Automatic garageing procedure for a motor vehicle

Abstract

Method for automatically parking a motor vehicle. Method for automatically parking a motor vehicle (1) in a parking space (16), comprising a phase (P2) of automatically controlling the steering angle of the steering wheels to park the vehicle in the parking space, comprising: - a step (E5) of comparing an estimate of the vehicle's speed (V) provided by a vehicle speed estimation means with a predefined speed threshold (Vs), then - if the vehicle's speed (V) is strictly less than the speed threshold, a step (E4) of moving the vehicle during which the steering angle of the steering wheels is limited to a first predefined maximum steering angle (Amax1). Figure for the abbreviation: Figure 2

Description

Title of the invention: Method for automatically parking a motor vehicle. Technical field of the invention

[0001] The invention relates to a method for automatically parking a motor vehicle in a parking space. The invention also relates to a motor vehicle comprising hardware and software adapted to implement such a parking method. Prior art

[0002] Parking a motor vehicle in a parking space is a rather difficult operation for a driver because it requires a very good judgment of the vehicle's dimensions and the various obstacles around it. To facilitate parking, vehicles equipped with an automatic parking system, also known as "Hands-free Parking," are now available. Such a system includes means for detecting the position and dimensions of the parking space, and an actuator capable of steering the vehicle's front wheels. Using these detection means, such a system determines one or more maneuvers necessary to park the vehicle in the space, and then autonomously controls the steering of the front wheels with the actuator to follow the previously determined maneuvers. The driver therefore does not need to touch the steering wheel to park.

[0003] The actuator must be powerful enough to turn the steering wheels of Completely autonomously, meaning without the assistance of a driver acting on the steering wheel. Integrating an automatic parking system thus requires particularly bulky and complex actuators to manufacture. Automatic parking systems are also known where the actuator relies on a power steering module. Such a module also includes an actuator capable of acting autonomously on the steering wheels. However, this actuator is generally relatively low-powered since its primary purpose is to assist the driver's steering effort. To implement an automatic parking system using a power steering module, it is known to limit the steering angle of the steering wheels to a value strictly less than an absolute maximum steering angle corresponding to the mechanical limits of the vehicle's steering system.During an automatic parking maneuver, the steering angle of the front wheels is generally limited to approximately 80% of the absolute maximum steering angle. This limitation certainly allows for... Preserving the power steering module and / or using a relatively lightweight actuator compromises the efficiency of the automatic parking system. Indeed, limiting the steering angle increases the number of maneuvers required to park the vehicle in the parking space. Presentation of the invention

[0004] The object of the invention is to provide an automatic garage method and a vehicle equipped with an automatic garage system that remedies the above disadvantages and improves upon the automatic garage methods and vehicles equipped with an automatic garage system known in the prior art.

[0005] More specifically, a first object of the invention is an automatic garage method which, on the one hand, preserves the steering module actuator and / or is compatible with a lightweight actuator, and which on the other hand allows a vehicle to be parked in a parking space with a minimum of maneuvers. Summary of the invention

[0006] The invention relates to a method for automatically parking a motor vehicle in a parking space, the vehicle comprising steering wheels, an actuator configured to control the steering angle of the steering wheels, and a means for estimating the vehicle's speed, the parking method comprising a phase of automatic control of the steering angle of the steering wheels by said actuator to park the vehicle in the parking space, the automatic control phase comprising: - a step of comparing an estimate of the vehicle's speed provided by said vehicle speed estimation means with a predefined speed threshold, then - if the vehicle's speed is strictly less than the speed threshold, a step of moving the vehicle during which the steering angle of the steering wheels is limited to a first predefined maximum steering angle, and - if the vehicle speed is strictly greater than the speed threshold, a vehicle movement stage during which the steering angle of the steering wheels is limited to a second predefined maximum steering angle, the second steering angle being strictly greater than the first steering angle.

[0007] The automatic control phase of the steering angle of the steering wheels may include a first sequence during which the vehicle is stationary or during which the vehicle is moving with a speed strictly below the speed threshold, the steering angle of the steering wheels being equal to the first steering angle, then a second sequence during which the vehicle is moving with a speed strictly above the speed threshold, the steering angle of the steering wheels being equal to the second steering angle.

