Method for offering a free parking space, method for parking a motor vehicle in a free parking space, electronic vehicle guidance system, and motor vehicle

Abstract

The invention relates to a first method (M1) for offering a free parking space (1) and to a second method (M2) for parking a motor vehicle (3) in a free parking space (1). The first method (M1) comprises, in particular, the steps of: - detecting a parking area situation (4) during a driving operation of the motor vehicle (3); - recognizing a parking space (1, 2) in the detected parking area situation (4); - moving the motor vehicle (3) such that the recognized parking space (1, 2) is located outside a first functional zone (6) of an electronic parking assistance device (7) of the motor vehicle (3); - recognizing the recognized parking space (1, 2) as a free parking space (1); - offering the free parking space (1) for parking the motor vehicle (3) in the free parking space (1) even if the free parking space (1) is located outside the first functional zone (6). The invention also relates to an electronic vehicle guidance system (14) and to a motor vehicle (3).

Description

[0001] Method for offering a free parking space, method for parking a motor vehicle in a free parking space, electronic vehicle guidance system and motor vehicle

[0002] The invention relates to a method for offering a free parking space by means of a motor vehicle, as well as a method for parking a motor vehicle in a free parking space. Furthermore, the invention relates to an electronic vehicle guidance system for a motor vehicle, as well as to a motor vehicle having an electronic vehicle guidance system.

[0003] Detection systems for motor vehicles in conjunction with parking assistance devices are known which, when driving past a free parking space, for example on the side of the road, detect this parking space, in particular its geometry and dimensions, preferably using sensors located on the side of the vehicle, such as ultrasonic sensors, radar or lidar sensors of a detection system of the motor vehicle. If a free parking space is detected, the user can be offered the free parking space for at least semi-autonomous parking by means of the parking assistance device, for example by means of a display device, provided that the free parking space is still located within a functional zone of the parking assistance device. If the user selects the offered free parking space, they can at least be assisted when parking in the parking space.The assistance can be graded, whereby, for example, in a first stage only warning signals, direction indications or speed indications can be provided which the user as driver can follow, and whereby in further stages the parking assistance device carries out the parking process semi-autonomously or fully autonomously by the parking device actuating the steering or, in addition, also adjusting the driving speed.

[0004] However, if the user decides to continue driving, the free parking space falls outside the functional zone of the parking assistance device, meaning that parking in this free parking space can no longer be provided by the parking assistance device. For example, the user might want to drive even closer to their destination and hope for another free parking space. However, if the user or the vehicle cannot find another free parking space, the user can decide to return to the already detected free parking space and park there. However, such a function is not supported because the free parking space is outside the functional zone of the parking assistance device.

[0005] GB 2484398 B relates to a method for parking a motor vehicle, wherein a parking area is detected and a parking corridor is determined. Furthermore, the surroundings to the rear of the vehicle are detected to prevent a collision with an object in the rear area.

[0006] DE 10 2021 110 348 A1 describes a method for operating an assistance system of a vehicle, which suggests performing a reversing function when a dead-end situation is detected.

[0007] The invention is based on the object of providing a method, an electronic vehicle guidance system and a motor vehicle by means of which a free parking space, in particular for a parking operation of the motor vehicle beyond a functional zone of the parking assistance device, can be offered to the user and can also be parked in this free parking space.

[0008] The problem is solved by the subject matter of the independent patent claims. Advantageous developments of the invention are described by the dependent patent claims, the following description, and the figures.

[0009] A first aspect of the invention provides a method for offering a free parking space by means of a motor vehicle, in particular for parking, or for an at least semi-autonomous parking process, of the motor vehicle in the free parking space. The method comprises, in particular, the following steps:

[0010] - detecting a parking situation by means of a first detection system of the motor vehicle during a ferry operation of the motor vehicle;

[0011] - Detection of a parking area in the recorded parking situation;

[0012] - moving the motor vehicle so that the detected parking space is located outside a first functional zone of an electronic parking assistance device of the motor vehicle, wherein the motor vehicle can be parked at least semi-autonomously by means of the electronic parking assistance device in a free parking space located within the first functional zone;

[0013] - Recognizing the detected parking space as a free parking space; - Offering the free parking space for parking the motor vehicle in the free parking space even if the free parking space is located outside the first functional zone of the parking assistance system of the motor vehicle.

[0014] One advantage of the method is that the range of available parking spaces can be expanded for the user, particularly for an at least semi-autonomous parking process of the motor vehicle in the free parking space, whereby the range extends beyond the functional zone of the parking assistance device. This means that the free parking space can be offered even if it is no longer located in the first functional zone of the parking assistance device. This is particularly advantageous if the user has driven past a free parking space in vain in the hope of finding a better, free parking space. By offering the free parking space beyond the first functional zone, the user can still choose the offered free parking space even though they initially decided against it and drove on. This advantageously increases convenience for the user. The ferry operation is preferably a forward-moving operation.Alternatively, the ferry operates in reverse.

[0015] The term parking space must be distinguished in particular from the term free parking space. Rather, the term parking space can be understood as a generic term for free parking space. The term parking space can in particular include occupied parking spaces and free parking spaces. An occupied parking space can in particular be a parking space that is, for example, occupied or parked by another vehicle. The occupied parking space can in particular be suitable for parking the motor vehicle, particularly with regard to the dimensions and / or accessibility of the occupied parking space, provided that the other vehicle would release the occupied parking space by leaving the parking space. The free parking space can in particular be understood to mean a parking space that is not occupied or parked by another vehicle.The free parking space may in particular be free and suitable for parking the motor vehicle, in particular with regard to the dimensions and / or accessibility of the free parking space, so that it would be possible to park the motor vehicle manually or at least semi-autonomously in the free parking space.

[0016] The parking area can also be referred to as a parking bay, parking space, parking space or the like, wherein the parking area is particularly characterized by being suitable for parking the motor vehicle at least due to its location in the surroundings, accessibility and size. Suitability can be determined in particular by comparing the dimensions of the parking area with the dimensions of the motor vehicle, particularly taking into account the kinematics of the motor vehicle, for example a steering radius. In particular, in the case of a free parking area, suitability can be determined at least based on a distance between two objects, for example between two parked other vehicles. In particular, in the case of an occupied parking area, suitability can be determined at least based on the dimensions of the parked other vehicle by comparing the recorded dimensions of the parked other vehicle with those of the user's own motor vehicle.

[0017] In one step of the method, the parking situation or information about the parking situation is recorded by means of the first detection system of the motor vehicle while the motor vehicle is in operation. In particular, the parking situation can be recorded continuously or continuously, at least when an associated detection mode of the motor vehicle is activated. In particular, the motor vehicle or the first detection system can have corresponding sensors such as cameras, ultrasonic sensors, radar or lidar sensors, which can be arranged, for example, on the side, front and / or rear of the motor vehicle. The first detection system can in particular be designed to detect the parking situation using sensors, wherein the detection device can provide sensor data about the parking situation. In particular, distances, dimensions or the like can be measured here.

