Method for selecting a parking space suitable for a motor vehicle on an unmarked parking area

Abstract

The invention relates to a method for selecting a parking space (22) suitable for a motor vehicle (10) on an unmarked parking area (18), wherein data are received by an electronic vehicle guidance system (12) of the motor vehicle (10), said data describing an areal extent of the unmarked parking area (18); the parking area (18) is divided virtually into a plurality of suitable parking spaces (22) for the motor vehicle (10) in accordance with a predetermined parking space division rule on the basis of the areal extent and at least one known parking space requirement of the motor vehicle (10), the parking space division rule comprising an extrapolation of the at least one known parking space requirement into the parking area (18) starting from a start point along its areal extent; and a parking space (22) suitable for the motor vehicle (10) is selected from the plurality of suitable parking spaces (22).

Description

[0001] 2024PF00340

[0002] 1

[0003] Method for selecting a suitable parking space for a motor vehicle in an unmarked parking area

[0004] The invention relates to a method, in particular a computer-implemented method, for selecting a parking space suitable for a motor vehicle in an unmarked parking area. A further aspect of the invention relates to an electronic vehicle guidance system, in particular a parking assistance system, for a motor vehicle, which is configured to carry out the method according to the invention. Further aspects of the invention relate to a motor vehicle with such an electronic vehicle guidance system, a computer program, and a computer-readable storage medium.

[0005] A parking area within the meaning of this disclosure is an area comprising several individual parking spaces. The parking area has an area of ​​extent, meaning a directional extension and / or a size. As such, the parking area is at least twice the size of a single parking space. The parking area can be many times the size of a single parking space and can also include areas where no parking spaces are provided, for example, because there are driving lanes and / or pedestrian walkways. Such a parking area can comprise a few or hundreds of individual parking spaces.

[0006] A parking space suitable for a motor vehicle within the meaning of this disclosure is, in particular, a parking space that is large enough for the motor vehicle to park there. Consideration may be given to ensuring that sufficient space remains so that the doors of the parked motor vehicle can be opened, especially fully, without risking damage to them from objects located near the motor vehicle, such as other vehicles. Suitability may also include the fact that the motor vehicle is permitted to park in this parking space, for example, due to its type of drive and / or emissions class.

[0007] Parking areas with numerous individual parking spaces typically have markings to delineate them. These markings help distinguish the individual parking spaces. The markings provide a visual cue for drivers of motor vehicles or 2024PF00340

[0008] 2

[0009] Parking markings also provide a guide for a parking assistance system in a partially autonomous vehicle, indicating where parking is permitted within the parking area. These markings can be implemented, for example, as colored lines, geometric shapes, or outlines. Such markings can delineate individual parking spaces, which may be of the same size or different sizes. This makes it particularly easy for a driver searching for a parking space to immediately identify an available one. Furthermore, parking space markings help ensure that the parking area is optimally utilized by parked vehicles.

[0010] Parking space markings are generally dimensioned so that the spaces they delineate include areas within which a car door can be safely opened. A parking space is therefore usually wider than the width of the vehicle itself. Provided all parked vehicles adhere to the parking space markings, this ensures that the space between two directly adjacent vehicles is sufficient to allow the side doors of each vehicle to be opened without damaging the neighboring vehicle.

[0011] In an unmarked parking area, meaning a parking area that contains several parking spaces but which are not marked, the aforementioned advantages do not apply. The problem here is that it is not immediately apparent where each parking space is located within the area. In other words, for a driver of a vehicle, or even for a semi-autonomous parking assistance system, it is not readily apparent where the vehicle can be parked in an unmarked or unmarked parking area.If one or more vehicles belonging to other users are already parked in the unmarked parking space, the driver of the vehicle to be parked, or the parking assistance system, can select a parking space located between two already parked vehicles, or directly adjacent to or near an already parked vehicle. However, if the parking area includes another free space where no other vehicle is currently parked, there is no indication of a reasonably suitable parking space. There is a risk that vehicles will park haphazardly or by eye in this free space, which can lead to the unnecessary waste of available parking space. 2024PF00340.

