Method for operating a parking assistance system of a motor vehicle, parking assistance system, motor vehicle with a parking assistance system and computer program

Abstract

The invention is directed at a method for operating a parking assistance system (12) of a vehicle (10). Therein, during a trained parking maneuver, the parking assistance system (12) moves the vehicle (10) along a trained parking trajectory (22) inside a trained parking slot (24). During the trained parking maneuver, the parking assistance system (12) monitors the movement of the vehicle (10) and determines deviations of an actual trajectory (28), which is determined by the movement of the vehicle (10), from the trained parking trajectory (22). If a deviation is determined which exceeds a predefined threshold, a correction measure is initiated by the parking assistance system (12). The correction measure comprises to abort the trained parking maneuver and to initiate or to provide the option of an assisted parking maneuver having a real-time planned path towards a final parking destination.

Description

[0001] Method for operating a parking assistance system of a motor vehicle, parking assistance system, motor vehicle with a parking assistance system and computer program

[0002] The invention is directed at a method for operating a parking assistance system of a motor vehicle, wherein the parking assistance system moves the vehicle at least semi- automatically based on a previously trained parking trajectory towards a final parking position. During this trained parking maneuver, the parking assistance system can monitor the movement of the vehicle along the trained parking trajectory, wherein based on the monitoring, deviations of the movement of the vehicle from the trained parking trajectory are determined. If a deviation is determined, which exceeds a predefined threshold, the parking assistance system initiates a correction measure.

[0003] A further aspect of the invention is directed at such a parking assistance system. Further aspects of the invention are directed at a motor vehicle with such a parking assistance system and to a computer program comprising instructions, which, when the program is executed by a parking assistance system, cause the parking assistance system to carry out the inventive method. A further aspect of the invention is directed at a computer- readable storage medium having stored thereon the inventive computer program.

[0004] Known parking assistance systems can be operated in different modes, comprising a training mode, wherein in the training mode, a parking trajectory for a motor vehicle, which is equipped with such an assistance system, can be trained. Usually, in trained parking or during the training mode, a driver of the vehicle has to park the vehicle manually once, to allow a sensor of the assistance system, for example a camera sensor, to capture feature data describing features or objects along the parking trajectory. The feature data are then transferred to a computing unit, where the parking trajectory is computed based on the feature data. The parking trajectory can then be stored in a memory unit of the assistance system, for example a ring buffer, which can cover a specific driving distance. The trained parking trajectory can then be used for later automated parking execution.

[0005] It is known to operate a parking assistance system of a vehicle based on a previously trained parking trajectory. As explained, such a trained parking trajectory comprises several waypoints, including a starting point and an endpoint, which can for example be located in a parking slot in a public parking area or in a private parking area. Along the trained parking trajectory, driving parameters of the vehicle are stored for each of the waypoints, for example a steering angle and / or a velocity of the vehicle. When the vehicle approaches the starting point of a trained parking trajectory, the parking assistance system or a trained parking function can fully- or semi-automatically initiate the trained parking maneuver or replay along the trained trajectory.

[0006] In some cases, the trained trajectory cannot be followed. In other words, a deviation between the recorded path and a current position of the vehicle occurs, which can be determined by the trained parking function during replay. The deviation can be due to objects or obstacles, which may block the trained parking trajectory.

[0007] It is known, for example from DE 10 2021 110 279 A1 , to provide an automated avoiding procedure or routine to the parking assistance system, which enables the parking assistance system to move or guide or steer or maneuver the vehicle around the object. If the avoiding route leads to a deviation from the originally trained parking trajectory, which exceeds a predetermined threshold, the whole procedure will be aborted. Sometimes, a trained parking maneuver can also be cancelled or aborted due to other factors, for example a sharp steering operation.

[0008] In cases of cancellation of the trained parking maneuver, a driver of the motor vehicle may have to continue to park the vehicle manually. This can be troublesome to the driver and generally leads to a decrease in driving experience and in acceptance of driving assistance systems in general.

[0009] It is an object of the present invention to provide an enhanced method for operating a parking assistance system of a motor vehicle, especially in situations where a previously trained parking trajectory cannot be followed due to whatever reason.

[0010] This object is solved by the subject matter of the independent claims. Advantageous embodiments of the invention are described by the dependent claims, the following description and the figures.