[0018] The detection of the parking situation can be actively activated by the user activating the vehicle's parking space search mode. Alternatively, the detection can be automatically activated shortly before reaching a destination on a navigation system.

[0019] Preferably, not only parking spaces are recorded, but also a parking situation. This can mean that information about parking spaces that may be occupied by third-party vehicles is also recorded. The parking situation can therefore not only include information about free parking spaces, but also parking spaces occupied by third-party vehicles. In addition, information about the occupying third-party vehicles and the associated occupied parking spaces that occupy the parking spaces can be recorded. In particular, the geometries of the free and / or occupied parking spaces as well as the geometries of the third-party vehicles can be recorded. Depending on the orientation of the free or occupied parking space or of the third-party vehicle, information about the width, length and / or height of the parking space or of the third-party vehicle can be recorded.

[0020] A first detection range of the first detection system can extend, in particular, to a close area around the motor vehicle or to the immediate surroundings of the motor vehicle. In other words, the first detection range extends to an area within which the sensors of the parking assistance device can at least partially detect the parking space. The first detection range can extend, for example, to parking spaces parallel to the roadway, perpendicular to it, or diagonally to it on the right and / or left side of the road, which the motor vehicle drives directly past when driving forward, or to parking spaces in the forward direction of the motor vehicle, for example, when the motor vehicle is at the end of a T-junction.

[0021] Forward driving can be understood, in particular, as the motor vehicle moving forward or forwards in accordance with normal use. During this time, the parking situation can be detected, i.e., while the vehicle is moving forward. Forward driving also includes, in particular, cornering or driving straight ahead. Furthermore, it can be provided that the parking situation can also be detected while the vehicle is stationary or while reversing.

[0022] The parking situation, or information about the parking situation, can be provided, in particular, in the form of sensor data. In an intermediate step, it can be provided that this sensor data can be electronically evaluated by an evaluation unit of the motor vehicle and processed into evaluation data. The evaluation data can, in particular, contain information about distances and dimensions in the parking situation.

[0023] In one step of the method, the parking space, which may be occupied or free, can then be recognized in the information about the parking space situation or in the sensor data or evaluation data, in particular by means of a first recognition unit of the motor vehicle. In particular, only those parking spaces are recognized whose measured dimensions are large enough for the motor vehicle to park, provided the parking space is free or is cleared by the other vehicle leaving the parking space. In one step of the method, it can be provided that the motor vehicle moves forward, in particular in forward driving mode. In particular, the motor vehicle is moved forwards or backwards until the recognized parking space is located outside the first functional zone of the electronic parking assistance device of the motor vehicle.In particular, movement may occur because the user has at least currently and temporarily rejected the parking attempt in the parking space, assuming it was free, or because the parking space was occupied. In particular, movement may be desired by the user because they are hoping to find a better, free parking space, or indeed a free parking space at all, by moving. Movement may be carried out at least semi-autonomously, in particular by a vehicle guidance system of the motor vehicle. Alternatively, but less preferably, movement may be performed manually by the user.

[0024] The first functional zone of the parking assistance device can be understood in particular as a range-limited zone which extends in the external environment around the motor vehicle and has at least a predetermined range from the motor vehicle. This range can be predetermined by the motor vehicle system or by a higher-level system of the motor vehicle or by a basic setting of the motor vehicle. The range of the first functional zone can be limited to a few meters. The range can be limited in particular because the parking assistance device is only approved or sufficiently tested for at least semi-autonomous parking within this range, or is inherently not designed to be able to park in a free parking space outside this range.

[0025] If a free parking space is located within the range of the first functional zone, the electronic parking assistance device is in particular configured and designed to park the motor vehicle at least semi-autonomously in this free parking space. If a free parking space is located at least partially outside the range of the first functional zone, the electronic parking assistance device is in particular not configured and also not designed to park the motor vehicle at least semi-autonomously in this free parking space. In other words, the electronic parking assistance device is configured and designed to park only in those free parking spaces that are located within the first functional zone or within the range of the first functional zone.The range of the first functional zone of the parking assistance device is to be distinguished in particular from a range of the first detection zone of the first detection system. In particular, these can be independent of one another. In particular, the parking assistance device is also to be distinguished from the first detection system. The parking assistance device can be primarily designed to at least assist the user when parking, wherein the parking assistance device can be dependent on the sensor data of the parking situation detected by the detection system. The parking assistance device can furthermore have the first detection unit and a search function for specifically searching for parking spaces in the sensor data or evaluation data. In contrast, the first detection system is only designed to provide the sensor data at least about the parking situation in the first detection area.

[0026] At least semi-autonomous can be understood in particular to mean that the driver or user of the motor vehicle is at least partially assisted by the parking assistance device when parking. In particular, the electronic parking assistance device can implement at least a partially automated or semi-autonomous parking mode according to levels 1 to 4 of the SAE J3016 classification. Furthermore, it can be provided that the electronic parking assistance device can implement a fully automatic or fully autonomous parking mode of the motor vehicle according to level 5 (or higher) of the classification according to SAE J3016, wherein the motor vehicle is parked fully automatically or fully autonomously in the free parking space, in particular without requiring any intervention in a control system by the user.The motor vehicle automatically performs all necessary functions, such as steering, braking and / or acceleration maneuvers, observation and detection of road traffic and static obstacles, as well as corresponding reactions.

[0027] In one step of the method, the parking space detected by the first detection unit is detected as a free parking space, in particular by means of a second detection unit of the motor vehicle. The first and second detection units can also be designed as a common detection unit. This step can take place regardless of whether the detected parking space is located inside or outside the first functional zone. Preferably, the detected parking space can be detected as a free parking space immediately upon driving past the detected parking space if it is already free when driving past. On the other hand, it can also be provided that the detected parking space is only detected as a free parking space after driving past, in particular if it was still occupied when driving past. In other words, this step can take place before or after the step of moving the motor vehicle.

[0028] In one step of the method, the parking space identified as free is offered for parking the motor vehicle in the free parking space, even if the free parking space is located outside, or no longer within, the first functional zone of the parking assistance system of the motor vehicle. In particular, the free parking space is offered to the user by the motor vehicle or by a corresponding offering system of the motor vehicle in a suitable manner for a parking maneuver, for example visually on a display of the motor vehicle or the like. By offering it, the user can in particular be enabled to select the offered free parking space, so that it can be provided in particular that the motor vehicle parks at least semi-autonomously in the free parking space.Alternatively or additionally, the free parking space can be offered to an autonomous vehicle guidance system, which autonomously selects the free parking space for parking and subsequently causes the motor vehicle to park in this free parking space.