[0012] 3

[0013] From DE 11 2017006255 T5, a parking assistance device is known that enables a motor vehicle to be centrally parked in a detected parking space when parking perpendicularly. For this purpose, the width of the parking space is first detected using ultrasonic sensors on the vehicle to be parked. By parking centrally in the space, it can be ensured that there is sufficient space on both sides of the parked vehicle to the neighboring vehicles, so that getting in and out of the parked vehicle or the vehicles directly adjacent to the side is possible without difficulty. Since the described parking assistance device relies on the presence of adjacent parked vehicles to determine the width of the perpendicular parking space, it does not enable space-optimized parking in an empty, unmarked parking area.

[0014] US Patent 2017 / 0124875 A1 discloses a method for the optimal utilization of parking space by vehicles of varying sizes. This method assumes a parking area of ​​known size, along whose boundaries parking spaces can be dynamically assigned to vehicles based on their size. This requires, first, the size of each vehicle to be parked to be individually recorded. This is extremely complex and, moreover, necessitates a comprehensive infrastructure of parking spaces equipped with appropriate sensors.

[0015] One object of the present invention is to prevent or at least minimize the waste of free parking spaces in an unmarked parking area.

[0016] The problem 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.

[0017] One aspect of the present invention relates to a method, in particular a computer-implemented method, for selecting a suitable parking space for a motor vehicle on an unmarked parking area of ​​the type described above. In other words, the invention relates to parking the motor vehicle on the unmarked parking area, that is, on a parking area without individual parking space markings. 2024PF00340

[0018] 4

[0019] According to the invention, data describing the area of ​​the unmarked parking space is first received by an electronic vehicle guidance system of the motor vehicle. The received data thus describes the directional extent of the parking space from a starting point and / or the total size of the parking space. The data can be received, for example, by a data processing device of the motor vehicle, which may include at least one processing unit. The data may originate, for example, from one or more environmental sensors of an environmental sensor system of the motor vehicle, which may be connected to the data processing device via signal transmission.

[0020] In other words, the data can be received and transmitted from one or more of the vehicle's environmental sensors. Such an environmental sensor could, for example, be an external camera. Alternatively or additionally, it is conceivable that the data describing the area of ​​the unmarked parking space could be retrieved from an online map service. In other words, the unmarked parking space, along with its position and area, could be stored in a map dataset, which might, for example, be stored in the vehicle's navigation system. Here and in the following, "area" refers to the directional extent and / or the total size of the unmarked parking space.

[0021] According to a further step of the inventive process, based on the area of ​​the vehicle and at least one known parking space requirement, the parking area is virtually divided into a plurality of suitable parking spaces for the vehicle according to a predetermined parking space allocation rule. This parking space allocation rule comprises an extrapolation of the at least one known parking space requirement into the parking area, starting from the initial point and extending along its area. In other words, the parking space requirement of the vehicle, for example, a minimum parking space width, is extrapolated into the parking area from the initial point along its area. In this way, for example, parking spaces can be virtually created, each of which has the required minimum parking space width for the vehicle.In other words, the parking area can be covered along its entire perimeter with a virtual grid of parking space markings, with each virtual parking space marking delineating parking spaces that meet the minimum width requirements for a motor vehicle. The virtual grid is 2024PF00340.

[0022] 5

[0023] It can be displayed as an overlay over a camera image of the parking area on a display inside the vehicle.

[0024] Finally, a suitable parking space is selected from the multitude of available options. This selection can be made, for example, by the driver using a touch command to choose a desired parking space on the overlay or another type of display of the aforementioned virtual grid, which could be shown, for instance, on the vehicle's interior screen. Subsequently, a suitable driving trajectory to the selected parking space can be displayed, or the vehicle can navigate to the selected parking space in at least a partially autonomous driving mode.

[0025] The invention offers the advantage that parking is possible even in an unmarked parking area in such a way that no parking spaces are wasted.

[0026] The invention also includes embodiments that offer additional advantages.