[0011] The invention provides a method for operating a parking assistance system of a motor vehicle. According to the inventive method, a trained parking trajectory for carrying out a trained parking maneuver of the motor vehicle is provided. In other words, a previously stored parking trajectory is provided to the parking assistance system. The previously stored parking trajectory may comprise several waypoints and a set of driving parameters for each waypoint, wherein an endpoint of the trajectory may mark a final parking position for the vehicle inside a trained parking slot. The trained parking slot can have any orientation. The slot can for example be one in a row of parallel slots or in a row of fishbone-type slots. The slot can also be a single slot, for example in a private parking area.

[0012] In the trained parking maneuver the vehicle may be moved by the parking assistance system based on the trained parking trajectory towards the endpoint of the trained parking trajectory. In other words, the parking assistance system may control a lateral and / or a longitudinal guidance system of the vehicle according to the information provided by the trained parking trajectory, in order to guide the vehicle into the trained parking slot at the endpoint of the trained trajectory.

[0013] During the trained parking maneuver, the movement of the motor vehicle along the trained parking trajectory may be monitored by the parking assistance system. In other words, the parking assistance system may receive data describing the movement of the vehicle during the trained parking maneuver. The data may be collected or captured by one or more sensors of a sensor system of the vehicle and transferred to the parking assistance system or a computing unit thereof. To this end, the sensor system may comprise environmental sensors, for example camera sensors and / or lidar sensors and / or radar sensors and / or ultrasound sensors, which are designed to sense or detect a position of the vehicle with respect to known objects in the surroundings of the vehicle. Alternatively or additionally, the sensor system may comprise steering wheel sensors and / or wheel sensors, wherein the computing unit of the parking assistance system may be designed to compute a current position of the vehicle from the steering wheel data and / or from the wheel data, i.e. from a given angle of rotation of one or more of the wheels of the vehicle. Alternatively or additionally, the sensor system may comprise sensors capable of determining an absolute current position of the vehicle based on GPS-data (GPS - global positioning system).

[0014] According to the inventive method, deviations from the trained parking trajectory are determined, wherein the deviations may be current deviations, i.e. real-time deviations, or future, i.e. expected deviations. Preferably, the parking assistance system may compare the monitored movement of the vehicle with the trained parking trajectory in order to determine the deviations. In other words, the trained parking function may determine the deviations during replay as a comparison of the recorded path (the trained trajectory) and the actual position of the vehicle. If a deviation is determined which exceeds a predefined threshold, a correction measure is initiated by the parking assistance system. The predefined threshold may lie in the order of 1 to 1 .5 meters on either side of the trained parking trajectory. The deviation may also be expressed in degrees, wherein an orientation angle of a longitudinal axis of the vehicle may deviate by 10 to 20 degrees from the orientation that is stored for a respective waypoint of the trajectory. Here and in the following, a deviation, which exceeds the predetermined threshold is also denoted as critical deviation.

[0015] According to the inventive method, the correction measure comprises to abort the trained parking maneuver and to initiate or to provide the option of an assisted parking maneuver having a real-time planned path towards a final parking destination.

[0016] In other words, according to the inventive method, the trained parking maneuver is not simply cancelled or aborted in case a critical deviation from the trained parking trajectory is detected, but options for further assisting the driver of the vehicle are offered.

[0017] The proposed method is advantageous in that the driver is not left alone by the assistance system in case the trained trajectory cannot be followed. On the contrary, the correction measure according to the invention may help to avoid troublesome situations and therefore lead to an overall increase in road safety and driving experience.

[0018] The invention further includes embodiments by which additional advantages are obtained.

[0019] According to one embodiment, the assisted parking maneuver comprises real-time detection of the surroundings of the vehicle by at least one sensor of the sensor system of the vehicle. Preferably, the assisted parking maneuver further comprises parking of the vehicle in a final parking destination based on the real-time detection of the surroundings.

[0020] According to an embodiment, the correction measure alternatively or additionally comprises (i) to continue with the trained parking maneuver, or (ii) to abort the trained parking maneuver and to initiate a manual parking maneuver instead, wherein the manual parking maneuver comprises manual steering of the motor vehicle by a driver of the motor vehicle.