[0029] For example, subsequent to the method, it may be provided that, depending on the selection of the free parking space located outside the first functional zone, the user is prompted by the motor vehicle system to drive the vehicle back so that the free parking space is again within the first functional zone. For example, the user can put the vehicle into reverse and drive backward. Alternatively, it may be provided that the user turns the vehicle around and returns. It is also conceivable for the user to drive around an apartment block and thereby return to the free parking space.Furthermore, it can be provided that, depending on the user's selection of the available free parking space, a destination of the navigation device is changed to the selected free parking space, so that the user can guide the motor vehicle to the free parking space according to the instructions of the navigation device. It can also be provided that a destination of an electronic vehicle guidance system is changed to the free parking space, with the motor vehicle being guided autonomously so that the free parking space is again located in the first functional zone. Many other possibilities are conceivable for how the motor vehicle is guided back into the first functional zone by the user using a system of the motor vehicle, depending on the user's selection of the available free parking space, so that the electronic parking assistance device is enabled to park in the free parking space within the first functional zone at least semi-autonomously.

[0030] It goes without saying that more than one parking space can be detected, more than one free parking space can be detected, and more than one free parking space can be offered. In particular, all or a specific selection of free parking spaces can be offered. The fact that it doesn't have to be just one parking space also applies to the following embodiments.

[0031] One embodiment provides that the detected, free parking space is stored on an electronic storage medium of the motor vehicle. Alternatively, the parking space can also be stored on a storage medium external to the motor vehicle, for example a server device, which is connected to the motor vehicle via signaling. In particular, position data, a side of the street, an orientation and / or dimensions of the free parking space can be stored, as well as, for example, a time of detection. Storing data of the parking space has at least the advantage that this data can be read out at a later time. In particular, the stored data can be retrieved even if the motor vehicle has already moved far enough that the parking space is outside the first functional zone of the parking assistance system of the motor vehicle.Using the stored data, the user can now independently drive the vehicle to the free parking space or be guided by the navigation system or the electronic vehicle guidance system so that the free parking space is again in the first functional zone.

[0032] One embodiment provides that parking into the free parking space located outside the first functional zone is planned by means of an electronic back-drive assist device (BDA) of the motor vehicle and the parking assistance device, which is different from the parking assistance device. Preferably, reversing of the motor vehicle is planned by means of the back-drive assist device until the free parking space is again located within the first functional zone of the parking assistance device. This enables the back-drive assist device to park into the free parking space. Planning using the back-drive assist device and the parking assistance device has at least the advantage of ensuring that the motor vehicle can be guided from its current position into the free parking space using the shortest, most direct route.

[0033] In particular, planning can take place before the free parking space is offered, so that it can be advantageously ensured that the motor vehicle can be guided at least semi-autonomously into the free parking space based on a combination of the reversing assistance system and the parking assistance system, i.e., reversed and parked. For example, depending on the user's selection of the offered free parking space, the motor vehicle can be guided automatically and directly into the free parking space using the reversing assistance system and the parking assistance system.

[0034] Alternatively, planning can also take place after the free parking space has been offered, especially after the user has selected the offered free parking space, thus initially saving computing power for planning. After selecting the free parking space and planning, the user can then be offered the option of guiding the vehicle into the free parking space at least semi-autonomously using the reversing assistance system and the parking assistance system.

[0035] The reversing assistance device can be configured, in particular, to plan reversing, to place the motor vehicle into reverse mode, and to execute a reverse mode of the motor vehicle in the opposite direction to the forward mode. A detection system of the motor vehicle can preferably be used to ensure that reversing can be carried out collision-free and with minimal risk.

[0036] In particular, the electronic reversing assistance system allows the motor vehicle to be reversed at least semi-autonomously.

[0037] One embodiment provides that the reversing assistance device has a second functional zone that is larger than the first functional zone, within which the motor vehicle can be reversed at least semi-autonomously by means of the reversing assistance device. In particular, reversing can be planned within this second functional zone, so that the user can be offered guidance, i.e., reversing plus parking, into the free parking space. The second functional zone can be significantly larger than the first functional zone, in particular by a multiple. This has the advantage that at least semi-autonomous parking is offered to the user, which has a range many times greater than the first functional zone of the parking assistance device.

[0038] One embodiment provides that during the ferry operation, a trajectory of the motor vehicle is recorded and stored, wherein the reversing of the motor vehicle is planned by means of the reversing assistance device backwards along the stored trajectory.

[0039] This has the advantage that a planned trajectory for reversing does not have to be calculated first; instead, a trajectory that has already been successfully completed is used and driven in reverse. This advantageously saves computing power and thus also energy in the vehicle. Furthermore, a risk or danger of accidents can be significantly reduced. In particular, the trajectory is recorded continuously or continuously, at least when a corresponding mode of the vehicle is activated. The trajectory is stored at least for a specified period of time or for a specified distance traveled by the vehicle, preferably in an electronic storage medium of the vehicle.

[0040] In particular, it is intended that the motor vehicle does not turn around in order to retraverse the stored trajectory. Rather, the motor vehicle itself moves backward along the trajectory in the opposite direction as precisely as possible, whereby, in particular, a reverse gear of the motor vehicle may be engaged and the motor vehicle is in reverse driving mode, which is opposite to the forward driving mode.

[0041] The trajectory can be recorded in particular by means of sensors and / or a positioning device of the motor vehicle, for example based on (V)SLAM and / or a global navigation satellite system (GNSS) such as GPS.

[0042] One embodiment provides that the trajectory is only recorded and stored when an occupied or free parking space has been detected, in particular immediately during or as the vehicle is driving past. In particular, only a trajectory from the parking space to a current position of the motor vehicle is thus stored. This advantageously allows storage capacity to be saved. One embodiment provides that the detected parking space is recognized as the free parking space while the motor vehicle is driving past in ferry operation if the detected parking space is not occupied by another vehicle while the vehicle is driving past. In particular, the detected parking space is thus immediately recognized as the free parking space. In this way, the parking space can be recognized in a particularly simple manner.According to this embodiment, the step of detecting the free parking space can therefore take place before the step of moving the motor vehicle.

[0043] An alternative or supplementary embodiment provides that the detected parking space is initially detected as an occupied parking space when the motor vehicle passes by in forward driving mode if the detected parking space is occupied by a third-party vehicle parked in the parking space. Preferably, the exit of the third-party vehicle from the detected parking space is detected, and depending on the detected exit, the detected parking space is recognized as a free parking space.

[0044] This advantageously allows a free parking space to be detected that was still occupied by another vehicle when the system passed by. The parking space is therefore not recognized as a free parking space immediately after the parking space is detected, but only after the system detects the other vehicle leaving the parking space and based on the previously detected occupied parking space from which the other vehicle is exiting. This advantageously allows a free parking space to be offered that was not yet available as a free parking space when the system passed by. This advantageously increases the number of available parking spaces available to the user, or even makes them available in the first place.

