Method of parking a vehicle equipped with a trailer.

Abstract

Method for parking a motor vehicle equipped with a trailer. Method for parking a motor vehicle equipped with a trailer, the method comprising:- a definition, by a driver, of a first abscissa, measured along a first axis, of a parking space,- a stop of the motor vehicle at a stopping point defined by a second abscissa of start of maneuver, - a calculation of a trajectory comprising a quarter circle, the quarter circle being tangent to the first axis at a point of start of travel and tangent to the second axis at a point of end of travel, and a first part of the trajectory connecting the stopping point to the point of start of travel, the first part being tangent to the quarter circle, - an automatic guidance of an angle of the drive wheels of the motor vehicle during its movement along the trajectory. Figure for the abstract: 4

Description

Title of the invention: Method for parking a vehicle equipped with a trailer.

[0001] The invention relates to a method for parking a vehicle equipped with a trailer. The invention also relates to a device for parking a vehicle equipped with a trailer.

[0002] When a motor vehicle is equipped with a trailer, performing reversing maneuvers is generally complex and counterintuitive. Maneuvering assistance systems are now available on certain vehicles. In particular, systems allow the driver to define an optimal angle between the vehicle and the trailer. The driver places the vehicle in a starting position, and the maneuvering assistance system then automatically controls the steering angle of the vehicle's steered wheels to guide the trailer.

[0003] However, these maneuvering assistance systems have drawbacks. In particular, the placing of the vehicle in a starting position, preceding the automatic steering phase of the vehicle, is not automated. If the driver misjudges the starting position, the assembly consisting of the vehicle and the trailer will steer too early or too late and the parking maneuver will fail.

[0004] The aim of the invention is to provide a parking device and method which overcomes the above drawbacks and improves the parking devices and methods known from the prior art. In particular, the invention makes it possible to produce a device and method which are simple and reliable and which guarantee the success of the maneuver.

[0005] To this end, the invention relates to a method for parking a motor vehicle equipped with a trailer, the vehicle moving in a straight line along a first axis of a terrestrial reference point, the method comprising: - a step of defining, by a driver of the motor vehicle, a first abscissa measured along the first axis of a parking space, the parking space extending along a second axis of the terrestrial reference point perpendicular to the first axis, - a step of stopping the motor vehicle at a stopping point defined by a second abscissa of the start of the maneuver, measured along the first axis, - a step of calculating a parking trajectory of the vehicle, the parking trajectory comprising (i) a quarter circle connecting the first axis and the second axis, the quarter circle being tangent to the first axis at a point at which the quarter circle begins its travel and tangent to the second axis at an end point of the quarter circle, and (ii) a first part of the trajectory connecting the stopping point to the starting point of the quarter circle, the first part being tangent to the quarter circle, - a step of automatic guidance of an angle of rotation of the driving wheels of the motor vehicle when it is moving in reverse along the parking trajectory.

[0006] In one embodiment, the parking method comprises an implementation of a control law determining the steering angle as a function of a first set of geometric and / or kinematic data of the assembly constituted by the vehicle and the trailer, the first set of data comprising: - a vehicle speed at a rear axle of the vehicle, and / or - an angle formed between the trailer and the vehicle, and / or - a vehicle wheelbase, and / or - a distance between a pivot point of the trailer and a rear axle of the vehicle, - a length of the trailer.

[0007] In one embodiment, the first part comprises a curved sub-part extending between a start point of the curved sub-part and the start point of the arc of a circle, the curved sub-part being intended to place on the arc of a circle a first point located in the middle of a front axle of the motor vehicle, and a second point located in the middle of an axle of the trailer.

[0008] In one embodiment, the curved sub-portion is defined so that a constant angle, measured at the starting point of the quarter circle, between a longitudinal axis of the vehicle and a longitudinal axis of the trailer, is between a minimum value and a maximum value.

[0009] In one embodiment, a length of a projection of the curved sub-portion onto the first axis is substantially equal to a sum of the following lengths: - a wheelbase of the motor vehicle, - a distance between an axle and a pivot point of the trailer fitted to the vehicle, - a length of the trailer fitted to the vehicle.