[0021] According to one embodiment, alternative or additional steps of the correction measure are selected by the parking assistance system based on driver preferences of the driver of the vehicle. In other words, the driver may provide his or her preferences to the parking assistance system and the parking assistance system may select the steps of the correction measure according to the driver preferences. The preferences may be stored in a storage unit of the parking assistance system previously to starting the trained parking maneuver. Alternatively, the driver may be asked to give his or her preference in the current situation of aborting the trained parking maneuver due to a critical deviation from the trained parking trajectory. The driver may be presented with a selection menu, for example displayed on a display device of the instrument panel of the vehicle, such as a display screen. The driver may select his or her favorite option via a touch gesture on a touch-sensitive surface of the display screen. To give the driver the opportunity to select one of the options may further increase the driving experience and / or the acceptance of the parking assistance system.

[0022] According to a further embodiment, the trained endpoint of the trained parking trajectory is used as the final parking destination. In other words, the trained endpoint is used as final parking destination in the assisted parking maneuver. Usually, parking according to known assisted parking maneuvers requires information about the parking slot in which a vehicle should be parked. In order to acquire this information, the vehicle normally has to be driven by the destination parking slot at least once. During the drive-by maneuver, sensors of the vehicle’s sensor system can scan the parking slot and provide these data to the parking assistance system. According to the described embodiment, the drive-by maneuver is not necessary anymore, because the parking assistant system already has information about the destination parking slot from the previous training. Thus, the assisted parking maneuver can be accelerated and becomes more convenient for the driver. During the assisted parking maneuver, the parking assistant system can use the environmental data from the sensor system in order to make small adjustments during parking and / or in order to avoid obstacles.

[0023] According to a further embodiment, the final parking destination comprises a preferred orientation or pose of the vehicle inside the parking slot. In other words, the final parking destination not only comprises information about the location of the desired parking slot, but also the orientation of the vehicle inside the slot, for example if the vehicle is to be parked forward or backward inside the slot.

[0024] Preferably, the preferred orientation is determined based on a user input of the driver of the vehicle, preferably upon selection of the option of the assisted parking maneuver. In other words, the driver may select the orientation of the vehicle inside the slot together with the selection of continuing the parking maneuver as an assisted parking maneuver. This further increases the set of options that can be offered to the driver upon cancellation of the trained parking.

[0025] According to a further embodiment, the correction measure comprises generation of a warning signal and display of the warning signal to the driver of the vehicle. In other words, upon detection of a critical deviation from the trained trajectory, the parking assistance system can produce a warning signal. The warning signal may comprise a visual and / or haptic and / or acoustic warning for the driver, raising his or her awareness for the critical deviation and encouraging him or her to make a selection for how to further proceed with the parking maneuver.

[0026] According to a further embodiment, during the trained parking maneuver, the parking assistance system receives object data from the sensor system, wherein the object data describe at least one object in the surroundings of the vehicle, and wherein the deviations are determined by the parking assistance system based on the object data. In other words, the object data are used to determine the deviations from the trained parking trajectory. For example, if an object is detected, which blocks a major part of the trained parking trajectory, for example two thirds, a critical deviation can be expected or anticipated by the parking assistance system before the vehicle even reaches the object or is partially moved around it. Thus, situations can be avoided, in which the vehicle has to abort the trained parking maneuver when it is already located in a position from which it may be difficult to remove it either by manual steering or by automated steering. The trained parking maneuver may be cancelled right away and the driver may park the vehicle manually in the parking slot or even chose another parking slot.

[0027] According to a further embodiment, during the trained parking maneuver, the parking assistance system receives steering data from the sensor system, wherein the steering data describe steering actions carried out by the driver of the vehicle during the trained parking maneuver, and wherein the deviations are determined based on the steering data. In other words, the parking assistance system receives data describing a current steering wheel angle and / or a current angular velocity of the steering wheel. Based on these data, the parking assistance system or its computing unit can determine if the driver performs a sharp or violent steering action. Based on predetermined thresholds for steering wheel angle and / or angular velocity of the steering wheel, the parking assistance system can determine a critical deviation and initiate the correction measure. According to a further embodiment, during the assisted parking maneuver, waypoints are stored, wherein based on the waypoints, a new trained parking trajectory for the trained parking slot is generated and stored for future trained parking maneuvers. In other words, the assisted trained parking maneuver can be used as another training session for training a new parking trajectory to reach the trained parking slot. In case the critical deviation, which led to the continuation of the parking maneuver as an assisted parking maneuver according to the invention is caused by an object or obstacle along the originally trained parking trajectory, which is a newly installed permanent object, the new trained parking trajectory can be used for future trained parking maneuvers in this area. A permanent object may be an infrastructure component like a street bollard.

