before the vehicle executes its final parking maneuver.

[0041] Alternatively or additionally, the blocking line can run parallel to a lane boundary. A minimum distance between the lane boundary and the blocking line can be specified. This advantageously allows for blocking the traffic area in the perpendicular parking space, even on curved roads.

[0042] According to further design variants, the blocking line can be defined as running parallel to a longitudinal axis of the vehicle.

[0043] The longitudinal axis of a vehicle is the axis that runs in the direction of the vehicle's greatest extent. Typically, the longitudinal axis runs centrally through the front and rear of the vehicle. Optionally, the blocking line can be defined as running along the longitudinal axis. In other words, the blocking line can be an extension of the vehicle's longitudinal axis.

[0044] Optionally, the blocking line can be set at a predefined distance from the vehicle's longitudinal axis. This distance can be determined based on various influencing factors. Possible influencing factors include the lane width in the initial position and the number of lanes in the same or different directions of travel. Information on these influencing factors can be retrieved from a database containing the corresponding values ​​for different positions. The vehicle's initial position can be determined, for example, using a global navigation satellite system such as GPS.

[0045] Defining the path of the blocking line based on the vehicle's longitudinal axis is a simple method for determining the blocking line, as no additional sensors are needed to identify reference points such as lane markings, other vehicles, etc. This also eliminates potential sources of error in defining the blocking line.

[0046] According to further design variants, the blocking line can be defined as running in the middle between the boundaries of a roadway on which the starting position is located.

[0047] Lane boundaries can be detected using common sensors such as camera sensors, ultrasonic sensors, radar sensors and lidar sensors, etc.

[0048] By including lane boundaries when defining the blocking line, the traffic space required for the corrective maneuver can be determined more precisely. This reduces the likelihood of prematurely releasing this traffic space. Overall traffic safety can be further improved.

[0049] Another aspect of the invention relates to a parking assistance system for supporting a vehicle's parking maneuver. The parking assistance system comprises means for carrying out one of the methods described above. Consequently, the parking assistance system is configured to carry out one of the methods described above, and the above explanations of the methods also serve to describe the parking assistance system according to the invention. The advantages of the methods are correspondingly combined with the parking assistance system according to the invention.

[0050] The parking assistance system may, in particular, include a processing unit configured to determine a trajectory for moving the vehicle into the parking position, to check whether the trajectory includes one or more corrective maneuvers, to define a straight, longitudinal blocking line running through the vehicle in its initial position, and to check whether the blocking line will be cleared by the vehicle before the final parking maneuver is executed, during a previous parking maneuver, and optionally, during a previous corrective maneuver. If the blocking line is cleared by the vehicle before the final parking maneuver is executed, the processing unit generates a signal. This signal can be processed internally within the processing unit and trigger the determination of a corrected trajectory by the processing unit.

[0051] Optionally, the parking assistance system can include an output unit designed to issue a warning message if the blocking line is about to be cleared before the vehicle completes its final parking maneuver. This output unit can be configured, for example, as a visual and / or audible signal output unit.

[0052] In addition, the parking assistance system may have an input unit, for example for user-specific input and selection of options, and a storage unit.

[0053] The parking assistance system can preferably be designed for at least automatic lateral guidance of a vehicle during a parking maneuver. Optionally, the parking assistance system can also be designed for partially or fully automatic longitudinal guidance of the vehicle during a parking maneuver. For this purpose, the parking assistance system can interact with a control unit of the vehicle and be connected to it via signal transmission.

[0054] Another aspect of the invention relates to a computer program. The computer program comprises instructions which, when executed by a computer, cause the computer to perform one of the methods described above.

[0055] The proposed computer program therefore combines the advantages of the described methods accordingly. A computer program can be understood as program code that can be stored on a suitable medium and / or retrieved via a suitable medium. Any medium suitable for storing software can be used to store the program code, for example, non-volatile memory installed in a control unit, a DVD, a USB stick, a flash card, or the like. Retrieval of the program code can be achieved, for example, via the internet or an intranet, or via another suitable wireless or wired network.

[0056] The invention is explained in more detail below with reference to the illustrations and the accompanying description. The illustrations show: Fig. 1 a flowchart of an exemplary procedure; Fig. 2 a schematic representation of an exemplary parking maneuver with the vehicle in the starting position ( Fig. 2a ), during the correction move ( Fig. 2b ) and in the parking position ( Fig. 2c ); Fig. 3 a schematic representation of an exemplary parking assistance system; and Fig. 4 a schematic representation of another exemplary parking assistance system.