[0027] One embodiment provides that the multitude of suitable parking spaces also includes, or even exclusively includes, those parking spaces that are not located between other vehicles already parked in the parking area and / or not directly adjacent to other vehicles already parked in the parking area. In other words, the suitable parking spaces for the motor vehicle can also be located away from other vehicles already parked in the parking area. In other words, the suitable parking spaces can be located in an open area along the perimeter of the parking area. This is particularly advantageous if, for example, more space than usual is needed for loading and / or getting in and out of the vehicle. In this case, the vehicle can be parked in the open area without wasting any parking space.In particular, the procedure described here does not rely on foreign vehicles already parked in the parking area to determine a reference point for the positioning of another parking space.

[0028] Preferably, the multitude of suitable parking spaces includes at least two identical parking spaces. In this context, "identical" means that the 2024PF00340

[0029] 6

[0030] Parking spaces are of the same width and / or length and / or have the same orientation.

[0031] The starting point from which at least one known parking space request is extrapolated into the parking area can be, for example, a parking space boundary and / or a driving lane running around and / or through the parking area and / or the outline of an existing vehicle already parked in the parking area. The parking space boundary can, for example, consist of one or more driving lanes that delineate the parking area. Alternatively or additionally, the parking space boundary can be a fence, a wall, or similar structure. Alternatively or additionally, the parking space boundary can be defined by a marking on the ground.

[0032] The starting point can be detected, for example, using one or more of the vehicle's environmental sensors mentioned earlier. In a typical parking situation, the vehicle can enter the parking space and use one or more external cameras to detect the starting point. For instance, one or more of these cameras can detect a fence or similar structure as the parking space boundary. Alternatively or additionally, the outer contour of another vehicle already parked in the space can be detected in this way. The course of a lane, which can alternatively or additionally serve as the starting point described above, can be stored in the aforementioned map data set, which may be integrated into the vehicle's navigation system.

[0033] If at least one known parking space requirement for a vehicle is a minimum width for a parking space, this minimum width can be virtually represented, for example, as a measuring tape extending from the starting point along the directional extent of the parking area. Extrapolation into the parking area can then be achieved by repeatedly extending the virtual measuring tape from the starting point. If the minimum width is, for example, 3 meters, a first suitable parking space of 0 to 3 meters can be drawn, starting from the starting point (0 meters). Subsequent suitable parking spaces can be drawn from 3 to 6 meters. In this way, extrapolation into the parking area results in a series of virtual parking spaces of equal width. The absolute size of the entire parking area does not need to be known for this purpose.Rather, it is sufficient to know a starting point and the directional extent of the parking area. 2024PF00340.

[0034] 7

[0035] The at least one known parking space requirement is preferably a length dimension of the motor vehicle and / or a width dimension of the motor vehicle and / or a standard dimension for a motor vehicle of the same type. Preferably, a buffer is added to each of the aforementioned dimensions so that the parked vehicles do not directly touch each other. The buffer can be dimensioned depending on a known door length of the motor vehicle, so that the motor vehicle door can be opened without difficulty even if several vehicles are parked directly adjacent to each other in the parking spaces.

[0036] Alternatively or additionally, the length and / or width of a vehicle already parked in the parking space, with or without a buffer, can be used as a parking space requirement. For example, if a vehicle already parked is 3 meters wide, its outer contour can be used as the starting point, with further virtual parking space markings generated at 3-meter intervals. Preferably, the outermost tip of a side mirror of the already parked vehicle is used as the starting point.

[0037] Another embodiment provides that the parking space allocation rule is generated taking into account a parking orientation recognized, customary, or prescribed within the parking area. The parking orientation can, for example, describe parallel, perpendicular, or angled parking, or parking in a herringbone pattern. Preferably, the parking orientation can be determined from the orientation of other vehicles already parked in the parking area and / or from the orientation of a detected parking space boundary. Alternatively or additionally, the parking orientation can also be stored in the aforementioned map data set, which may be saved in the vehicle's navigation system.