[0028] Preferably, a new trained parking maneuver is carried out based on the new trained parking trajectory. Preferably, the driver can select, if the new trained parking trajectory or the originally trained parking trajectory should be used for the new trained parking maneuver.

[0029] A further aspect of the invention is directed at a method for operating a parking assistance system of a motor vehicle, the method comprising the steps:

[0030] - providing a trained parking trajectory for carrying out a trained parking maneuver of the motor vehicle,

[0031] - monitoring the movement of the motor vehicle along the trained parking trajectory,

[0032] - determining deviations of an actual position of the motor vehicle, which is determined by the movement of the motor vehicle, from the trained parking trajectory, wherein if a deviation is determined which exceeds a predefined threshold, a correction measure is initiated by the parking assistance system, characterized in that the correction measure comprises to continue with the trained parking maneuver.

[0033] A further aspect of the invention is directed at a method for operating a parking assistance system of a motor vehicle, the method comprising the steps:

[0034] - providing a trained parking trajectory for carrying out a trained parking maneuver of the motor vehicle,

[0035] - monitoring the movement of the motor vehicle along the trained parking trajectory, - determining deviations of an actual position of the motor vehicle, which is determined by the movement of the motor vehicle, from the trained parking trajectory, wherein if a deviation is determined which exceeds a predefined threshold, a correction measure is initiated by the parking assistance system, characterized in that the correction measure comprises to abort the trained parking maneuver and to initiate a manual parking maneuver, wherein the manual parking maneuver comprises manual steering of the motor vehicle by a driver of the motor vehicle.

[0036] A further aspect of the invention is directed at a parking assistance system for a motor vehicle, wherein the parking assistance system is designed to be operated according to a method according to an embodiment of the present invention.

[0037] Further aspects of the invention are directed to a motor vehicle comprising a parking assistance system according to an embodiment of the present invention, a computer program comprising instructions to cause the parking assistance system to execute the steps of the inventive method and a computer-readable storage medium having stored thereon said computer program. In other words, the computer-readable storage medium comprises instructions which, when executed by a computer or a computer network, cause the computer to execute an embodiment of the method according to the invention.

[0038] The storage medium may, for example, be configured at least in part as a non-volatile data storage device (e.g., as a flash memory and / or as an SSD - solid state drive) and / or at least in part as a volatile data storage device (e.g., as a RAM - random access memory). However, the storage medium can also be operated, for example, as a so- called appstore server on the Internet. The computer or computer network can provide a processor circuit with at least one microprocessor. The instructions may be provided as binary code or assembler and / or as source code of a programming language (e.g., C).

[0039] For use cases or use situations which may arise in the method and which are not explicitly described herein, it may be provided that, in accordance with the method, an error message and / or a request for user feedback is output and / or a default setting and / or a predetermined initial state is set. The invention also includes a control device for the motor vehicle. The control device may comprise a data processing device or a processor device adapted to perform an embodiment of the method according to the invention. For this purpose, the processor device may comprise at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (field programmable gate array) and / or at least one DSP (digital signal processor). Furthermore, the processor device may comprise program code which is arranged to perform the embodiment of the method according to the invention when executed by the processor device. The program code may be stored in a data memory of the processor device. A processor circuit of the processor device may comprise, for example, at least one circuit board and / or at least one SoC (system on chip).

[0040] The invention also includes further embodiments of the parking assistance system and / or the motor vehicle according to the invention, which have features as already described in connection with the further embodiments of the method according to the invention. For this reason, the corresponding further embodiments of the parking assistance system and / or the motor vehicle according to the invention are not described again here.

[0041] The motor vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger car or truck, or as a passenger bus or motorcycle.

[0042] The invention also encompasses combinations of the features of the described embodiments. Thus, the invention also encompasses realizations each having a combination of the features of more than one of the described embodiments, provided that the embodiments have not been described as mutually exclusive.