[0008] The garage method may include a transition sequence between the first sequence and the second sequence during which the vehicle speed is greater than or equal to the speed threshold and the steering angle of the wheels gradually increases from the first steering angle to the second steering angle.

[0009] The vehicle may further include means for detecting a parking space, the detection means being configured to detect a position and dimensions of the parking space, and the garage method may include, prior to said automatic control phase of the steering angle of the steering wheels, a preparatory phase including the calculation of at least one trajectory for parking the vehicle in the parking space.

[0010] The automatic steering angle control phase of the steering wheels can begin with a steering wheel steering step up to the first steering angle during which the vehicle is stationary.

[0011] The parking space can be a parallel, perpendicular, or angled parking space.

[0012] The first steering angle can be equal to a value between 70% and 90% inclusive of the absolute maximum steering angle of the steering wheels. The second steering angle can be equal to a value between 90% and 100% inclusive of the absolute maximum steering angle of the steering wheels. The speed threshold can be between 0.5 km / h and 2 km / h inclusive.

[0013] The invention also relates to a motor vehicle comprising an electronic control unit including a memory and a microprocessor, steering wheels, an actuator configured to control a steering angle of the steering wheels, and a means for estimating the speed of the vehicle, the memory of the electronic control unit including program code instructions configured to implement the garage process as defined above.

[0014] The invention also relates to a computer program comprising instructions which, when the program is executed by a computer, lead the latter to implement the garage process as defined above.

[0015] The invention also relates to a computer-readable recording medium comprising instructions which, when executed by a computer, lead the computer to implement the garage process as defined above. Presentation of the figures

[0016] These objects, features and advantages of the present invention will be described in detail in the following description of a particular embodiment, given by way of non-limiting example, with reference to the accompanying figures, among which:

[0017] Fig. 1 is a schematic view of a motor vehicle according to one embodiment of the invention.

[0018] Fig. 2 is a schematic top view of the trajectory followed by the vehicle to park in a parking space, a first graph illustrating the evolution of the steering angle of the vehicle's steering wheels as a function of the vehicle's longitudinal position, and a second graph illustrating the evolution of the vehicle's speed as a function of the vehicle's longitudinal position. Figure 3 is a synoptic diagram of an automatic vehicle garageing method according to one embodiment of the invention. Detailed description

[0019] Figure 1 schematically illustrates, in a top view, a motor vehicle 1 according to an embodiment of the invention. The vehicle 1 may be, for example, a passenger car, a commercial vehicle, a truck, or a bus. The vehicle 1 comprises two steering wheels 2 at the front and two non-steering wheels 3 at the rear. Incidentally, the invention can also be applied to a vehicle comprising four steering wheels or any other configuration of steering and non-steering wheels.

[0020] The vehicle 1 is equipped with a steering system for controlling the steering angle of the steering wheels 2. Conventionally, the steering system comprises a steering wheel 4 for operation by a driver of the vehicle 1 and a transmission mechanism mechanically connecting the steering wheel 4 to the steering wheels 2. The transmission mechanism includes, in particular, a steering column 5, a rack 6, and two tie rods 7. The steering column 5 extends from the steering wheel 4 to the rack 6, with which it cooperates via a pinion. Each tie rod 7 connects one end of the rack 6 to a steering wheel 2.

[0021] The steering system also includes an actuator 8 configured to control the steering of the steerable wheels autonomously, that is, independently of any action by a driver on the steering wheel 4. The actuator 8 may be a module designed to exert a mechanical action on the steering column 5 or on the rack 6. The actuator 8 may include an electric motor. The actuator 8 may be a power steering module, that is, a module designed to facilitate the rotation of the steering wheel 4 by the driver of the vehicle 1.