[0045] In order to detect the exit of another vehicle from a parking space, it may be necessary for information about a parking situation in the rear area of ​​the motor vehicle to be detected in the form of sensor data by a second detection system. The second detection system can in particular have a second detection range which is in particular many times larger than the first functional zone of the parking assistance device, preferably up to a distance of 50, 100 or 200 meters. As a result, the exit of a parking space can also be detected outside the first functional zone by a third detection unit depending on the sensor data. The second detection unit can in particular correspond to the first detection unit and / or at least use common sensor devices. The second detection system can in particular have an optical sensor device which is oriented in the rear direction of the motor vehicle.The optical sensor device can, in particular, comprise one or more cameras, whereby the area behind the motor vehicle can be optically detected. The second detection system can, in particular, provide sensor data about the area behind the vehicle exiting the parking space.

[0046] Preferably, it can be provided that the vehicle parked in the occupied parking space is tracked or tracked by an electronic tracking unit based on the sensor data since the occupied parking space is detected, and corresponding tracking data is provided. In particular, based on the tracking data, the third detection unit can detect that the parked other vehicle is moving relative to the static environment, thus assuming that it has exited the parking space. In particular, the third detection unit can be configured and trained to detect the exit of the other vehicle. Based on the detected exit, the previously occupied and now vacant parking space is recognized as a free parking space.

[0047] One embodiment provides that the detected parking space is stored on an electronic storage medium of the motor vehicle. Alternatively, the occupied parking space can also be stored on a storage medium external to the motor vehicle, for example a server device, which is connected to the motor vehicle via signaling. In particular, position data, a side of the street, an orientation and / or dimensions of the occupied parking space can be stored, as well as, for example, a time of detection. Storing data on the occupied parking space has at least the advantage that this data can be read out at a later time. In particular, the stored data can be retrieved even if the motor vehicle has already moved far enough that the occupied parking space is outside the first functional zone of the parking assistance system of the motor vehicle.The stored data can therefore be used to later identify the occupied parking space as a free parking space when the other vehicle leaves the parking space, whereby the stored information about the occupied parking space can be assigned to the free parking space.

[0048] One embodiment provides that the free parking space is offered by displaying it on a visual display device of the motor vehicle. Preferably, the motor vehicle can be parked in the free parking space depending on the user's selection of the displayed free parking space. For example, the display device can be provided in an interior of the motor vehicle and have a display or screen. Preferably, the display device is simultaneously a user interface (human-machine interface, HMI) of the motor vehicle, wherein the display device can be designed, for example, as a touch display or as a display with associated operating elements.

[0049] Preferably, the vehicle can be parked in the available parking space depending on the user's selection of the displayed parking space. This can significantly increase user convenience.

[0050] One embodiment provides that the free parking space is displayed on or within a digital map of the display device. In particular, the parking space can be displayed as a symbol or icon on the digital map, which can be selected, for example, by tapping. This allows subsequent parking to be provided in a particularly intuitive and user-friendly manner. The digital map can, in particular, be based on stored map information, for example, from a navigation device, and the position of the motor vehicle, wherein, in particular, a map section is displayed in which the position of the motor vehicle is present and, in particular, is displayed.

[0051] One embodiment provides that the free parking space is displayed on or within a digitally generated top view of the surroundings of the motor vehicle on the display device. In particular, the parking space can be displayed as a symbol or icon in the top view of the surroundings, which can be selected, for example, by tapping. This allows the offered, free parking space to be provided in a particularly intuitive and user-friendly manner. The top view can be generated, in particular, by an electronic generation device based on sensor data from sensors of the motor vehicle, wherein the sensors are designed, in particular, as cameras, preferably so-called surround-view cameras.

[0052] One embodiment provides that the free parking space of the parking assistance system located outside the first functional zone is only displayed on the display device when the user makes an input in a user interface of the motor vehicle to expand a display area of ​​the display device. This results in the particular advantage that initially only parking spaces in the first functional zone are displayed, so that the user is not overwhelmed by displaying all detected free parking spaces.

[0053] The display area can be understood in particular as the area which is displayed by the display device, for example the area or section of a digital map or a plan view of the surroundings of the motor vehicle.

[0054] Expanding the display area can be understood, in particular, as reducing the scale of the display area so that a larger area can be displayed, for example, from 100% to 50% to double the display area. For example, in a normal mode of the display device, the free parking spaces in the first functional zone can be displayed, and in an extended mode, an area larger than the first functional zone can be displayed. In other words, expanding can also be understood as zooming out, with the area behind the motor vehicle being displayed in particular in the extended mode.

[0055] It can also be provided that by expanding the display area, only the area behind the vehicle is displayed, for example, by the user's input in the form of a backward swipe on a touch display. It can also be provided that the user inputs a scroll back, causing the display area to shift along the traveled trajectory.

[0056] Furthermore, expanding the display area can be understood as enlarging an area on the display device on which the display area is displayed. For example, a window of the display device can be enlarged.

[0057] One embodiment provides that the free parking space outside the first functional zone of the parking assistance device is automatically displayed on the display device if there is no further free parking space within the first functional zone. This increases the user's convenience, in particular because they do not have to first expand the area if no free parking space is displayed in the functional zone. One embodiment provides that the first functional zone of the parking assistance device has a range of at least two meters and up to ten meters around the motor vehicle, preferably of at least three, four or five meters and up to six, seven, eight or nine meters. The free parking space is thus offered or displayed even if the free parking space is outside this range. This advantageously expands the range of free parking spaces for the user to park in.

[0058] One embodiment provides that the second functional zone of the reversing assistance device has a range of up to 200 meters, in particular up to 150 meters, 100 meters, 50 meters, 30 meters, or 20 meters. This range can also correspond to a range of the second detection system.

[0059] A further aspect of the invention provides a method for parking a motor vehicle in a free parking space, also referred to as a parking method. The parking method comprises the following steps:

[0060] - offering the free parking space according to the inventive method for offering a free parking space by means of a motor vehicle;

[0061] - At least semi-autonomous parking of the motor vehicle in the offered, free parking space depending on a selection of the offered, free parking space by a user.

[0062] One advantage of the parking method is that it extends the range for semi-autonomous parking. This significantly increases user convenience. For example, if the user has driven past a free parking space in the hope of finding a better one, particularly one closer to a destination, the user can still be provided with parking or the parking function for the parking space they have passed. This is particularly advantageous if the user cannot find another or better free parking space.

[0063] For example, it may be provided that a destination of an electronic vehicle guidance system is changed to the free parking space, so that the motor vehicle is guided at least semi-autonomously, and the free parking space is again located in the first functional zone. The motor vehicle can then be parked at least semi-autonomously in the free parking space located in the first functional zone using the parking device.