[0043] Embodiments of the first independent aspect are to be considered as embodiments of the further independent aspects of the present invention.

[0044] The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of figures and / or shown in the figures alone are usable not only in the respectively specified combination, but also in other combinations without departing from the scope of the invention. Thus, implementations are also to be considered as encompassed and disclosed by the invention, which are not explicitly shown in the figures and explained, but arise from and can be generated by separated feature combinations from the explained implementations or embodiments. Implementations and feature combinations are also to be considered as disclosed, which thus do not comprise all of the features of an originally formulated independent claim. Moreover, implementations and feature combinations are to be considered as disclosed, in particular by the implementations set out above, which extend beyond or deviate from the feature combinations set out in the relations of the claims.

[0045] Further features of the invention are apparent from the claims, the figures and the description of figures. The figures show:

[0046] Fig. 1 a schematic view of a motor vehicle with a parking assistance system;

[0047] Fig. 2 a schematic view of an exemplary parking situation;

[0048] Fig. 3 a schematic view of another exemplary parking situation;

[0049] Fig. 4 a schematic view of yet another exemplary parking situation;

[0050] Fig. 5 a schematic view of a method for operating a parking assistance system.

[0051] The embodiments explained below are preferred embodiments of the invention. In the embodiments, the described components of the embodiments each represent individual features of the invention to be considered independently of one another, which also further form the invention independently of one another in each case. Therefore, the disclosure is intended to include combinations of the features of the embodiments other than those shown. Furthermore, the described embodiments may also be supplemented by further of the already described features of the invention.

[0052] In the figures, identical reference signs denote elements having the same function in each case.

[0053] Fig. 1 shows a schematic side view of a motor vehicle 10, which is equipped with a parking assistance system 12. The parking assistance system 12 can comprise a computing unit 14, a memory unit 16 and a user interface 18, wherein the user interface 18 may be realized as a touch sensitive display screen in the interior of the vehicle 10. The parking assistance system 12 may also comprise a sensor system with multiple sensors 20. The sensors 20 may comprise camera sensors, radar sensors, lidar sensors and the like. The sensors 20 may be arranged in different parts of the vehicle 10, preferably at the front and / or rear bumpers, side bumpers, the roof and / or integrated into side mirrors of the vehicle 10. Preferably, the sensors 20 are arranged on the vehicle 10 in a way that allows a surround view of current surroundings of the vehicle 10.

[0054] The parking assistance system 12 can be designed to train parking trajectories 22 for the vehicle 10, wherein by executing a parking maneuver based on such a trained trajectory 22, the vehicle 10 can park automatically or semi-automatically to reach a trained parking slot 24 at the end of the trained trajectory 22. In order to train a parking trajectory 22, the parking assistance system 12 can be operated in a training mode. In the training mode, at least one sensor 20 may capture feature data describing features along the parking trajectory 22 and transfer the feature data to the computing unit 14. The computing unit 14 may compute the parking trajectory 22 based on the feature data and store the parking trajectory 22 and the trained parking slot 24 in the memory unit 16. The parking trajectory 22 may be loaded from the memory unit 16 at a later stage and be provided for executing a parking maneuver upon a user’s request and / or automatically, for example when the vehicle 10 approaches the coordinates of the trajectory 22 and / or the trained parking slot 24.

[0055] Fig. 2 shows a schematic view of an exemplary parking situation in a parking area 26. The parking area 26 can be a public or a private parking area 26.

[0056] On the left hand side of Fig. 2, the vehicle 10 is shown at a starting point of a trained parking trajectory 22. At an endpoint of the trained parking trajectory 22, the trained parking slot 24 is indicated by a dashed rectangular shape, wherein a virtual image of the vehicle 10 is marked as vehicle 10’ in the trained parking slot 24. The parking assistance system 12, which is not shown in Fig. 2 for the sake of better readability of the figure, is about to start the trained parking maneuver to move the vehicle 10 along the trained trajectory 22 towards the trained parking slot 24.