[0022] The X-axis designates the longitudinal axis of vehicle 1. When moving forward in a straight line, vehicle 1 progresses from rear to front in a direction parallel to its longitudinal axis. The X-axis is oriented from the front to the rear of vehicle 1, that is, in the direction of reverse movement. The Y-axis designates the transverse axis of vehicle 1. The Y-axis is oriented from left to right, left and right being defined from the perspective of a driver of vehicle 1. The Z-axis designates the axis perpendicular to the X-axis and the Y-axis. Vehicle 1 is considered to be resting on a horizontal surface. The Z-axis is a vertical axis, oriented from bottom to top. The X, Y, and Z axes form an orthogonal coordinate system.

[0023] Each wheel 2, 3 is rotatable to allow the vehicle 1 to move along the ground. The axis of movement of a wheel is the axis toward which the wheel 2, 3 moves when it rotates to propel the vehicle 1 forward. The axis of movement of each non-steering wheel 3 is parallel to the X-axis. The axis of movement of each steering wheel forms a steering angle Ag, Ad with the X-axis. The steering angle Ag, Ad of each steering wheel is therefore equal to zero when the vehicle 1 moves in a straight line.

[0024] Conventionally, when the steering wheels 2 are pivoted to turn right or left, the steering angle Ad of a right steering wheel may differ from the steering angle Ag of a left steering wheel. Hereafter, "the steering angle of the steering wheels" will refer to an average of the steering angle Ad and the steering angle Ag. The turning radius R of a vehicle 1, associated with a steering angle A, denotes the radius of a circle along which the vehicle 1 moves when the steering wheels are turned by the steering angle A. The radius R and the steering angle A are related by the formula R = e * tan(90°-A), where e denotes the wheelbase of the vehicle 1. The steering wheels 2 are said to be turned to the left when the vehicle 1 turns to the left while traveling forward.Similarly, the steering wheels 2 are said to be turned to the right when the vehicle 1 turns to the right while travelling forward.

[0025] The transmission mechanism mechanically linking the steering wheel 4 to the steering wheels 2 also includes mechanical stop means that mechanically limit the steering angle of the steering wheels 2. The absolute maximum steering angle of the steering system refers to the maximum steering angle permitted by the mechanical stop means. The absolute maximum steering angle is therefore defined by the mechanical design of the steering system. It can be equal to a value between 35° and 45°, for example, approximately 40°. The absolute minimum turning radius of the vehicle 1, associated with the absolute maximum steering angle, can be between 10 meters and 12 meters, for example, approximately 11 meters.

[0026] The vehicle 1 also includes a means for estimating the speed 11 of the vehicle 1. Conventionally, the speed estimation means 11 may include at least one sensor capable of measuring the rotational speed of at least one wheel 2 or 3. Alternatively, the speed estimation means 11 may include a means for geolocating the vehicle 1, a calculation for deriving the position of the vehicle 1 allowing the speed of the vehicle 1 to be determined.

[0027] The vehicle 1 also includes means 12 for detecting a parking space. A parking space, or parking spot, is a location intended for leaving a parked vehicle. A parking space can be identified, for example, by markings on the ground and / or by raised features such as a curb and / or by street furniture. A parking space is generally quadrilateral in shape, in particular a rectangular shape with a longer side measuring approximately 5 meters and a shorter side measuring approximately 2.5 meters. The detection means 12 may include sensors such as a camera and / or one or more proximity sensors such as ultrasonic sensors and / or radar and / or lidar. This or these sensors may be coupled with suitable software means for identifying a parking space, estimating its length, width, and position relative to the vehicle 1.The detection means 12 are thus configured to identify the position of the four vertices of a quadrilateral defining the parking space. Alternatively, the detection of only three vertices, or even only two vertices of the quadrilateral, could be sufficient to detect the parking space.

[0028] The vehicle 1 also includes an electronic control unit 13 equipped with a memory 14 and a microprocessor 15. The electronic control unit 13 is connected directly or indirectly to the actuator 8, via the speed estimation means 11, and to the detection means 12. In particular, the electronic control unit 13 is intended to receive information signals from the speed estimation means 11 and from the detection means 12, and it is intended to issue commands to the actuator 8 to steer the steering wheels in a previously calculated direction.