[0010] In one embodiment, the first part comprises a rectilinear sub-part corresponding to a reversing trajectory of the motor vehicle substantially along the first axis, from the stopping point to the start point of the curved sub-part.

[0011] In one embodiment, the first step of determining, by the driver, a first abscissa of a parking space comprises an action on a button of the motor vehicle while a front axle of the motor vehicle is substantially coincident with an axis of symmetry of the parking space.

[0012] In one embodiment, the parking trajectory comprises moving of the motor vehicle along the second axis, from the end point of the quarter circle path to a maneuver end point.

[0013] In one embodiment, a longitudinal speed of the motor vehicle moving on the parking path is determined by the driver.

[0014] The invention further relates to a device for parking a vehicle equipped with a trailer attached to the pivot point, the device comprising hardware and / or software elements implementing the method according to the invention.

[0015] The invention also relates to a motor vehicle comprising a parking device according to the invention.

[0016] The attached drawing represents, by way of example, an embodiment of a parking method according to the invention and an embodiment of a parking method according to the invention.

[0017] [Fig.l] represents an embodiment of a parking device.

[0018] [Fig.2] illustrates calculation parameters of a geometric and kinematic model applied to a motor vehicle equipped with a trailer.

[0019] [Fig.3] illustrates a circular trajectory of a motor vehicle equipped with a trailer.

[0020] [Fig.4] represents a flowchart of a mode of execution of a sta method operation.

[0021] [Fig.5] illustrates an embodiment of a parking trajectory calculated automatically by a vehicle equipped with the invention.

[0022] An embodiment of a vehicle equipped with a means for implementing a parking method is described below with reference to [Fig.l].

[0023] The motor vehicle 10 is a motor vehicle of any type, in particular a passenger vehicle or a utility vehicle. This vehicle comprises a coupling system 101 comprising a coupling ball whose center is called pivot point A. The coupling ball is a ball joint connection means between the vehicle 10 and a trailer 20 attached to this coupling ball.

[0024] With reference to [Fig.2], a geometric and kinematic model applied to the motor vehicle 10 equipped with the trailer 20 is described.

[0025] The vehicle 10 has a longitudinal axis of symmetry 100 oriented towards the front of the vehicle 10. The pivot point A is positioned substantially on the longitudinal axis of symmetry 100.

[0026] The trailer 20 comprises a hitch bar 201 and an axle 202. A first end of the hitch bar 201 may be connected to the axle 202 of the trailer. According to one embodiment, the hitch bar 201 may be a drawbar (its second end having a single point of attachment with the axle 202) or a tongue (its second end having two points of attachment with the axle of the trailer). Other embodiments of the hitch bar 201 may be envisaged. The axis of the trailer 200 is defined as being an axis perpendicularly intersecting the axle 202 of the trailer in its middle. When the trailer 20 is attached to the vehicle 10, a second end of the hitch bar 201 of the trailer makes a pivot connection with the hitch ball of the vehicle 10, around the pivot point A. In this configuration, the axis of the trailer 200 passes through the pivot point A and is oriented towards the vehicle 10.

[0027] A first angle <e>oriented is measured between the 100 axis of the vehicle and the 200 axis of the trailer. A second oriented angle ô is measured between the 100 axis of the vehicle and the 110 direction of the vehicle's steered wheels.

[0028] [Fig.2] further represents the lengths L1 and L2, which are structural constants of the vehicle 10: - length L1 is the wheelbase of the vehicle 10, - length L2 is the length measured between the center of the rear axle 102 of the vehicle 10 and the pivot point A.

[0029] The length L3 represents the distance separating the pivot point A from the axle axis 202 of the trailer 20. In other words, in the example described, the length L3 represents the length of the projection of the attachment bar 201 on the axis 200. In the remainder of the document, it is assumed that the length L3 is known.

[0030] As a note, the trailer may possibly comprise several axle axes, in particular when the trailer is intended to transport large loads. In this case, the axle axis 202 of the trailer may be defined as a virtual axis of the trailer. In the event that the trailer comprises two parallel axle axes, this virtual axis could be positioned substantially in the middle of these two axes.