[0038] If one or more non-owned vehicles are already detected in the parking area, the parking space allocation rule can be generated taking into account at least one parking space requirement of one of the already parked non-owned vehicles and / or the majority of the several already parked non-owned vehicles. This at least one parking space requirement of the already parked non-owned vehicles could, for example, be their width, orientation, or distance from each other. These non-owned parking space requirements can therefore be extrapolated into the parking area according to the parking space allocation rule in order to create the virtual 2024PF00340

[0039] 8

[0040] To create parking space markings for the remaining parking spaces in the parking area.

[0041] Alternatively or additionally, a comparison can be made between the parking space requirement of one's own vehicle (at least one of which is known) and the parking space requirements of other vehicles already parked there. If these requirements match within a permissible tolerance range, an average parking space requirement can be derived from them, which can then be extrapolated to the parking area.

[0042] The selection of a suitable parking space from the multitude of available spaces is preferably made taking into account at least one user parking preference. This preference might, for example, indicate that the driver prefers to park in an open space. Alternatively, the user might prefer to park between already parked vehicles. Alternatively or additionally, the parking preference might indicate that a user prefers a parking position near a parking lot exit. These different parking preferences can then be considered when selecting the appropriate parking space.

[0043] Another embodiment provides that the data describing the areal extent of the parking area includes information regarding a subsurface property of the parking area, assuming that the parking area extends over areas exhibiting this or a similar subsurface property. In other words, it can be assumed that the parking area extends wherever the same subsurface property predominates. This subsurface property could be, for example, a subsurface condition and / or a subsurface material. The subsurface condition could be defined, for example, by a surface covering of the parking area, such as gravel and / or asphalt and / or concrete. The subsurface property could also describe vegetation on the parking area, such as lawn or grass.

[0044] The surface properties can be detected, for example, using an object recognition algorithm of the electronic vehicle guidance system. An image analysis of the parking area's surface can be performed, for instance, using camera images from the vehicle's external cameras. The image analysis can include a color distribution and / or a brightness distribution in the captured camera images. For example, image areas with 2024PF00340

[0045] 9

[0046] A specific grey value can be assigned to a specific floor surface, such as asphalt or gravel.

[0047] According to a further advantageous development, it is assumed that the parking area extends over regions exhibiting the same subsurface properties as those prevalent in areas where one or more foreign vehicles are already parked. In other words, it is first possible to determine the subsurface properties of a region where a foreign vehicle has already been detected. For example, it can be determined that the previously parked foreign vehicle was parked on a gravel surface or area. If, extending from the detected foreign vehicle, there are also gravel-covered regions, it can be assumed that the parking area extends along these regions. Then, the previously described extrapolation of the vehicle's at least one parking space requirement can be performed along these gravel-covered regions.If, for example, a tarred or asphalted area is subsequently identified after the gravelled area, it can be assumed that the parking area ends at the transition from the gravelled to the tarred or asphalted area.

[0048] Another aspect of the invention relates to an electronic vehicle guidance system for a motor vehicle, which is configured to perform a method for selecting a suitable parking space for the motor vehicle in an unmarked parking area according to one of the described embodiments. The electronic vehicle guidance system can include an environmental sensor system with at least one environmental sensor configured to acquire data describing the area of ​​the unmarked parking area.Furthermore, the electronic vehicle guidance system can include a data processing device with at least one computing unit, which is designed to receive data from the environment sensor system or from another system, to virtually divide the parking area into a multitude of suitable parking spaces for the vehicle based on the area and at least one known parking space requirement of the motor vehicle according to a predetermined parking space allocation rule, and to select one of the suitable parking spaces for the motor vehicle from the multitude of suitable parking spaces.

[0049] Preferably, the electronic vehicle guidance system is configured to control a longitudinal and / or lateral guidance system of the motor vehicle based on the selection, 2024PF00340

[0050] 10

[0051] to move the motor vehicle at least semi-autonomously to the selected parking space.

[0052] An electronic vehicle guidance system (EVS) can be understood as an electronic system designed to control a vehicle fully automatically or autonomously by transmitting at least one control signal to one or more actuators of the vehicle, in particular without requiring any intervention by a driver. The vehicle automatically performs all necessary functions, such as steering, braking, and / or acceleration maneuvers, monitoring and recording road traffic, and reacting accordingly. In particular, the EVS can implement a fully automatic or fully autonomous driving mode of the 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 during partially automated or semi-autonomous driving. Specifically, 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 in the following, "SAE J3016" refers to the corresponding standard in its April 2021 version.