[0064] An embodiment of the parking method provides that the parking is carried out by means of an electronic back drive assist device (BDA) of the motor vehicle and the parking assistance device, which is different from the parking assistance device, wherein the motor vehicle is driven back at least semi-autonomously by means of the back drive assist device until the free parking space is located in the first functional zone of the parking assistance device.

[0065] In other words, the reversing assistance system and the parking assistance system are combined in such a way that, together, they are capable of parking even in free parking spaces outside the first functional zone. If these systems are already present in the vehicle, the extended parking function can be efficiently provided by combining them without the need to install additional electronic devices. A further advantage is that parking in the free parking space is the most direct, fastest, and easiest way. This saves the user time and conserves vehicle resources, particularly fuel or electrical energy. Furthermore, user comfort is advantageously increased.

[0066] Preferably, the reversing assistance device reverses the motor vehicle until the free parking space is located in the first functional zone of the parking assistance device. The reversing assistance device can be designed, in particular, to put the motor vehicle into reverse driving mode and to reverse the motor vehicle in a direction opposite to the forward driving mode. Preferably, the motor vehicle's sensors can be used to ensure that reversing can be carried out collision-free and with low risk. In particular, the electronic reversing assistance device can reverse the motor vehicle autonomously, semi-autonomously, or at least with assistance for the user. As soon as the motor vehicle is located in the first functional zone, it can be provided that the reversing assistance device is deactivated.The parking assistance system can then perform the parking maneuver into the free parking space, so that after the parking maneuver is completed, the motor vehicle is parked within the free parking space. In particular, the reversing assistance system can be configured to calculate a parking trajectory into the parking space and steer the motor vehicle into the parking space according to the calculated parking trajectory.

[0067] The reversing assistance device preferably uses a method for (Visual) Simultaneous Localization and Mapping (V)SLAM. Using SLAM or VSLAM, the reversing assistance device is designed to create a virtual map of the vehicle's surroundings and estimate the vehicle's spatial position within this map. It thus serves to detect obstacles and thus supports autonomous navigation.

[0068] One embodiment of the parking method provides that, during forward driving, a trajectory of the motor vehicle is recorded and stored, with the motor vehicle reversing along the stored trajectory using the reversing assistance system. This has the advantage that a trajectory for reversing does not have to be calculated first; instead, a trajectory that has already been successfully completed is used and traveled in reverse. This advantageously saves computing power and thus also energy of the motor vehicle. Furthermore, a risk or danger of an accident can be significantly reduced. In particular, the trajectory is recorded continuously or continuously, at least when an associated mode of the motor vehicle is activated.The trajectory can be stored at least for a predetermined period of time or for a predetermined distance traveled by the motor vehicle, preferably in an electronic storage medium of the motor vehicle.

[0069] In particular, it is intended that the motor vehicle does not turn around to retraverse the stored trajectory. Rather, the motor vehicle itself moves backward along the trajectory in the opposite direction as precisely as possible. In particular, a reverse gear of the motor vehicle may be engaged and the motor vehicle may be in reverse driving mode, which is opposite to the forward driving mode. The trajectory can be detected in particular by means of sensors and / or a positioning device of the motor vehicle, for example based on (V)SLAM and / or a global navigation satellite system (GNSS) such as GPS.

[0070] A further independent aspect of the invention relates to a method for planning a parking operation with a motor vehicle, in particular comprising the following steps:

[0071] In particular, detecting a parking situation with a detection system of an electronic parking assistance device of the motor vehicle during a ferry operation of the motor vehicle, wherein the electronic parking assistance device has a first functional zone, in particular only within which the motor vehicle can park with the parking assistance device at least semi-autonomously guided into a, in particular detected, free parking space, in particular the parking space lies in the functional zone with respect to the vehicle;

[0072] In particular, evaluating the recorded information and identifying a parking space, in particular one that is free and / or potentially suitable for the motor vehicle, in the recorded parking situation;

[0073] In particular, moving the motor vehicle into a surrounding area so that the free parking space is outside the first functional zone, in particular into which the motor vehicle cannot park into the detected free parking space using the parking assistance device alone; and

[0074] In particular, offering the free parking space detected before entering the surrounding area, in particular by an electronic vehicle guidance system, in particular of the motor vehicle, at least when a parking process of the motor vehicle in a parking space in a surrounding area is planned, in particular in which the vehicle is currently located and which is outside the functional zone of the parking assistance device.

[0075] Embodiments of individual aspects of the invention are to be regarded as embodiments of the other aspects.

[0076] A further aspect of the invention provides an electronic vehicle guidance system for a motor vehicle. The electronic vehicle guidance system has at least one computing unit configured and designed to execute the method for offering a free parking space using a motor vehicle and / or the method for parking a motor vehicle in a free parking space.

[0077] An electronic vehicle guidance system can be understood as an electronic system designed to guide a vehicle fully automatically or autonomously, in particular without requiring driver intervention. The vehicle automatically performs all required functions, such as steering, braking, and / or acceleration maneuvers, monitoring and detecting road traffic, and corresponding reactions. In particular, the electronic vehicle guidance system can implement a fully automatic or fully autonomous driving mode of the motor vehicle according to level 5 of the SAE J3016 classification. An electronic vehicle guidance system can also be understood as an advanced driver assistance system (ADAS), which supports the driver in partially automated or semi-autonomous driving.In particular, the electronic vehicle guidance system can implement a partially automated or semi-autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification. Here and below, "SAE J3016" refers to the corresponding standard in the April 2021 version.

[0078] The at least partially automated vehicle guidance may therefore include driving the vehicle according to a fully automated or fully autonomous driving mode of Level 5 according to SAE J3016. The at least partially automated vehicle guidance may also include driving the vehicle according to a partially automated or semi-autonomous driving mode according to Levels 1 to 4 according to SAE J3016.

[0079] The at least one control signal can, for example, be provided to one or more actuators of the motor vehicle, including, for example, one or more brake actuators and / or one or more steering actuators and / or one or more drive motors of the motor vehicle. The one or more actuators can influence a longitudinal and / or lateral control of the motor vehicle in order to guide the motor vehicle at least partially automatically. A computing unit can be understood, in particular, as a data processing device that contains a processing circuit. The computing unit can therefore, in particular, process data for performing computing operations. This may also include operations for performing indexed access to a data structure, for example a look-up table (LUT).

[0080] The computing unit may, in particular, contain one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more single-chip systems (SoCs). The computing unit may also contain one or more processors, for example one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors (DSPs). The computing unit may also include a physical or virtual network of computers or other of the aforementioned units.

[0081] In various embodiments, the computing unit includes one or more hardware and / or software interfaces and / or one or more memory units.