[0029] Furthermore, optionally, vehicle 1 may also include all or part of the following equipment. Vehicle 1 may include sensors configured to detect obstacles positioned at a short distance from the vehicle, for example, proximity sensors such as ultrasonic sensors. Vehicle 1 may include a screen intended to be viewed by the vehicle's driver. The screen may be configured to display the environment of vehicle 1 and / or instructions for the driver. Vehicle 1 may also include a control interface. The control interface may be adapted to initiate a garage procedure as described below. Finally, vehicle 1 may also include means for autonomously controlling the speed of vehicle 1, that is, means capable of acting on a powertrain of vehicle 1 to drive the drive wheels of vehicle 1.These various pieces of equipment are advantageously connected directly or indirectly to the electronic control unit 13.

[0030] The memory 14 of the electronic control unit 13 is a data storage medium on which a computer program is stored, comprising program code instructions for implementing an automatic parking method for the vehicle 1 according to an embodiment of the invention. The microprocessor 15 is capable of executing this computer program. As we will see later, the automatic parking method provides for autonomous control, that is, without driver intervention, of the steering of the steering wheels 2 of the vehicle 1. The parking method therefore aims to assist the driver by optimally steering the steering wheels 2 to position the vehicle 1 in the parking space 16.

[0031] According to one embodiment, the garage method can take complete control of the vehicle by acting on both the steering of the steerable wheels 2 and the powertrain of vehicle 1. Alternatively, the garage method can take partial control of vehicle 1 by acting only on the steering of the steerable wheels 2, with powertrain management remaining under the driver's responsibility. In this second scenario, instructions for the vehicle to move forward or backward can be transmitted to the driver, in particular via a screen installed in vehicle 1.

[0032] An embodiment of a garage method according to the invention is now described in more detail in relation to [Fig.2].

[0033] Figure 2 illustrates, from a top view, vehicle 1 in an initial position PO and a parking space 16 positioned near vehicle 1. The purpose of the parking method is to assist the driver of vehicle 1 in positioning vehicle 1 in the parking space 16, preferably in the center of the parking space 16 and with the longitudinal axis X of vehicle 1 extending parallel to the longer side of the rectangular shape of the parking space 16. The desired final position PF for vehicle 1 and various intermediate positions PI, P2 between the initial position PO and the final position PF are indicated by dashed rectangles. According to the embodiment presented, the parking space 16 is a parallel parking space, meaning that a series of maneuvers known as "parallel parking" must be performed to position vehicle 1 in the parking space 16.Alternatively, the invention could also be implemented to position vehicle 1 in a perpendicular or angled parking space. According to the example in [Fig. 2], the initial position PO is located at the front of parking space 16. The first maneuver to park vehicle 1 is carried out in reverse. Alternatively, any other initial position could be considered.

[0034] In [Fig.2], the trajectory of a central point P of vehicle 1 allowing vehicle 1 to be parked in the space of is also illustrated by a curved line L1. Parking 16. The curved line L1 is roughly in the shape of an "S". To follow the curved line L1, vehicle 1 must first turn its wheels to the left and then to the right.

[0035] In addition, [Fig.2] shows a first graph illustrating the steering angle A of the steering wheels when vehicle 1 follows the curved line Ll, and a second graph illustrating the speed of vehicle V when vehicle 1 follows the curved line LL. The axes of the abscissas of the first graph and the second graph correspond to the longitudinal position X' of vehicle 1 along the curved line LL. The longitudinal position X' of vehicle 1 is defined as the position of vehicle 1 along an axis parallel to the axis X when vehicle 1 is in its initial position PO.

[0036] A synoptic diagram of the automatic garage method according to the invention is illustrated in [Fig. 3]. The garage method can be broken down into two main phases: a preparatory phase PI followed by an automatic control phase P2 of the steering of the steering wheels 2 by the actuator 8 to park the vehicle 1 in the parking space 16.

[0037] To initiate the preparatory phase PI, the driver of vehicle 1 starts the execution of the automatic parking process, for example via a control interface on board vehicle 1. In a first step El, the parking space detection means 12 scan the environment of vehicle 1 to identify a parking space 16 whose dimensions are sufficient to position vehicle 1. This first step can be carried out while vehicle 1 is moving forward, for example along a line of parked vehicles. More precisely, the detection means 12 identify the positions of the vertices of a quadrilateral formed by a potential parking space, deduce the dimensions of said quadrilateral, and compare the dimensions of said quadrilateral with a given template.When a parking space 16 compatible with said dimensions is identified, the driver of vehicle 1 is notified, invited to stop, and to confirm his wish to park his vehicle 1 in this parking space 16.