[0053] At least partially automated vehicle control can therefore include driving the vehicle in accordance with a fully automated or fully autonomous driving mode of Level 5 according to SAE J3016. At least partially automated vehicle control can also include driving the vehicle in accordance with a partially automated or semi-autonomous driving mode according to Levels 1 to 4 of SAE J3016.

[0054] The at least one control signal can be provided, for example, to one or more actuators of the 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 vehicle. Based on the at least one control signal, the one or more actuators can influence longitudinal and / or lateral steering of the vehicle in order to steer the vehicle at least partially automatically. 2024PF00340

[0055] 11

[0056] Assistance information about such a (partially) autonomously performed driving maneuver can be output via an output device of the vehicle, for example a display and / or an audio output system and / or a haptic output system.

[0057] Another aspect of the invention relates to a motor vehicle with such an electronic vehicle guidance system. The motor vehicle can also be equipped with a display device, which may include, for example, a screen or display in the vehicle interior. The screen may be touch-sensitive or touch-operated. A representation of virtual parking space markings in the parking area can be displayed on the screen. By means of a touch command, a user of the motor vehicle can select a suitable parking space for the vehicle from this representation of the virtual parking space markings. The motor vehicle can then be moved, for example, semi-autonomously, by the electronic vehicle guidance system to the suitable selected parking space.

[0058] According to another aspect of the invention, a data processing system is provided which is configured to carry out a computer-implemented method according to the invention.

[0059] The terms "data processing system," "data processing device," and "at least one data processing device" may be used interchangeably within the scope of this disclosure. For example, in this disclosure, a data processing device may be understood as a device with processing circuits for processing data. A data processing device can thus perform arithmetic operations to process data. Indexed access to a data structure, such as a lookup table (LUT) or a database, may also be considered an arithmetic operation. Similarly, data processing that is partially or fully implemented in hardware may also be considered an arithmetic operation.

[0060] A data processing device may, in particular, comprise 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 systems-on-a-chip (SoCs). A data processing device may also include one or more processors, for example, one or more 2024PF00340

[0061] 12

[0062] 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 data processing equipment may also include a physical or virtual cluster of computers or other equipment of the aforementioned type.

[0063] A data processing device may also include one or more hardware and / or software interfaces, for example for receiving and / or providing data.

[0064] A data processing device may also include one or more storage devices. A storage device may be implemented as volatile memory, such as dynamic random access memory (DRAM) or static random access memory (SRAM), or as non-volatile data storage, such as read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or flash EEPROM, ferroelectric random access memory (FRAM), magnetoresistive random access memory (MRAM), or phase-change random access memory (PCRAM).

[0065] The data processing device can be the data processing device of the electronic vehicle guidance system according to the invention or form a part thereof.

[0066] According to another aspect of the invention, a computer program with instructions is specified. When the instructions are executed by a data processing system, the instructions cause the data processing system to carry out a computer-implemented method according to the invention.

[0067] The instructions can be provided, for example, as program code. This program code can be provided, for example, as binary code or assembly language, and / or as source code in a programming language such as C, and / or as a program script, such as Python.

[0068] According to another aspect of the invention, a further computer program with additional commands is specified. If the additional commands are executed by an electronic vehicle guidance system according to the invention, in particular by the 2024PF00340

[0069] 13

[0070] The commands, executed by the data processing device of the electronic vehicle guidance system, cause the electronic vehicle guidance system to carry out a method according to the invention for at least partially automatic guidance of a vehicle.

[0071] The additional instructions can be provided, for example, as program code. This program code can be provided, for example, as binary code or assembly language, and / or as source code of a programming language, such as C, and / or as a program script, such as Python.

[0072] According to another aspect of the invention, a computer-readable storage medium is specified which stores a computer program according to the invention and / or a further computer program according to the invention.