[0057] In Figure 1 Figure 1 shows a flowchart of an exemplary computer-implemented procedure 100 for supporting a parking maneuver of a vehicle 1, for example, a passenger car. The procedure 100 can be implemented using a parking assistance system 200, for example, as described in the following figures. Figure 3 or 4described, carried out. Within the framework of procedure 100, the vehicle 1 moves from a starting position A to a parking position B, with parking position B being located in a perpendicular parking space 2. Such a parking operation is schematically described in the Figure 2a to 2c depicted. In Figure 2 The vehicle 1 in the current position is shown with a solid outline, while in the subsequent future position it is shown with a dashed outline. The procedure 100 has the following process steps S1 to S7.

[0058] At the start of procedure 100, vehicle 1 is in starting position A on lane 13, which is bounded by boundaries 12a, 12b designed as lane markings (see Figure 2a Starting from position A, vehicle 1 wants to park in the perpendicular parking space 2 and reach parking position B (see Figure 2c ) occupy. The perpendicular parking space 2 will be, as in Figure 2shown, laterally bordered by two further vehicles 20a, 20b.

[0059] In process step S1, a trajectory 3 is determined for the movement of vehicle 1 from the starting position A to the parking position B, which includes at least one parking maneuver 22. In the subsequent process step S2, it is checked whether the trajectory 3 includes one or more correction maneuvers 4. If this is not the case, the process 100 returns to process step S1 and a new trajectory 3 is determined starting from the current position of vehicle 1. That is, the trajectory 3 is continuously updated until it is determined that one or more correction maneuvers 4 are required or the vehicle 1 has reached the parking position B.

[0060] If, however, it is determined in process step S2 that the trajectory 3 requires one or more corrective moves 4, then process 100 continues to process step S4. This is the case with the in Figure 2 The parking maneuver shown is the case. The required corrective move 4 is in Figure 2b shown.

[0061] In process step S3, a blocking line 5 is defined in parallel with process steps S1 and S2. The blocking line 5 runs in a straight line through vehicle 1, which is positioned in the starting position A, in the longitudinal direction, more precisely along the longitudinal axis 11 of vehicle 1.

[0062] In process step S4, it is then checked whether the blocking line 5 will be released before the last parking maneuver 22 is executed by vehicle 1. In the exemplary embodiment, this check is carried out with regard to all preceding parking maneuvers 22 as well as all preceding correction maneuvers 4.

[0063] If this is not the case, procedure 100 returns to procedure step S1. However, if it is determined that the blocking line 5 will be released before the last parking maneuver 22 is carried out by vehicle 1, procedure 100 continues to procedure step S5.

[0064] In process step S5, a signal 6 is output. Depending on the configuration of the parking assistance system 200, the signal 6 can be further processed according to process step S6 and / or according to process step S7.

[0065] Procedure step S6 stipulates that the output signal 6 causes the determination of a corrected trajectory 7, such that the vehicle 1 is prevented from releasing the blocking line 5 before the final parking maneuver 22 is executed. The corrected trajectory 7 can, for example, be output to a driver of vehicle 1, for instance, displayed on a screen as output unit 17. Alternatively or additionally, the corrected trajectory 7 can be used by the parking assistance system 200 for automatic parking, for example, for automatic lateral and / or longitudinal guidance.

[0066] Procedure step S7 stipulates that the issued signal 6 interrupts the parking process and issues a warning message 8 to the driver 21 of vehicle 1. It may be stipulated that the parking process can only be continued if a confirmation signal 9 is present, confirming a clear traffic area 10 in the vicinity of the correction maneuvers 4 and / or the parking maneuvers 22. After procedure step S6 or S7, the procedure 100 can be terminated or restarted from step S1.

[0067] In the Figure 2a to 2c A traffic space 10 is shown schematically, in which a parking maneuver is to take place. Traffic space 10 contains a roadway 13, which is laterally bounded by the boundaries 12a and 12b.

[0068] As already mentioned, vehicle 1 is located in Figure 2aVehicle 1 is in starting position A and wants to park in the perpendicular parking space 2. To do this, vehicle 1 first drove forward past the perpendicular parking space 2 and, after passing the other vehicle 20b which borders the perpendicular parking space 2, stopped approximately in the middle of lane 13.

[0069] Vehicle 1 is equipped with a parking assistance system 200. Starting from position A, the parking assistance system 200 determines a trajectory 3 along which vehicle 1 must move to reach parking position B. It is assumed that vehicle 1 will reverse into the perpendicular parking space 2. The parking maneuver and the associated procedure 100 can be applied analogously to a forward parking maneuver. Parallel to the determination of the trajectory 3, the blocking line 5 is defined, which runs in a straight line along the longitudinal axis 11 of vehicle 1 in its starting position A.