[0031] [Fig.2] also represents the longitudinal speed VGv of the vehicle 10 measured at the center Gv of the rear axle of the vehicle, that is to say the projection on the longitudinal axis 100 of the speed vector measured at the center Gv of the rear axle of the vehicle.

[0032] In the embodiment of the invention, when implementing a trajectory, the following control law is used to determine a steering angle setpoint 3 for the steered wheels:

[0033] [Math.l] / — fc .e— sin (^) £ = arctan rr——-4------ \ "4^" / 1+ 7^- t-OS (^)

[0034] where k is a proportional and adjustable control gain, and e is an error relative to the angle ¢, the error e being equal to a difference between an angle <e>measured between the vehicle axis and the trailer axis and an angle Or corresponding to an angle value that the driver wishes to implement between the vehicle axis and the trailer axis.

[0035] When reversing a vehicle equipped with a trailer, in order to control the trajectory of the trailer, the steering angle 5 of the vehicle's steered wheels must be between a minimum value 8min and a maximum value ômax. For example, the minimum value Ômin could be equal to -38 degrees and the maximum value 5max could be equal to +38 degrees.

[0036] The minimum 5min and maximum 5inax values ​​determine minimum and maximum limits relative to an angle & measured between the axis of the motor vehicle and the axis of the trailer, according to the following Math 2 formula:

[0037] [Math.2] " / \ THERE

[0038] The distance to be covered by the assembly formed by the vehicle and its trailer to reach a given fixed setpoint angle $ depends on the control law used. For a control law as defined by the Mathl formula, the distance Dr to be covered can be approximated by the Maths 3 formula:

[0039] [Math.3] Z

[0040] [Fig. 3] illustrates an assembly formed by the vehicle 10 and its trailer 20 following a common circular trajectory of radius R. In other words, a point 01 located in the middle of a front axle 103 of the motor vehicle 10 and a point 02 located in the middle of the axle 202 of the trailer 10 move on the same circle of radius R. As will be seen in the remainder of the document, the parking device 1 defines a parking trajectory T comprising a portion of circular trajectory similar to the trajectory described by [Fig. 3].

[0041] In Figure 3, the center of rotation Iv of the vehicle 10 coincides with the center of rotation It of the trailer. Thus, when the assembly formed by the vehicle and the trailer applies a fixed setpoint angle ¢, the movement of the vehicle and the trailer follows a circle of radius R calculated according to the formula Math 4:

[0042] [Math.4]

[0043] The motor vehicle 10 comprises a device 1 for parking a vehicle equipped with a trailer. The parking device 1 according to the invention is based on the equations Math 1 to Math 4 to define a parking trajectory T of the vehicle.

[0044] The parking device 1 may be part of a more global driving assistance system 9.

[0045] The parking device 1 mainly comprises the following elements: - a microprocessor 2, - a control button 3 collaborating with a location means 4 of the motor vehicle 10 to determine a position of a parking space, - an actuator 5 capable of controlling an angle ô of rotation of the steered wheels of the vehicle 10, - a sensor 6 measuring the longitudinal speed VGv of the vehicle, - a means 7 of measuring or calculating the angle <e>formed between the axis of the trailer 200 and the longitudinal axis of symmetry 100 of the motor vehicle, - a means 8 of alert intended to inform the driver when the parking maneuver is not possible.

[0046] The measurements of the angle ¢, from the sensor 7, also make it possible to calculate by derivation the rotation speed of the trailer 20 relative to the vehicle 10. dt

[0047] The control button 3 is intended to be actuated by the driver of the motor vehicle 10 in order to select a parking space in which he wishes to park the motor vehicle 10. The control button may be, for example, a push button.

[0048] The sensor 4 makes it possible to measure an angle ô of rotation, also called a steering angle, of the steered wheels of the vehicle 10.

[0049] The actuator 5 is capable of receiving orders issued by the microprocessor 2 to control an angle δ of rotation of the steered wheels of the vehicle 10, so as to guide a movement of the motor vehicle 10 and the trailer 20 along a trajectory

[0050] The means 7 for measuring or calculating the angle <e>can be provided by a specific Hall effect sensor. This sensor can be driven by the rotation of the trailer. Alternatively, the angle <e>can be calculated by processing images from a rear camera. The use of reversing radars is also a possible alternative for calculating the angle <e>by detecting a free space located at the rear of the vehicle.