[0073] The computer program, the further computer program, and the computer-readable storage medium are each computer program products containing the commands and / or the further commands.

[0074] Further embodiments of the electronic vehicle guidance system, the motor vehicle, the computer program, and / or the computer-readable storage medium according to the invention follow directly from the various configurations of the method according to the invention, and vice versa. In particular, individual features and corresponding explanations, as well as advantages relating to the various configurations of the method according to the invention, can be transferred analogously to corresponding configurations of the further aspects of the invention. In particular, the electronic vehicle guidance system according to the invention, especially its data processing device, is designed or programmed to carry out a method according to the invention.

[0075] In particular, the electronic vehicle guidance system according to the invention carries out the method according to the invention.

[0076] Further features of the invention are evident 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 illustrated in the figures, can be found not only in 2024PF00340

[0077] 14

[0078] The invention may encompass not only the combination specified in each claim, but also other combinations. In particular, embodiments and combinations of features that do not include all the features of an originally formulated claim may also be encompassed by the invention. Furthermore, embodiments and combinations of features that go beyond or deviate from the combinations of features specified in the claims may also include the invention.

[0079] The invention is explained in more detail below with reference to specific exemplary embodiments and corresponding schematic drawings. Identical or functionally equivalent elements in the drawings may be provided with the same reference numerals. The description of identical or functionally equivalent elements is not necessarily repeated with respect to the different figures.

[0080] This shows:

[0081] Fig. 1 A schematic representation of a motor vehicle with an electronic vehicle guidance system according to an embodiment of the invention;

[0082] Fig. 2 A schematic representation of an exemplary parking area;

[0083] Fig. 3 A schematic representation of another exemplary parking area;

[0084] and

[0085] Fig. 4 A schematic representation of a method according to an embodiment of the invention.

[0086] Fig. 1 shows a schematic representation of a motor vehicle 10 with an electronic vehicle guidance system 12, which may include a data processing device 14. The data processing device 14 may include a computing unit (not shown) which may be configured to perform process steps of the computer-implemented method according to an embodiment of the invention. The electronic vehicle guidance system 12 may also include an environmental sensor system with several 2024PF00340

[0087] 15

[0088] The environmental sensors 16 are included. In Fig. 1, four such environmental sensors 16 are shown by way of example, arranged on the motor vehicle 10. The environmental sensors 16 can be, for example, external cameras of the motor vehicle 10. Alternatively or additionally, the environmental sensors 16 can also be distance measuring sensors, for example, ultrasonic sensors.

[0089] Fig. 2 shows a schematic representation of an example parking area 18. Parking area 18 may be unmarked. In other words, parking area 18 may not have any parking space markings. Therefore, it is not immediately apparent where parking spaces are located along the surface of parking area 18.

[0090] In the illustrated embodiment, seven external vehicles 20 are already parked in parking area 18. For the sake of clarity, only one of the external vehicles 20 is marked with a reference symbol.

[0091] According to an exemplary embodiment of the described method, the properties of the surface of parking area 18 in the already occupied area can be detected. In other words, it can be detected, for example, using the environmental sensors 16 of the vehicle 10, what type of surface is present in the areas of parking area 18 where the other vehicles 20 are parked. It can then be assumed that parking area 18 extends in area to all adjacent areas where the same surface is detected. Along this area, at least one known parking space request of the vehicle 10 can then be extrapolated into parking area 18 according to a distribution rule. In this way, virtual parking space markings for further parking spaces 22 along parking area 18 can be generated.The allocation rule may also include the provision of 22 spaces between the additional parking spaces, ensuring that the vehicles parked in these spaces are not too close together. Consequently, one of the additional parking spaces can be selected for vehicle 10. This selection can, for example, be made taking into account the user preference of the driver of vehicle 10.