[0082] A memory unit can be a volatile data memory, for example a dynamic random access memory (DRAM) or a static random access memory (SRAM), or a non-volatile data memory, for example a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or flash EEPROM, a ferroelectric random access memory (FRAM), a magnetoresistive random access memory,MRAM (magnetoresistive random access memory) or phase-change random access memory (PCRAM).

[0083] In particular, the electronic vehicle guidance system can comprise the electronic parking assistance device and the electronic reversing assistance device, which can each comprise a computing unit or a common computing unit in order to be able to carry out the respective associated method steps.

[0084] The vehicle guidance system may further include the first and second detection systems, the first to third recognition units, and the tracking unit.

[0085] A further independent aspect relates to a control unit for a vehicle, wherein the control unit is configured to generate control signals for at least one functional unit of a vehicle, in particular in order to move the vehicle, depending on information generated by a method according to an above-mentioned aspect.

[0086] A further aspect of the invention provides a motor vehicle having the vehicle guidance system according to the invention. The motor vehicle may further include the visual display device. The motor vehicle may be configured as a passenger car, truck, mobile home, bus, motorcycle, or the like.

[0087] A further aspect of the invention provides a third method, in particular a computer-implemented method, for determining a free parking space for a motor vehicle, comprising the steps:

[0088] - Providing a recorded parking situation to a computing unit by means of a first recording system of the motor vehicle during a ferry operation of the motor vehicle;

[0089] - Providing a recognized parking space in the recorded parking situation to the computing unit;

[0090] - Providing a signal for moving the motor vehicle so that the detected parking space is located outside a first functional zone of an electronic parking assistance device of the motor vehicle, wherein the motor vehicle (3) can be parked at least semi-autonomously in a free parking space located within the first functional zone by means of the electronic parking assistance device; - Recognizing the detected parking space as a free parking space by means of the computing unit;

[0091] - Providing a signal for offering the free parking space for parking the motor vehicle in the free parking space even if the free parking space is located outside the first functional zone of the parking assistance device of the motor vehicle, by means of the computing unit.

[0092] Embodiments of the third, computer-implemented method have correspondingly adapted features as already disclosed in connection with the method for offering a free parking space by means of a motor vehicle.

[0093] A further aspect of the invention provides a data processing system comprising at least one computing unit for executing the third computer-implemented method.

[0094] A further aspect of the invention provides a computer program comprising instructions which, when executed by a computer, cause the computer to execute the third computer-implemented method.

[0095] A further aspect of the invention provides a computer-readable (storage) medium comprising instructions which, when executed by a computer, cause the computer to perform the third computer-implemented method.

[0096] Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures can be encompassed by the invention not only in the respectively specified combination, but also in other combinations. In particular, the invention can also encompass embodiments and combinations of features that do not have all the features of an originally formulated claim. Furthermore, the invention can encompass embodiments and combinations of features that go beyond the combinations of features set out in the references to the claims or deviate from them. The invention is explained in more detail below with reference to specific exemplary embodiments and associated schematic drawings.In the figures, identical or functionally equivalent elements may be provided with the same reference numerals. The description of identical or functionally equivalent elements may not necessarily be repeated for different figures. Herein:

[0097] Fig. 1 is a flowchart of an embodiment of a method according to the invention for offering a free parking space;

[0098] Fig. 2 is a flowchart of an embodiment of a method according to the invention for parking a motor vehicle in a free parking space;

[0099] Fig. 3 is a schematic representation of a first example of a parking situation;

[0100] Fig. 4 is a schematic representation of the first example in which the motor vehicle has moved;

[0101] Fig. 5 is a schematic representation of a second example of a parking situation;

[0102] Fig. 6 is a schematic representation of the second example in which the motor vehicle has moved;

[0103] Fig. 7 is a schematic representation of an embodiment of a motor vehicle according to the invention with a vehicle guidance system according to the invention.

[0104] Fig. 1 shows a flow diagram of an embodiment of a method M1 according to the invention for offering a free parking space 1. In a first step S1 of the method M1, a parking space situation 4 can be detected by means of a first detection system 5 of the motor vehicle 3 while the motor vehicle 3 is driving forward. It can be provided that a trajectory 11 of the motor vehicle 3 is detected and stored during the driving forward. In a second step S2, an occupied and / or free parking space 1, 2 can be detected in the detected parking space situation 4, for example by means of a first electronic detection unit 19 of the motor vehicle 3. It can be provided that the detected parking space 1, 2 is stored on an electronic storage medium 8 of the motor vehicle 3.

[0105] In a third step S3, it can be provided that the motor vehicle 3 moves so that the detected parking space 1, 2 is located outside a first functional zone 6 of an electronic parking assistance device 7 of the motor vehicle 3, wherein the motor vehicle 3 can be parked at least semi-autonomously by means of the electronic parking assistance device 7 in a free parking space 1 located within the first functional zone 6.

[0106] In a fourth step S4, which can take place before, during or after step S3, the detected parking space 1, 2 is detected as a free parking space 1, for example by means of a second, electronic detection unit 20. It can be provided that the free parking space 1 is stored on an electronic storage medium 8 of the motor vehicle 3. In the exemplary embodiment according to FIGS. 3 and 4, the detected parking space 1, 2 can be detected as the free parking space 1 when the motor vehicle 3 drives past the detected parking space 1, 2 in forward driving mode, if the detected parking space 1, 2 is not occupied by a foreign vehicle 12 when the vehicle drives past. In the exemplary embodiment according to FIG.5 and 6, the detected parking space 1, 2 can initially be detected as an occupied parking space 2 when the motor vehicle 3 drives past in forward driving mode, if the detected parking space 1, 2 is occupied by a third-party vehicle 12 when driving past, wherein a parking exit of the third-party vehicle 12 from the detected parking space 1, 2 can be detected, wherein depending on the detected parking exit, the detected parking space 1, 2 is detected as a free parking space 1.

[0107] In an optional fifth step S5, it can be provided that the parking is planned by means of an electronic reversing assistance device 9 of the motor vehicle 3 and the parking assistance device 7, which is different from the parking assistance device 7, wherein reversing of the motor vehicle 3 is planned by means of the reversing assistance device 9 to such an extent that the free parking space 1 is again located in the first functional zone 6 of the parking assistance device 7. This step S5 can take place, for example, before the free parking space is offered for parking or, for example, depending on the user selecting the free parking space 1. The reversing assistance device 9 can have a second functional zone 10 that is larger than the first functional zone 6, within which the motor vehicle 3 can be reversed at least semi-autonomously by means of the reversing assistance device 9.For example, reversing can be planned backwards along the stored trajectory 11.