[0051] The alert means 8 may comprise an audible and / or visual alert.

[0052] The determination system 1, and particularly the microprocessor 2, mainly comprises the following modules: - a module 21 for defining a first abscissa of a parking space, this module being able to cooperate with the control button 3, the location means 4 and a memory 25, - a module 22 for defining a second abscissa of a stopping position of the vehicle, this module being able to cooperate with the location means 4 and the sensor 6 and the memory 25, - a module 23 for calculating a parking trajectory of the vehicle, this module being able to cooperate with the location means 4, the actuator 5, the sensor 6 and the measurement means 7, - a module 24 for automatic guidance of a steering wheel angle of the motor vehicle, this module being able to cooperate with the location means 4, the actuator 5, the sensor 6 and the measuring means 7.

[0053] The motor vehicle 10, in particular the parking system 1, preferably comprises all the hardware and / or software elements configured so as to implement the method defined in the subject of the invention or the method described below.

[0054] An embodiment of the parking method is described below with reference to Figures 4 and 5. The method comprises four steps E1 to E4 which are executed successively.

[0055] The parking method starts while the vehicle 10 is moving in a straight line along a first longitudinal axis XI, the driver detecting a parking space 12 extending along a second axis Yl perpendicular to the first axis XL. The second axis Y1 is substantially an axis of symmetry of the parking space 12.

[0056] In the remainder of the document, - the term “longitudinal distance” corresponds to a distance projected onto the XI axis, - the term “lateral distance” corresponds to a distance projected onto the Yl axis.

[0057] A terrestrial reference frame Ql is defined, orthonormal, comprising the first longitudinal axis XI and the second axis Yl, the second axis Y1 being orthogonal / perpendicular to the first axis XI, these two axes defining the plane in which the vehicle moves. In steps E1 and E2, the position of the vehicle 10 is defined by the coordinates, defined in the reference frame Ql, of a point O1 located in the middle of a front axle 103 of the motor vehicle 10.

[0058] Furthermore, for reasons of simplicity and clarity, longitudinal distances Dsb, Dr measuring a longitudinal movement of the motor vehicle 10 during the parking maneuver are materialized between different successive positions of the pivot point A.

[0059] In step E1, the vehicle 10 arrives at the parking space 12. For example, the front axle 8 of the vehicle 10 is located substantially on an axis of symmetry of the parking space 12. The driver of the motor vehicle commands the recording of a first abscissa xl, along the first axis XI, of the parking space 2. In the embodiment described, the recording is generated by an action of the driver on the control button 3, in particular by pressing the control button 3.

[0060] The abscissa xl is then determined by the location system 4 of the vehicle 10, then recorded in the memory 25 of the device 1. Then we continue with step E2.

[0061] In step E2, the driver commands a movement of the vehicle 10 along the longitudinal axis Xl over a distance D_Total which he judges sufficient to then allow a parking maneuver in reverse. The driver therefore stops the vehicle at a maneuver start point A. The distance D_total is measured on the longitudinal axis between the first abscissa xl and a second abscissa x2 of the maneuver start point A.

[0062] Then we continue with step E3, in which we calculate a parking trajectory T of the vehicle, the parking trajectory T comprising: - a quarter circle Cl connecting the first axis Xl and the second axis Yl, the quarter circle Cl being tangent to the first axis Xl at a point Cl 1 at the start of the path of the quarter circle Cl and tangent to the second axis Y1 at a point C12 at the end of the path of the quarter circle Cl, and - a first part Tl of the trajectory T connecting the stopping point A to the point Cl 1 at the start of the journey of the quarter circle Cl, the first part Tl being tangent to the quarter circle CL

[0063] The first part T1 comprises a curved sub-part T12 extending between a point B at the start of the curved sub-part and the point Cl 1 at the start of the course of the quarter circle Cl, the curved sub-part T12 being intended to place on the arc of the circle Cl a first point 01 located in the middle of the front axle 103 of the vehicle, and a second point 02 located in the middle of the axle 202 of the trailer 20.