[0038] When the driver confirms their intention to park their vehicle 1 in parking space 16, the electrical control unit calculates, in a second step E2, a set of trajectories that the vehicle 1 must follow to move from its current position, which is an initial position, to a position centered on parking space 16, which is a final position. This calculation is based, in particular, on the position of the four vertices of the quadrilateral shape of parking space 16. Advantageously, a safety margin is applied between the estimated position of the four vertices of the quadrilateral detected during step E1 and a virtual quadrilateral 17 on the basis of which the set of trajectories necessary to park the vehicle 1 are calculated. This ensures that there is no collision between vehicle 1 and any detected obstacles. The set of trajectories required to park vehicle 1 includes alternating forward and reverse trajectories. The number of trajectories that vehicle 1 must follow to position itself in parking space 16 depends on the size of parking space 16, the size of vehicle 1, and the initial position PO of vehicle 1 relative to parking space 16. According to the embodiment shown in [Fig. 2], it is assumed that a single reverse trajectory is sufficient to position vehicle 1 in parking space 16. In all cases, the number of trajectories must be as small as possible.

[0039] The calculation of all the trajectories needed to park vehicle 1 may possibly be renewed later, during the execution of the maneuvers necessary to follow these trajectories, if the trajectories actually followed by vehicle 1 differ from the trajectories previously calculated and / or if new obstacles are detected.

[0040] When the trajectories are calculated, the automatic control phase P2 is started to follow said trajectories.

[0041] In a third step E3, the steering wheels 2 of vehicle 1 are turned while vehicle 1 is stationary in the initial position PO. The steering wheels 2 are progressively turned by the actuator 8 up to a predefined first steering angle Amaxl. The first steering angle Amaxl can be equal to a value between 70% and 90% of the absolute maximum steering angle, for example, 80% of the absolute maximum steering angle. This value can be set by parameterization. Applying a moderate steering angle Amaxl helps to protect the actuator 8 and / or makes the automatic parking process compatible with a relatively lightweight actuator. In addition, and advantageously, a moderate steering angle avoids significant shear stress on the tires of vehicle 1 due to the pivoting of the steering wheels 2 while vehicle 1 is stationary.

[0042] Next, when the steering wheels 2 have reached the first steering angle Amaxl, the vehicle 1 is moved in a fourth step E4. In this case, according to the embodiment presented, the vehicle 1 is moved in reverse. As explained previously, the movement of the vehicle 1 can be autonomous, i.e., controlled by the electronic control unit 13, or manual, i.e., controlled by the driver of the vehicle 1. According to this latter option, the driver receives instructions, notably via a screen and / or proximity sensors on board the vehicle 1, to control the speed of the vehicle 1 appropriately.

[0043] During the fourth stage E4, vehicle 1 moves with the steering wheels 2 turned according to the first steering angle Amaxl. Vehicle 1 therefore describes a first part of the trajectory in the shape of an arc of a circle of radius RI. The radius RI corresponds to the first steering angle Amaxl, and is strictly greater than the absolute minimum steering radius of the vehicle 1.

[0044] In a fifth step E5, the speed V of vehicle 1, provided by the speed estimation means 11 of vehicle 1, is compared to a predefined speed threshold Vs. The speed threshold Vs can preferably be between 0.5 km / h and 2 km / h inclusive. As long as the speed V of vehicle 1 is strictly less than the speed threshold Vs, vehicle 1 continues to move with the steering wheels turned according to the first steering angle Amaxl.