[0108] In a sixth step S6, the free parking space 1 for parking the motor vehicle 3 in the free parking space 1 can be displayed to a user, for example, by means of a visual display device 13, even if the free parking space 1 is located outside the first functional zone 6 of the parking assistance device 7 of the motor vehicle (3). In particular, the free parking space 1 can be displayed on a digital map of the display device 13 or in a digitally generated top view of the surroundings of the motor vehicle 3 on the display device 13.It can be provided that the free parking space 1 located outside the first functional zone 6 is only displayed on the display device 13 when the user makes an input into a user interface of the motor vehicle 3 to expand a display area of ​​the display device 13, or is displayed automatically when there is no further free parking space within the first functional zone 6. Depending on a selection of the displayed parking space 1 by a user, it can be provided that the motor vehicle 3 can be parked in the free parking space 1 at least semi-autonomously, in particular by means of the parking assistance device 7 and the reversing assistance device 9.

[0109] Fig. 2 shows a flowchart of an embodiment of a method M2 according to the invention for parking a motor vehicle 3 in a free parking space 1. Initially, it may be provided that the free parking space 1 is offered according to the method M1. Subsequently, in a step S7, the motor vehicle 3 is parked at least semi-autonomously in the offered free parking space 1 depending on a user's selection of the offered free parking space (1).

[0110] Fig. 3 shows a schematic representation of a first example of a parking space situation 4. The motor vehicle is moving in forward direction along the road 16. Parking spaces 1, 2 are arranged laterally on the road 16, for example parallel parking spaces 1, 2 on the right side of the vehicle, and vertical parking spaces 1, 2 on the left side of the vehicle, for example. The motor vehicle 3 can have at least a first detection system 5, by means of which the parking space situation 4 can be detected in a first detection area 15, for example by means of sensor units arranged laterally on the motor vehicle 3, such as cameras and / or distance sensors, for example lidar or ultrasound. The parking space situation 4 can in particular comprise information about free and parked parking spaces, road edges, gate entrances, no-parking zones or the like.In the example shown, the parking spaces 1, 2 are detected by a first detection unit 19, in particular immediately as the motor vehicle 3 drives past the respective parking spaces 1, 2. For example, the parking spaces 1, 2 located in the first detection area 15 can be directly detected as such. For example, the detected parking spaces 1, 2 can be immediately detected as free parking spaces 1 by means of a second detection unit 20 if no other vehicle is parking in them and the detected dimensions are suitable for the motor vehicle 3 to park. At this point in time, the free parking spaces 1 are located within the first functional zone 6, so that the motor vehicle 3 could be parked at least semi-autonomously in one of the free parking spaces 1 by means of the electronic parking assistance device 7.

[0111] Fig. 4 shows a schematic representation of the first example, in which the motor vehicle 3 has moved forward along the road 16. This can occur, for example, if the user of the motor vehicle 3 has decided not to park in the free parking spaces 1 initially, but to search for free parking spaces that are more convenient for the user. However, this search can be unsuccessful, so that the user decides at the time shown in Fig. 4 to park in one of the free parking spaces 1 after all. However, the previously detected free parking spaces 1 are no longer located in the first functional zone 6 of the parking assistance device. However, it is provided that the free parking spaces 1 are offered for parking the motor vehicle 3 in the free parking space 1 even if the free parking spaces 1 are located outside the first functional zone 6 of the parking assistance device 7.The reversing assistance device 9 can, in particular, have a second functional zone 10, within which the motor vehicle 3 can be reversed at least semi-autonomously by means of the reversing assistance device 9. The second functional zone 10 can be significantly larger than the first functional zone 6, at least in a rear area of ​​the motor vehicle 3 in the reverse direction.

[0112] In order to be able to offer the free parking spaces 1 for parking, it can be provided that the parking is planned using the reversing assistance device 9 and the parking assistance device 7. Depending on a user's selection of the offered free parking space 1, the motor vehicle 3 can then be parked at least semi-autonomously in a selected one of the two free parking spaces 1, wherein the motor vehicle 3 is driven back at least semi-autonomously, in particular by means of the reversing assistance device 9, until the free parking space 1 is again located in the first functional zone 6 of the parking assistance device 7.

[0113] For example, it can be provided that the motor vehicle 3, when reversing, follows the trajectory travelled and stored in forward driving mode

[0114] 11 moves backwards and then parks in the free parking space 1 according to a parking trajectory determined by the parking assistance device 7.

[0115] Fig. 5 shows a schematic representation of a second example of a parking situation 1. In contrast to the first example, the detected parking spaces 2 are only recognized as occupied parking spaces 2. For example, occupied parking spaces 2 can be recognized by the fact that other vehicles 12 are parked at the side of the road. By measuring the dimensions of the other vehicles 12, it can be determined, for example, whether an occupied parking space 2 is suitable for parking the motor vehicle 3 after the other vehicle 12 has left the parking space, in particular by measuring the other vehicle 12 and comparing it with the known dimensions of the own motor vehicle 3. The other vehicles 12 in the detected parking situation can be detected in particular within the first detection area 15. The occupied parking space 12 can in particular be assigned to a third-party vehicle

[0116] 12 enclosing rectangle on the ground.

[0117] Fig. 6 shows a schematic representation of the second example, in which the motor vehicle 3 has moved forward along the road 16. This can occur, for example, when the user of the motor vehicle 3 is still searching for a free parking space. For example, the situation may arise that another vehicle 12 is leaving the detected, occupied parking space. For example, the other vehicle 12 leaving the parking space can be detected by a second detection system 18 of the motor vehicle 3, which has a second detection area 22, wherein, in particular, the other vehicle 12 leaving the parking space can be detected within the second detection area 22. The second detection area 22 can preferably be formed in a rear area of ​​the motor vehicle 3 and can be significantly larger in the rear area than the first functional zone 6 of the parking assistance device 7.The second detection system 18 may in particular comprise a camera directed towards the rear space.

[0118] In the detected rear space, the detected other vehicle 12 can be detected as the other vehicle 12 leaving the detected, occupied parking space 2, for example by means of a third detection unit 21. For example, the other vehicle 12 can be tracked since the parking space situation 4 was detected, wherein a movement of the other vehicle 12 relative to the road 16 is detected when leaving the parking space. Depending on the detected parking exit, the parking space 2 previously detected as occupied can now be detected as a free parking space 1, in particular by means of a third detection unit 12. According to the first example, it can now be provided that the now detected free parking space 1 is offered to the user for parking the motor vehicle 3 in the free parking space 1, even though the free parking space 1 is located outside the first functional zone 6.Depending on the user selecting the offered free parking space 1, the motor vehicle 3 can then be parked at least semi-autonomously in a selected one of the two free parking spaces 1, wherein the motor vehicle 3 is driven back at least semi-autonomously, in particular by means of the reversing assistance device 9, preferably along the stored trajectory 11, to such an extent that the free parking space 1 is again located in the first functional zone 6 of the parking assistance device 7.