[0064] [Fig. 5] illustrates two examples of parking trajectories T1, T1' defined and implemented during the execution of the steps of the method. [Fig. 5] materializes a boundary 131 between a zone 11 for vehicle circulation, and a zone 13 for vehicle parking. The boundary 131 is defined by a line substantially parallel to the first axis XI.

[0065] The trajectory T1 corresponds to a first example of the trajectory of a vehicle 10 traveling at a distance DI from the border 131 between the traffic zone and the parking zone.

[0066] In one embodiment, the trajectory T1 is defined as follows. The distance DI measured between the axis XI and the boundary 131 determines a value of the radius RI of the quarter circle Cl with center FL. The point C12 at the end of the path of the quarter circle Cl is located at the intersection between the axis Y1 of the reference frame Q1 and the boundary 131. The point C11 at the start of the path of the quarter circle Cl is located on the longitudinal axis XI of the reference frame Q1, a longitudinal distance measured between the point Cl1 and the axis Y1 being equal to the length RI of the radius of the quarter circle CL.

[0067] In one embodiment, it is possible to check whether the value of the radius RI is large enough to allow the maneuver, that is to say whether the distance DI between the axis XI and the boundary 131 is sufficient. To do this, it is checked that there is a steering angle 5 of the steered wheels of the vehicle between the minimum value ômin and the maximum value ômax. making it possible to verify the equation Math 3 for a radius RI equal to DI. If the distance DI is not sufficient, the driver can be informed via the alert means 8 so that he can correct the position of the vehicle.

[0068] The arc of a circle Cl is preceded by a curved route portion, called curved sub-part T12. The curved sub-part T12 is defined by selecting a desired angle ¢1 at point Cl 1 between the longitudinal axis 100 of the motor vehicle 10, and the axis 200 of the trailer.

[0069] Taking into account the desired angle ¢1 and a longitudinal distance Dr from the curved sub-part T12, the Mathl control law makes it possible to determine the portion of trajectory corresponding to the curved sub-part T12.

[0070] In the embodiment of the invention, a dimension along the longitudinal axis XI of the curved sub-part T12 is substantially equal to a sum of the following lengths: - an L1 wheelbase of the motor vehicle, - a distance L2 between an axle and a pivot point of the trailer fitted to the vehicle, - a length L3 of the trailer fitted to the vehicle.

[0071] The first part T1 of the trajectory comprises a rectilinear sub-part T11 corresponding to a reversing trajectory of the motor vehicle 10 substantially along the first axis XI, from the stopping point A - defined by the driver of the motor vehicle 10 - to the point B at the start of the curved sub-part T12.

[0072] Advantageously, in step E3 it is verified that the distance D_total is sufficient to determine an angle ¢1 between the minimum value <e>_min and the value maximum <e>_max.

[0073] To do this, we check that the distance D_totale calculated in step E2 verifies the following inequality Math 5:

[0074] [Math.5] + A* + Li + Z.2

[0075] where Dr is the length of a projection on the longitudinal axis XI of the curved sub-part T12 of the trajectory, Dr representing the response distance necessary to reach the desired angle.

[0076] If the distance D_total is not sufficient, using the alert means 8, the driver of the vehicle 10 is informed that he must continue to move his vehicle forward so as to increase the distance between the parking space 12 and the vehicle 10. When the vehicle has moved forward, the calculation of the curved sub-part T12 is looped back.

[0077] The trajectory Tl', also represented by [Fig. 4], corresponds to a second example of trajectory of a vehicle 10 traveling at a distance Dl' from the border 131 between the traffic zone and the parking zone, the distance Dl' being greater than the distance DL. Thus, this second example of trajectory Tl' illustrates a case where the vehicle is further from the border 131 than during the first example of trajectory TL.