[0070] The parking process begins with an initial parking maneuver 22, in which the vehicle 1, as in Figure 2a The vehicle is shown initially partially reversing into the perpendicular parking space 2. During the determination of the trajectory 3, it was previously established that parking position B cannot be reached with this first parking maneuver 22, but that a corrective maneuver 4 is required.

[0071] Figure 2bThe diagram shows vehicle 1 at the beginning of the correction maneuver 4. During the first parking maneuver 22, vehicle 1 was only moved backwards to the point where the blocking line 5 was not cleared by vehicle 1. In other words, the contour 14 of vehicle 1 always touches or intersects the blocking line 5. This blocks lane 13 until the final parking maneuver 22 is completed. The following traffic, in the form of the next vehicle 20c, can therefore only pass the area in front of the perpendicular parking space 2 when the parking maneuver is almost complete. In other words, this causes the next vehicle 20c to stop and only accelerate again when lane 13 is cleared by the completion of the final parking maneuver 22.

[0072] That the contour of vehicle 1 always touches or intersects the blocking line 5 is either determined when checking whether the blocking line 5 will be cleared before the last parking maneuver 22 is carried out by vehicle 1, or ensured by determining a corrected trajectory 7 in which this is the case.

[0073] Figure 2c The figure shows vehicle 1 in parking position B. The traffic space 10 required for the parking operation can now be cleared again, so that the other vehicle 20c can pass through the perpendicular parking space.

[0074] Figure 3 Figure 1 shows a first embodiment of a parking assistance system 200. The parking assistance system 200 can be used to carry out the exemplary method 100, which is described above with reference to the Figure 1 and 2 as explained in more detail, they can be used.

[0075] The parking assistance system 200 has a processing unit 15 which is in a signal-technical operative connection with a control unit 18 of the vehicle 1. The processing unit 15 can process input data based on instructions or a code programmed in the processing unit 15 according to one or more routines.

[0076] In particular, the processing unit 15 is configured to determine a trajectory 3 for the movement of the vehicle from its current position, for example, the starting position A, to the parking position B, and to check whether the trajectory 3 includes one or more corrective maneuvers 4. Furthermore, the processing unit 15 is configured to define a straight blocking line 5 running longitudinally through the vehicle 1 positioned in the starting position A. In addition, the processing unit 15 can check whether the blocking line 5 will be released before the vehicle 1 executes the last parking maneuver 22. If this is the case, the processing unit 15 generates a signal 6.

[0077] In the Figure 3In the illustrated version, signal 6 causes a corrected trajectory 7 to be determined such that the vehicle 1 is prevented from releasing the blocking line 5 before the last parking maneuver 22 is carried out.

[0078] Both the original trajectory 3 and the corrected trajectory 7 are transmitted to the control unit 18 of the vehicle 1 and can be used by the control unit 18 at least for automatic lateral guidance of the vehicle 1, and possibly also for automatic longitudinal guidance of the vehicle 1.

[0079] In addition to the processing unit 15, the parking assistance system 200 has a storage unit 16, which is interconnected with the processing unit 15 via a signal. This allows data to be stored in the storage unit 16 and retrieved from it when needed.

[0080] Furthermore, the parking assistance system 200 has an input unit 19 with which a user of the vehicle 1, for example the driver 21, can make inputs and, for example, set specifications for the processing operation in the processing unit 15.

[0081] Figure 4 This shows another exemplary parking assistance system 200. In comparison to the parking assistance system 200 of the Figure 3 In this embodiment, no direct interaction between the parking assistance system 200 and a control unit 18 of the vehicle 1 is provided. Rather, in this embodiment, the output signal 6 causes the parking process to be interrupted and a warning message 8 to be issued.

[0082] For this purpose, the parking assistance system 200 has an output unit 17, which can be designed, for example, as a display for image output and optionally also for sound output. The output unit 17 is in a signal-technical communication with the processing unit 15. Based on the signal 6, the output unit 17 can generate a warning message 8 and output it to the driver 21 of the vehicle 1, for example, in the form of a visual display or an acoustic warning.

[0083] Furthermore, it is stipulated that the parking maneuver can only be continued if a confirmation signal 9 is present, confirming a clear traffic area 10 in the area of ​​the correction maneuver 4 and / or the parking maneuver 22. In other words, the driver 21 is required to check the relevant area of ​​the traffic area 10 to determine whether the correction maneuver 4 can be carried out safely.