[0045] As soon as the speed V of vehicle 1 becomes greater than or equal to the speed threshold Vs, a sixth step E6 begins, during which the steering angle of the steering wheels is progressively increased up to a second steering angle Amax2, the second steering angle Amax2 being strictly greater than the first steering angle Amax1. The second steering angle Amax2 can be equal to a value between 90% and 100% of the absolute maximum steering angle, for example, 95% of the absolute maximum steering angle. This value can also be set by parameterization. The increase in the steering angle is facilitated by the simultaneous movement of vehicle 1. Indeed, when the steering wheels 2 roll on the ground, the coefficient of friction of these wheels 2 is reduced and their pivoting is easier to achieve. The pivoting of the steering wheels 2 up to the second steering angle Amax2 remains possible even when using a lightweight actuator.

[0046] Then, in a seventh step E7, the movement of vehicle 1 continues with the steering wheels 2 turned by the second steering angle Amax2. Vehicle 1 thus describes a second part of the trajectory in the shape of a circular arc of radius R2. The radius R2 corresponds to the second steering angle Amax2, and is strictly less than the radius RL. In the event that the speed V of vehicle 1 were to fall below the speed threshold Vs, or even become zero during the seventh step E7, it is nevertheless possible to maintain a steering angle equal to the second steering angle Amax2.

[0047] In relation to [Fig. 2], it is understood that the trajectory of vehicle 1 can be decomposed into a plurality of consecutive sequences SI, St, S2. During the first sequence SI, vehicle 1 is stationary or moving at a speed V strictly below the threshold speed Vs. During this first sequence, the steering angle of the steerable wheels 2 is equal to the first steering angle Amaxl. Then, during a transition sequence St, the speed of vehicle 1 is greater than or equal to the threshold speed Vs, and the steering angle of the wheels 2 gradually increases from the first steering angle Amaxl to the second steering angle Amax2. Then, during the second sequence S2, vehicle 1 moves at a speed strictly greater than the speed threshold Vs. The steering angle of the steering wheels 2 is then equal to the second steering angle Amax2.

[0048] During the transition sequence St, the turning radius R of vehicle 1 can be calculated using the following formula: 1 / R = a*s+b where: - R denotes the turning radius R of vehicle 1, - a = (1 / R2-1 / R1) / s0 where RI and R2 are the radii corresponding respectively to the turning angles Amax1 and Amax2 and s0 is a constant defined by parameterization -b = 1 / R1, - s denotes the curvilinear abscissa of vehicle 1 along the trajectory defined by the curved line LL Thus, we obtain R = RI when s = 0 and R = R2 when s = s0. The parameter sO therefore defines the length of the transition sequence along the curved line LL. The parameter sO can, for example, be equal to 10 cm.

[0049] Then, in an eighth step E8, the previously calculated trajectory can be continued until vehicle 1 reaches a suitable position in parking space 16 or until vehicle 1 is close to a given obstacle. During the eighth step E8, proximity sensors assist the driver of vehicle 1, allowing them to adjust their speed and stop vehicle 1 before it comes into contact with an obstacle. During the eighth step E8, the steering angle of the steerable wheels 2 can optionally be reduced to follow the calculated trajectory. In particular, the trajectory can be continued by a counter-steering step in which the steerable wheels 2 are turned in the opposite direction to that of the previous steps. During the counter-steering step, the steering angle of the steerable wheels can reach a value equal to -Amax2.When vehicle 1 has reached its final position PF or a position close to its final position PF, the steering wheels 2 can be reoriented parallel to the X axis of vehicle 1.

[0050] Finally, it is understood that the invention proposes at least two limitations on the steering angle of the steering wheels 2: if the speed of the vehicle 1 is strictly less than the predefined speed threshold Vs, the steering angle of the steering wheels 2 is limited to the first predefined maximum steering angle Amaxl. If the speed of the vehicle 1 is strictly greater than the speed threshold Vs, the steering angle of the steering wheels 2 is limited to the second predefined maximum steering angle Amax2, which is strictly greater than the first maximum steering angle Amaxl. This strategy makes it possible both to preserve the actuator 8 or to make the automatic garage process compatible with a lightweight actuator 8, and to create a garage efficient automatic, that is to say requiring minimal maneuvering to reach parking space 16.

[0051] As a side note, limiting the steering angle is equivalent to limiting the steering wheel angle or the turning radius of vehicle 1, since these quantities are related to each other by constants. In particular, the turning radius and the steering angle are related by the formula R = e * tan(90°-A) defined previously. The steering wheel angle and the steering angle are related by a linear relationship. The previous explanations given with regard to the steering wheel angle could therefore be formulated analogously with regard to the steering wheel angle.