[0057] In the middle panel of Fig. 2, the actual trajectory 28, along which the vehicle moves towards the trained parking slot 24 is shown as a solid line. As can be seen from the middle panel, the vehicle 10 does not follow the trained trajectory 22, but deviates from the trained trajectory 22. The deviation may be caused by a deviating or avoiding maneuver due to an object (not shown), which blocks the trained trajectory 22. Alternatively or in addition, the deviation or at least part of the deviation may be caused by a steering operation of a driver of the vehicle 10. As the movement of the vehicle 10 during the trained parking maneuver is monitored by the parking assistance system 12, the deviation will be detected. As soon as the detected or determined deviation exceeds a predefined threshold, the parking assistance system will initiate a correction measure, which may comprise to abort or cancel the trained parking maneuver and to initiate an assisted parking maneuver.

[0058] On the right hand side of Fig. 2, a schematic view of such an assisted parking maneuver is provided. The assisted parking maneuver comprises real-time detection of the surroundings of the vehicle 10 by at least one sensor 20 of the sensor system of the vehicle 10 and parking of the vehicle 10 in the trained parking slot 24 based on the realtime detection of the surroundings.

[0059] In the example of Fig. 2, the driver has selected to park the vehicle 10 backward into the trained parking slot 24. This selection determines the different parking moves that have to be carried out by the parking assistance system 12 in the course of the assisted parking maneuver.

[0060] Fig. 3 shows a similar situation as Fig. 2. In contrast to the situation as displayed in Fig. 2 and described above, the situation of Fig. 3 shows in the right hand panel different parking moves that have to be carried out by the parking assistance system 12 to park the vehicle 10 in a forward direction inside the trained parking slot 24.

[0061] Fig. 4 shows a schematic view of another exemplary parking situation, in which the parking maneuver takes place in a private parking area 26. On the left hand side of Fig. 4, the trained parking trajectory 22 is displayed along which the vehicle 10 would be moved by the parking assistance system 12, if the driver would not interfere.

[0062] According to the example shown in Fig. 4, however, the driver of the vehicle 10 can decide upon entering the private parking area 26, if he or she wants to have the vehicle 10 parked automatically according to the trained parking trajectory 22 or according to the assisted or traditional parking maneuver.

[0063] If the driver decides that the vehicle 10 should be parked according to the assisted parking maneuver, it will follow the actual trajectory 28 as shown in the middle panel of Fig. 4. If, however, the driver decides that the trained parking trajectory 22 should be used for parking the vehicle 10 inside the trained parking slot 24, the actual trajectory 28 will correspond to the trained trajectory 22 (right hand side). Fig. 5 shows a schematic view of a method for operating a parking assistance system 12. In a step S1 , a trained parking trajectory 22 for carrying out a trained parking maneuver of the vehicle 10 is provided. Therein in the trained parking maneuver the vehicle 10 is moved by the parking assistance system 12 based on the trained parking trajectory 22 towards an endpoint of the trained parking trajectory 22, wherein the endpoint marks a final parking position for the vehicle 10 inside a trained parking slot 24.

[0064] In a step S2, the movement of the vehicle 10 along the trained parking trajectory 22 is monitored by the parking assistance system 12, wherein the parking assistance system 12 determines deviations from the trained parking trajectory 22.

[0065] In a step S3, the parking assistance system 12 determines a deviation of the actual trajectory 28 of the vehicle 10, which is determined by the movement of the vehicle 10, from the trained parking trajectory 22. Further, the parking assistance system 12 initiates a correction measure, if the determined deviation exceeds a predefined threshold (step S4).

[0066] The correction measure comprises either a) to continue with the trained parking maneuver, or b) to abort the trained parking maneuver and to initiate a manual parking maneuver, wherein the manual parking maneuver comprises manual steering of the vehicle 10 by a driver of the vehicle, or c) to abort the trained parking maneuver and to initiate an assisted parking maneuver, wherein the assisted parking maneuver comprises real-time detection of the surroundings of the vehicle 10 by at least one sensor 20 of a sensor system of the vehicle 10 and parking of the vehicle 10 in a final parking destination based on the real-time detection of the surroundings.