[0119] In particular, the two examples according to Fig. 3 and Fig. 4, as well as Fig. 5 and Fig. 6 can be combined with one another. In particular, it can be provided that free parking spaces 1 are directly recognized as such and, in addition, occupied parking spaces 2 are recognized as free parking spaces 1 by the recognized parking exit. Fig. 7 shows a schematic representation of an embodiment of a motor vehicle 3 according to the invention with a vehicle guidance system 14 according to the invention. In addition, the motor vehicle 3 can have a visual display device 13 and a storage medium 8. The vehicle guidance system 14 can, in particular, have a computing unit 17, the first and second detection systems 5, 18, the electronic parking assistance device 7, the electronic reversing assistance device 9, and first to third detection units 19, 20, 21.

Claims

Patent claims 1 . Method (M1 ) for offering a free parking space (1 ) by means of a motor vehicle (3), comprising the steps: Detecting a parking situation (4) by means of a first detection system (5) of the motor vehicle (3) during a ferry operation of the motor vehicle (3); Detecting a parking area (1, 2) in the detected parking situation (4); Moving the motor vehicle (3) so that the detected parking space (1, 2) is located outside a first functional zone (6) of an electronic parking assistance device (7) of the motor vehicle (3), wherein the motor vehicle (3) can be parked at least semi-autonomously by means of the electronic parking assistance device (7) in a free parking space (1) located within the first functional zone (6); Recognizing the recognized parking area (1, 2) as a free parking area (1); Offering the free parking space (1) for parking the motor vehicle (3) in the free parking space (1) even if the free parking space (1) is located outside the first functional zone (6) of the parking assistance device (7) of the motor vehicle (3).

2. Method (M1) according to claim 1, wherein the detected free parking space (1) is stored on an electronic storage medium (8) of the motor vehicle (3).

3. Method (M1) according to claim 1 or 2, wherein the parking is planned by means of an electronic reversing assistance device (9) of the motor vehicle (3) and the parking assistance device (7), which is different from the parking assistance device (7), wherein reversing of the motor vehicle (3) is planned by means of the reversing assistance device (9) to such an extent that the free parking space (1) is again located in the first functional zone (6) of the parking assistance device (7).

4. Method (M1) according to claim 3, wherein the reversing assistance device (9) has a second functional zone (10) which is larger than the first functional zone (6), within which the motor vehicle (3) can be reversed at least semi-autonomously by means of the reversing assistance device (9).

5. Method (M1) according to claim 3 or 4, wherein during the ferry operation a trajectory (11) of the motor vehicle (3) is recorded and stored, wherein the reversing of the motor vehicle (3) is planned by means of the reversing assistance device (9) backwards along the stored trajectory (11).

6. Method (M1) according to claim 5, wherein the trajectory (11) is only recorded and stored when a parking area (1, 2) has been detected.

7. Method (M1) according to one of the preceding claims, wherein the detected parking area (1, 2) is detected as the free parking area (1) when the motor vehicle (3) drives past in ferry operation, if the detected parking area (1, 2) is not occupied by a foreign vehicle (12) when the vehicle drives past.

8. Method (M1) according to one of claims 1 to 6, wherein the recognized parking space (1, 2) is initially recognized as an occupied parking space (2) when the motor vehicle (3) drives past in ferry operation if the recognized parking space (1, 2) is occupied by a foreign vehicle (12) when driving past, wherein a parking out of the foreign vehicle (12) from the recognized parking space (1, 2) is recognized, wherein depending on the detected parking out, the recognized parking space (1, 2) is recognized as a free parking space (1).

9. Method (M1) according to one of the preceding claims, wherein the recognized parking area (1, 2) is stored on an electronic storage medium (8) of the motor vehicle (3).

10. Method (M1) according to one of the preceding claims, wherein the free parking space (1) is offered by a display on a visual display device (13) of the motor vehicle (3), wherein depending on a selection of the displayed parking space (1) by a user, the motor vehicle (3) can be parked in the free parking space (1) at least semi-autonomously.

11. Method (M1) according to claim 10, wherein the free parking area (1) is displayed on a digital map of the display device (13).

12. Method (M1) according to claim 10, wherein the free parking space (1) is displayed on the display device (13) in a digitally generated plan view of an environment of the motor vehicle (3).

13. Method (M1) according to one of claims 10 to 12, wherein the free parking space (1) located outside the first functional zone (6) is only displayed on the display device (13) when the user makes an input into a user interface of the motor vehicle (3) to expand a display area of the display device (13).

14. Method (M1) according to one of claims 10 to 12, wherein the free parking space (1) outside the first functional zone (6) of the parking assistance device (7) is automatically displayed on the display device (13) if there is no further free parking space within the first functional zone (6).

15. Method (M1) according to one of the preceding claims, wherein the first functional zone (6) of the parking assistance device (7) has a range of at least two meters and up to ten meters around the motor vehicle (3).

16. Method (M1) according to claim 4, wherein the second functional zone (10) of the reversing assistance device (9) has a range of up to 200 meters.

17. Method (M2) for parking a motor vehicle (3) in a free parking space (1), comprising the steps: Offering the free parking space (1) according to a method (M1) according to the preceding claims; At least semi-autonomous parking of the motor vehicle (3) in the offered, free parking space (1) depending on a selection of the offered, free parking space (1) by a user.

18. Method (M2) according to claim 17, wherein the parking is carried out by means of an electronic reversing assistance device (9) of the motor vehicle (3) and the parking assistance device (7), which is different from the parking assistance device (7), wherein the motor vehicle (3) is driven back at least semi-autonomously by means of the reversing assistance device (9) until the free parking space (1) is located in the first functional zone (6) of the parking assistance device (7).

19. Electronic vehicle guidance system (14) for a motor vehicle (3), comprising at least one computing unit (17) which is set up and designed to carry out a method (M2) according to claim 17 or 18.

20. Motor vehicle (3) comprising an electronic vehicle guidance system (14) according to claim 19.

21. Method, in particular a computer-implemented method, for detecting a free parking space (1) by means of a motor vehicle (3), comprising the steps: Providing a detected parking situation (4) by means of a first detection system (5) of the motor vehicle (3) to a computing unit (17) during a ferry operation of the motor vehicle (3); Providing a recognized parking area (1, 2) in the detected parking situation (4) to the computing unit (17); Providing a signal for moving the motor vehicle (3) so that the detected parking space (1, 2) is located outside a first functional zone (6) of an electronic parking assistance device (7) of the motor vehicle (3), wherein the motor vehicle (3) can be parked at least semi-autonomously by means of the electronic parking assistance device (7) in a free parking space (1) located within the first functional zone (6); Recognizing the recognized parking area (1, 2) as a free parking area (1) by means of the computing unit (21); Providing a signal for offering the free parking space (1) for parking the motor vehicle (3) in the free parking space (1) even if the free parking space (1) is outside the first functional zone (6) of the Parking assistance device (7) of the motor vehicle (3), by means of the computing unit (17).

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