[0052] Of course, if the trajectory previously calculated in the second step E2 does not require reaching the first predefined maximum steering angle Amaxl or the second predefined maximum steering angle Amax2, then the vehicle 1 follows this trajectory without reaching these values. In other words, the steering angles Amaxl and Amax2 are limits that must not be exceeded, but not all automatic parking trajectories necessarily require reaching these limits, particularly if the parking space 16 is especially wide.

Claims

Demands

1. A method for automatically parking a motor vehicle (1) in a parking space (16), the vehicle comprising steering wheels (2), an actuator (8) configured to control a steering angle of the steering wheels, and a means for estimating the speed (11) of the vehicle, the parking method comprising a phase (P2) of automatically controlling the steering angle of the steering wheels by said actuator (8) to park the vehicle in the parking space, the automatic control phase comprising: - a step (E5) of comparing an estimate of the vehicle's speed (V) provided by said means for estimating the vehicle's speed with a predefined speed threshold (Vs), then - if the vehicle's speed (V) is strictly less than the speed threshold, a step (E4) of moving the vehicle during which the steering angle of the steering wheels is limited to a first predefined maximum steering angle (Amaxl),and - if the vehicle speed (V) is strictly greater than the speed threshold, a stage (E7) of vehicle movement during which the steering angle of the steering wheels is limited to a predefined maximum second steering angle (Amax2), the second steering angle (Amax2) being strictly greater than the first steering angle (Amax1).

2. Garage method according to the preceding claim, characterized in that the phase (P2) of automatic control of the steering angle of the steering wheels comprises a first sequence (SI) during which the vehicle is stationary or during which the vehicle is moving with a speed strictly less than the speed threshold (Vs), the steering angle of the steering wheels being equal to the first steering angle (Amaxl), then a second sequence (S2) during which the vehicle is moving with a speed strictly greater than the speed threshold, the steering angle of the steering wheels being equal to the second steering angle.

3. A garage method according to the preceding claim, characterized in that it comprises a transition sequence (St) between the first sequence (SI) and the second sequence (S2) during which the vehicle speed is greater than or equal to the speed threshold (Vs) and the angle The steering angle of the wheels increases progressively from the first steering angle to the second steering angle.

4. An automatic garage method according to any one of the preceding claims, characterized in that the vehicle (1) further comprises means for detecting (12) a parking space, the detection means being configured to detect a position and dimensions of the parking space, and in that the garage method comprises, prior to said phase (P2) of automatic control of the steering angle of the steering wheels, a preparatory phase (PI) comprising the calculation of at least one trajectory for parking the vehicle in the parking space.

5. Automatic garage method according to any one of the preceding claims, characterized in that the phase (P2) of automatic control of the steering angle of the steering wheels begins with a step (E3) of steering the steering wheels up to the first steering angle (Amaxl) during which the vehicle is stopped.

6. Garage method according to any one of the preceding claims, characterized in that the parking space is a parallel, perpendicular, or angled parking space.

7. Garage method according to any one of the preceding claims, characterized in that: - the first steering angle (Amax1) is equal to a value between 70% and 90% inclusive of an absolute maximum steering angle of the steering wheels, and / or in that - the second steering angle (Amax2) is equal to a value between 90% and 100% inclusive of the absolute maximum steering angle of the steering wheels, and / or in that - the speed threshold (Vs) is between 0.5km / h and 2km / h inclusive.

8. Motor vehicle (1) comprising an electronic control unit (13) including a memory (14) and a microprocessor (15), steering wheels (2), an actuator (8) configured to control a steering angle of the steering wheels, and a means for estimating the speed (11) of the vehicle, the memory of the electronic control unit comprising program code instructions configured to implement the garage method according to any one of the preceding claims.

9. 15 Computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the garage process according to any one of claims 1 to 7.

10. Computer-readable recording medium (14) comprising instructions which, when executed by a computer, cause the computer to carry out the garage process according to any one of claims 1 to 7.

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