[0078] The trajectory Tl' is defined in the same way as the trajectory TL. The distance Dl' measured between the axis XI' and the boundary 131 determines a value of the radius RI' of the quarter circle Cl' with center Fl'. The point C12 at the end of the path of the quarter circle Cl' is located at the intersection between the axis Y1 of the reference frame Q1 and the boundary 131. The point Cil' at the start of the path of the quarter circle Cl' is located on the longitudinal axis XI' of the reference frame Ql, a longitudinal distance measured between the point Cil' and the axis Y1 being equal to the length RI' of the radius of the quarter circle Cl'. The trajectory Tl' therefore comprises an arc of a circle Cl' with a larger radius than the arc of a circle Cl of the trajectory TL.

[0079] A dimension along the longitudinal axis XI' of the curved sub-part T12' is substantially identical to a dimension along the longitudinal axis XI of the curved sub-part T12. On the other hand, an angle <e>1 ', desired at point Cil' between the longitudinal axis 100 of the motor vehicle 10 and the axis 200 of the trailer, is less than the angle angle ¢1 desired at point Cil of the trajectory TL

[0080] Following step E3, we continue with step E4 of automatic guidance of a steering angle δ of the drive wheels of the motor vehicle 10 during its movement in reverse along the parking trajectory T.

[0081] In step E4, the driver controls the longitudinal speed of the vehicle while that the value of the steering angle ô of the steered wheels is determined automatically as a function of the movement of the vehicle along the trajectory T defined in step E3, that is to say as a function of the abscissa xl of the motor vehicle 10 along the axis XI.

[0082] The vehicle thus travels successively: - the rectilinear sub-part Tl 1 corresponding to a reversing trajectory of the motor vehicle 10 substantially along the first axis XI, from the stopping point A to the point B at the start of the curved sub-part, then - the curved sub-part T12 extending between point B at the start of the curved sub-part and point Cl 1 at the start of the course of the quarter circle Cl, then - the quarter circle Cl, the angle <e>measured at point Cil being maintained during the course of the quarter circle Cl.

[0083] In the embodiment described by [Fig.4], the end of the parking maneuver is reached when the longitudinal axes of the motor vehicle 10 and the trailer 20 are aligned with each other and substantially coincide with the second axis Yl.

[0084] According to the trajectory T defined in step E3, the end of the maneuver could be reached while the driver must continue to reverse in a straight line to place his vehicle in the parking space. In an alternative embodiment, step E4 could further comprise a sub-step of guiding a reversing of the vehicle along the axis Yl, while the angle δ is maintained at a zero value. Advantageously, the motor vehicle 10 could comprise sensors, in particular ultrasonic sensors, located at the rear of the trailer 20, making it possible to detect the end of the maneuver.

[0085] Finally, the method according to the invention greatly simplifies the parking maneuvers of a vehicle with a trailer.

[0086] The driver retains control of the longitudinal speed of the motor vehicle 10, while the steering angle of the drive wheels of the motor vehicle is determined automatically by the method according to the invention.

[0087] From the driver's point of view, the implementation of the method is very simple. By simply pressing a button, the driver defines the position of the space where he wishes to park his vehicle equipped with a trailer, then he moves his vehicle forward by a distance that he chooses. If the chosen distance is too short, the vehicle equipped with the invention informs the driver, by means of a visual or audible alarm.

[0088] The vehicle equipped with the invention then calculates a trajectory connecting the current position of the vehicle to the position of the parking space.

[0089] The driver then controls a longitudinal speed of movement of the vehicle automobile, while the steering angle of the drive wheels of the motor vehicle 10 is determined automatically by the device according to the invention.

[0090] When the vehicle has reached the end of the trajectory, the driver may be required to reverse straight into the parking space to complete the maneuver.

[0091] In addition to simplifying the actions to be performed by the driver during a parking maneuver, the vehicle equipped with the invention checks the feasibility of the maneuver before starting the maneuver. In this way, the driver can rectify the position in which the vehicle starts the maneuver, and thus avoid the failure of the maneuver.< / e> < / e> < / e> < / e> < / e> < / e> < / e> < / e> < / e> < / e>

Claims

Claims

1.