[0067] The invention is directed at the complex of trained parking. During trained parking, usually a trajectory is trained, wherein the trajectory leads towards a goal position or towards a final parking destination. During the trained parking maneuver, the replay of the trained trajectory may be aborted. This abortion or cancellation may be due to a large deviation of the actual trajectory from the trained trajectory or due to heavy steering during training. In case of cancellation, the goal position may be taken for conventional automated parking (or assisted parking) as final position. In this case, a trajectory towards the final position may be offered to the driver. The parking space or the parking slot at the final position preferably has to be detected by the vehicle’s sensors when or before the offer via assisted parking is provided. An overlay in the HMI (HMI - human machine interface) between the trained trajectory and the offered parking space may be considered.

[0068] Overall, the examples show, how an enhanced method for operating a parking assistance system of a motor vehicle can be provided, especially in situations where a previously trained parking trajectory cannot be followed.

Claims

Claims1 . Method for operating a parking assistance system (12) of a motor vehicle (10), the method comprising the steps:- providing a trained parking trajectory (22) for carrying out a trained parking maneuver of the motor vehicle (10),- monitoring the movement of the motor vehicle (10) along the trained parking trajectory (22),- determining deviations of an actual position (28) of the motor vehicle (10), which is determined by the movement of the motor vehicle (10), from the trained parking trajectory (22), wherein if a deviation is determined which exceeds a predefined threshold, a correction measure is initiated by the parking assistance system (12), characterized in that the correction measure comprises to abort the trained parking maneuver and to initiate or providing the option of an assisted parking maneuver having a real-time planned path towards a final parking destination.

2. Method according to claim 1 , wherein the assisted parking maneuver comprises real-time detection of the surroundings of the motor vehicle (10) by at least one sensor (20) of a sensor system of the motor vehicle (10), preferably wherein the assisted parking maneuver further comprises parking of the motor vehicle (10) in the final parking destination based on the real-time detection of the surroundings.

3. Method according to any of the preceding claims, wherein the correction measure alternatively or additionally comprises- to continue with the trained parking maneuver, or- to abort the trained parking maneuver and to initiate a manual parking maneuver, wherein the manual parking maneuver comprises manual steering of the motor vehicle (10) by a driver of the motor vehicle (10).

4. Method according to claim 3, wherein the alternative or additional steps of the correction measure are selected by the parking assistance system (12) based on driver preferences.

5. Method according to any of the preceding claims, wherein in the trained parking maneuver the motor vehicle (10) is moved by the parking assistance system (12) based on the trained parking trajectory (22) towards an endpoint of the trained parking trajectory (22), wherein the endpoint of the trained parking trajectory (22) is used as the final parking destination, preferably wherein the final parking destination comprises a preferred orientation of the motor vehicle (10) inside the trained parking slot (24).

6. Method according to claim 5, wherein the preferred orientation of the motor vehicle (10) inside the trained parking slot (24) is determined based on a user input.

7. Method according to any of the preceding claims, wherein the movement of the motor vehicle (10) along the trained parking trajectory (22) is monitored in real-time during the trained parking maneuver.

8. Method according to any of the preceding claims, wherein the correction measure comprises generation of a warning signal and display of the warning signal to a driver of the motor vehicle (10).

9. Method according to any of the preceding claims, wherein during the trained parking maneuver, the parking assistance system (12) receives object data from a sensor system of the motor vehicle (10), wherein the object data describe at least one object in the surroundings of the motor vehicle (10), and wherein the deviations are determined by the parking assistance system (12) based on the object data.

10. Method according to any of the preceding claims, wherein during the trained parking maneuver, the parking assistance system (12) receives steering data from a sensor system of the motor vehicle (10), wherein the steering data describe steering actions carried out by the driver of the motor vehicle (10) during the trained parking maneuver, and wherein the deviations are determined based on the steering data.11 . Method according to any of the preceding claims, wherein during the assisted parking maneuver, waypoints are stored, wherein based on the waypoints, a new trained parking trajectory (22) is generated and stored for future trained parking maneuvers.

12. Parking assistance system (12) for a motor vehicle (10), wherein the parking assistance system (12) is designed to be operated according to a method according to any of the preceding claims.

13. Motor vehicle (10) with a parking assistance system (12) according to claim 12.

14. A computer program comprising instructions which, when the program is executed by a parking assistance system (12), preferably by the parking assistance system (12) according to claim 12, cause the parking assistance system (12) to carry out the method according to any of claims 1 to 11 .

15. A computer-readable storage medium having stored thereon the computer program of claim 14.

Images