[0084] The in Figure 3 and Figure 4 The illustrated embodiments of a parking assistance system 200 can also be combined with one another. In other words, it can be provided that the processing unit 15 is configured as follows: Figure 3 described in a signal-technical functional connection with the control unit 18 of vehicle 1, and can transmit trajectories 3, 7 to it, so that at least automatic lateral guidance of vehicle 1 is enabled. Simultaneously, a warning message 8 can be issued to the driver 21 if it is determined that the blocking line 5 will be cleared before the last parking maneuver 22 is executed by vehicle 1. The parking process with at least automatic lateral guidance can then only be continued if the confirmation signal 9 is received. Reference symbol list

[0085] 1 Vehicle 2 Perpendicular parking space 3 Trajectory 4 Correction train 5 Blocking line 6 Signal 7 Corrected trajectory 8 Warning message 9 Confirmation signal 10 Traffic area 11 Longitudinal axis 12a, 12b Boundary 13 Roadway 14 Contour 15 Processing unit 16 Storage unit 17 Output unit 18 Vehicle control unit 19 Input unit 20a, 20b, 20c Another vehicle 21 Driver 22 Parking train 100 procedures 200 parking assistance system AStarting position BParking position S1 Determine a trajectory for moving the vehicle into the parking position with at least one parking maneuver. S2 Check whether the trajectory includes one or more corrective maneuvers. S3 Establish a blocking line running longitudinally through the vehicle positioned in the starting position. S4 Check whether the blocking line will be cleared before the vehicle executes the last parking maneuver. S5 Issue a signal. S6 Determine a corrected trajectory such that the vehicle prevents the blocking line from being cleared before the last parking maneuver. S7 Interrupt the parking process and issue a warning message to the driver.

Claims

1. Computer-implemented method (100) for assisting with a process of parking a vehicle (1) from a starting position (A) to a parked position (B) in a perpendicular parking space (2), the method (100) comprising the following steps: - (S1): determining a trajectory (3) for a movement of the vehicle (1) into the parked position (B) using at least one parking move (22), - (S2): checking whether the trajectory (3) provides one or more correction moves (4), - (S3): defining a blocking line (5) running in the longitudinal direction through the vehicle (1) positioned in the starting position (A), - if the trajectory (3) provides one or more correction moves (4), (S4): checking whether the blocking line (5) will be cleared by the vehicle (1) during a previous parking move (22) and a previous correction move (4) before carrying out the last parking move (22), and - if the blocking line (5) will be cleared by the vehicle (1) during a previous parking move (22) and / or a previous correction move (4) before carrying out the last parking move (22), (S5): outputting a signal (6).

2. Method according to Claim 1, wherein the output signal (6) causes determination of a corrected trajectory (7) in such a way that the clearing of the blocking line (5) by the vehicle (1) during a previous parking move (22) and / or during a previous correction move (4) before carrying out the last parking move (22) is prevented (S6) .

3. Method according to Claim 2, wherein the corrected trajectory (7) is output to the driver or is taken into account during at least automatic lateral guidance of the vehicle.

4. Method (100) according to one of the preceding claims, wherein the output signal (6) causes interruption of the parking process and output of a warning message (8) (S7).

5. Method (100) according to Claim 4, wherein the parking process can only be continued if there is a confirmation signal (9) which confirms a free traffic area (10) in the region of the correction move (4) and / or parking move (22).

6. Method (100) according to one of the preceding claims, wherein the blocking line (5) is defined so as to run linearly and / or so as to run parallel to a boundary (12a, 12b) of the road (13).

7. Method (100) according to one of the preceding claims, wherein the blocking line (5) is defined so as to run parallel to a longitudinal axis (11) of the vehicle (1).

8. Method (100) according to Claim 7, wherein the blocking line (5) is defined so as to run along the longitudinal axis (11) of the vehicle (1).

9. Method (100) according to Claim 7, wherein the blocking line (5) is defined so as to run at a predefinable distance from the longitudinal axis (11) of the vehicle (1).

10. Method (100) according to one of Claims 1 to 7, wherein the blocking line (5) is defined so as to run centrally between boundaries (12a, 12b) of a road (13) on which the starting position (A) is located.

11. Method (100) according to one of the preceding claims, wherein the blocking line (5) is cleared by the vehicle (1) if a contour (14) of the vehicle (1) no longer touches or intersects the blocking line (5).

12. Parking assistance system (200) for assisting with a process of parking a vehicle (1), comprising information preparation means for carrying out a method (100) according to one of the preceding claims.

13. Vehicle (1) comprising a parking assistance system (200) according to Claim 12.

14. Vehicle (1) according to Claim 13, wherein the vehicle is an autonomous vehicle.

15. Computer program comprising instructions which, when the program is executed by a computer, cause the latter to carry out a method (100) according to one of Claims 1 to 11.