2. Method for parking a motor vehicle (10) equipped with a trailer (20), the vehicle moving in a straight line along a first axis (XI) of a terrestrial reference point (Ql), characterized in that it comprises: a step (El) of defining, by a driver of the motor vehicle (10), a first abscissa (xl) measured along the first axis (XI) of a parking space (12), the parking space (12) extending along a second axis (Yl) of the terrestrial reference frame (Ql) perpendicular to the first axis (XI), a step (E2) of stopping the motor vehicle (10) at a stopping point (A) defined by a second abscissa (x2) of the start of the maneuver, measured along the first axis (XI), a step (E3) of calculating a parking trajectory (T) of the vehicle, the parking trajectory (T) comprising • a quarter circle (Cl) connecting the first axis (XI) and the second axis (Yl), the quarter circle (Cl) being tangent to the first axis (XI) at a point (Cl 1) at the start of the path of the quarter circle (Cl) and tangent to the second axis (Yl) at a point (Cl2) at the end of the path of the quarter circle (Cl), and • a first part (Tl) of the trajectory (T) connecting the stopping point (A) to the point (Cl 1) of the start of the journey of the quarter circle (Cl), the first part (Tl) being tangent to the quarter circle (Cl), a step (E4) of automatically guiding a rotation angle (ô) of the drive wheels of the motor vehicle (10) when it is moving in reverse along the parking trajectory (T). Parking method according to the preceding claim, characterized in that it comprises an implementation of a control law ending the steering angle (ô) as a function of a first set of geometric and / or kinematic data of the assembly constituted by the vehicle (10) and the trailer (20), the first set of data comprising: - a speed (VGv) of the vehicle at a rear axle of the vehicle, and / or - an angle (¢) formed between the trailer and the vehicle, and / or - a wheelbase (Ll) of the vehicle, and / or - a distance (L2) between a pivot point of the trailer (20) and a rear axle of the vehicle, - a length (L3) of the trailer (20).

3. Parking method according to one of the preceding claims, characterized in that the first part (T1) comprises a curved sub-part (T12) extending between a point (B) of start of curved sub-part (T12) and the point (C11) of start of the arc of circle (Cl), the curved sub-part (T12) being intended to place on the arc of circle (Cl) a first point (01) located in the middle of a front axle (103) of the motor vehicle (10), and a second point (02) located in the middle of an axle (202) of the trailer (20).

4. Parking method according to one of the preceding claims, characterized in that the curved sub-part (T 12) is defined so that a constant angle (¢), measured at the point (Cl 1) of the start of the quarter circle, between a longitudinal axis (100) of the vehicle and a longitudinal axis (200) of the trailer, is between a minimum value ( _min) and a maximum value ( <e>_max).

5. Parking method according to the preceding claim, characterized in that a length of a projection of the curved sub-part (T12) on the first axis (XI) is substantially equal to a sum of the following lengths: - a wheelbase (L1) of the motor vehicle, - a distance (L2) between an axle and a pivot point of the trailer equipping the vehicle, - a length (L3) of the trailer equipping the vehicle.

6. Parking method according to the preceding claim, characterized in that the first part (Tl) comprises a rectilinear sub-part (Tl 1) corresponding to a reversing trajectory of the motor vehicle (10) substantially along the first axis (XI), from the stopping point (A) to the point (B) of the start of the curved sub-part (T12).

7. Parking method according to one of the preceding claims, characterized in that the first step (El) of determination, by the driver, of a first abscissa (xl) of a parking space comprises an action on a button (3) of the motor vehicle (10) while a front axle (103) of the motor vehicle (10) is substantially merged with an axis of symmetry (Yl) of the parking space.

8. Parking method according to one of the preceding claims, characterized in that the parking trajectory (T) comprises a movement of the motor vehicle (10) along the second axis (Yl), from the end point (Cl2) of the path of the quarter circle (Cl) to a maneuver end point.

9. Parking method according to one of the preceding claims, characterized in that a longitudinal speed (VGv) of the motor vehicle (10) moving on the parking trajectory (T) is determined by the driver.

10. Device (1) for parking a vehicle equipped with a trailer attached to the pivot point, the device comprising hardware and / or software elements (2, 3, 4, 5, 6, 7, 8, 21, 22, 23, 24, 25) implementing the method according to one of claims 1 to 9.

11. Motor vehicle (10) comprising a parking device (1) according to the preceding claim.< / e>

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