[0092] With reference to the components already identified and described in connection with Figures 1 and 2, Figure 3 shows a further exemplary representation of a parking area 18. In the example of Figure 3, the parking area 18 has a parking area perimeter 24, which can, for example, consist of driving lanes. 2024PF00340

[0093] 16

[0094] The perimeter of parking area 24 can be identified, for example, by its different subsurface properties compared to the area of ​​parking area 18 already occupied by parked vehicles 20. This difference in the subsurface composition indicates that the lanes forming the perimeter of parking area 24 are themselves no longer suitable for parking. However, within the inner area of ​​parking area 18 defined by the perimeter of parking area 24, the parking space requirement for vehicle 10 can be extrapolated to define the additional virtual parking spaces 22.

[0095] With reference to the components already designated and described in connection with Figures 1 to 3, Figure 4 shows a schematic representation of a method according to an embodiment of the invention. The method is for selecting a suitable parking space 22 for a motor vehicle 10 on an unmarked parking area 18, wherein, in step S1, an electronic vehicle guidance system 12 of the motor vehicle 10 receives data describing the area of ​​the unmarked parking area 18. In step S2, based on the area and at least one known parking space requirement of the motor vehicle 10, the parking area 18 can be virtually divided into a plurality of suitable parking spaces 22 for the motor vehicle 10 according to a predetermined parking space allocation rule.The parking space allocation rule can include an extrapolation of at least one known parking space requirement into parking area 18, starting from a point along its area. Finally, in step S3, one of the many suitable parking spaces 22 can be selected for the vehicle 10. In a further optional step S4, the vehicle 10 can be moved, at least partially autonomously, to the selected parking space 22.

[0096] Normally, there is no indication of parking spaces in unstructured or unmarked parking areas unless they are adjacent to other parked vehicles and / or lines. Therefore, the detection of parked vehicles in the unmarked parking area is proposed; this involves detecting ground surfaces or subsurface characteristics along the areas covered by the parked vehicles and measuring or recording the area of ​​uncovered or unparked space with a comparable subsurface characteristic. The parking positions can then be extrapolated to the remaining area. Among other advantages, this method offers the benefit of parking space detection in 2024PF00340.

[0097] 17

[0098] unstructured areas. Furthermore, an appropriate distance for the remaining parking spaces can be determined.

[0099] Even if parking spaces cannot be identified due to a lack of floor markings, the proposed electronic vehicle guidance system can derive the vehicle positions of parked vehicles that occupy parking spaces.

[0100] As a first step, the electronic vehicle guidance system can detect several vehicles already parked in the parking area, preferably more than one. Then, the system can identify an area with the same surface type (e.g., grass, gravel, asphalt, concrete) that is also covered by the parked vehicle(s). Subsequently, multiple parking spaces can be placed next to the parked vehicles. Optionally, driving lanes can be detected as parking area boundaries next to or around such an area.

[0101] The portion of the area not covered by existing vehicles or parking spaces is measured, and based on the already detected parking spaces (either based on parking lots or based on parked vehicles), an extrapolation is performed in the direction of the parking space positions in the remaining area (i.e., laterally divided into parking spaces similarly distributed to those already detected, or a default value is used if the subtracted value is too small / too large). Longitudinally, the extrapolated parking spaces can be aligned with the boundaries of the area or with the existing parking spaces (i.e., an estimated line through the center of the target position / the position of the front and / or rear bumper).

[0102] Parking spaces in unstructured areas can be advantageously identified, thus enabling parking. Compared to human parking, this could even be beneficial, as it allows vehicles to park next to several unused spaces while still maintaining a reasonable distance for others to park, since appropriate distances are measured and calculated.

[0103] In a specific embodiment, the vehicle enters a parking space that is not marked on the ground. Several other vehicles may already be parked in this unmarked space, which the ego vehicle can initially drive past. Following the already parked vehicles, there may only be an unmarked open area of ​​the parking space, which could, for example, be a 2024PF00340

[0104] 18

[0105] The system has an extension of 10 to 15 meters. The ego vehicle is to be parked in the open area. With a conventional parking system, in this situation, usually only the one parking space next to the last of the already parked vehicles is offered. The vehicle guidance system according to the invention, however, can offer several parking spaces in the open area (e.g., a configurable value or all of them).

[0106] Overall, the examples show how a procedure can be provided to prevent or at least minimize the waste of free parking spaces in an unmarked parking area.

Claims

2024PF00340 19 Patent claims 1. Method for selecting a suitable parking space (22) for a motor vehicle (10) on an unmarked parking area (18), wherein an electronic vehicle guidance system (12) of the motor vehicle (10) - Data are received that describe the area of ​​the unmarked parking area (18), - based on the area and at least one known parking space requirement of the motor vehicle (10), the parking area (18) is virtually divided into a plurality of suitable parking spaces (22) for the motor vehicle (10) according to a predetermined parking space allocation rule, wherein the parking space allocation rule comprises an extrapolation of the at least one known parking space requirement into the parking area (18) starting from a starting point along its area, and - from the large number of suitable parking spaces (22) one is selected for the motor vehicle (10).

2. Method according to claim 1, wherein the plurality of suitable parking spaces (22) also or exclusively includes such parking spaces (22) that are not arranged between foreign vehicles (20) already parked on the parking area (18) and / or not directly adjacent to foreign vehicles (20) already parked on the parking area (18).

3. Method according to one of the preceding claims, wherein the plurality of suitable parking spaces (22) comprises at least two similar parking spaces (22).

4. Method according to one of the preceding claims, wherein the starting point is a parking area perimeter (24) and / or - a driving lane running along and / or through the parking area (18) and / or 2024PF00340 20 - is the outline of an outer contour of a foreign vehicle (20) already parked in the parking area (18).

5. Method according to one of the preceding claims, wherein the at least one known parking space requirement is a length dimension of the motor vehicle (10) and / or a width dimension of the motor vehicle (10) and / or a standard dimension for a motor vehicle of the same vehicle type.

6. Method according to one of the preceding claims, wherein the parking space allocation rule is generated taking into account a parking orientation recognized or prescribed on the parking area (18).

7. Method according to one of the preceding claims, wherein, if one or more foreign vehicles (20) have already been detected parked on the parking area (18), the parking space allocation rule is generated taking into account at least one parking space request of the already parked foreign vehicle (20) and / or the several already parked foreign vehicles (20).

8. Method according to one of the preceding claims, wherein the selection of the parking space (22) suitable for the motor vehicle (10) is carried out taking into account at least one user-side parking preference.

9. Method according to one of the preceding claims, wherein the data describing the area extent of the parking area (18) includes information regarding a subsurface property of the parking area (18), wherein it is assumed that the parking area (18) extends over areas that have the or a similar subsurface property.

10. Method according to claim 9, wherein it is assumed that the parking area (18) extends over areas that have the same subsurface properties that prevail in areas where one or more parked foreign vehicles (20) are already present.

11. Electronic vehicle guidance system (12) for a motor vehicle (10) which is designed to perform the procedure for selecting a vehicle for the motor vehicle (10)2024PF00340 21 to carry out the operation of a suitable parking space (22) on an unmarked parking area (18) in accordance with one of the preceding claims, comprising - an environmental sensor system with at least one environmental sensor (16) designed to capture data describing the area extent of the unmarked parking area (18), and - a data processing device (14) with at least one computing unit designed to receive data from the environment sensor system, to virtually divide the parking area (18) into a plurality of suitable parking spaces (22) for the motor vehicle (10) based on the area and at least one known parking space requirement of the motor vehicle (10) according to a predetermined parking space allocation rule, and to select one of the multiple suitable parking spaces for the motor vehicle (10).

12. Electronic vehicle guidance system (12) according to claim 11, which is configured to control a longitudinal and / or lateral guidance system of the motor vehicle (10) based on the selection of the suitable parking space (22) in order to move the motor vehicle (10) at least semi-autonomously to the selected suitable parking space (22).

13. Motor vehicle (10) with an electronic vehicle guidance system (12) according to one of claims 11 or 12.

14. Computer program comprising commands which, when executed by a data processing device (14), in particular by a data processing device (14) of an electronic vehicle guidance system (12) according to one of claims 11 or 12, cause the steps of the method according to one of claims 1 to 10 to be carried out.

15. Computer-readable storage medium on which the computer program according to claim 14 is stored.

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