DE102018109478A1 - Determining a parking position - Google Patents

Abstract

The invention relates to a method for determining a parking position (44) for a vehicle (10), comprising the steps of receiving ambient information in a region (22) around the vehicle (10), determining a parking space (24) based on the environmental information, determining a preferred target position (28) for parking the vehicle (10) in the determined parking space (24) based on the environmental information, determining at least one permissible parking area (34) for parking the vehicle (10) in the determined parking space (24) with permitted vehicle positions in the determined parking space (24) based on restrictive provisions for a secure parking of the vehicle (10), and determining the parking position (44) in the determined parking space (24) taking into account the allowable parking area (34) and the preferred target position (36) , The invention also relates to a driving support system (12) for parking a vehicle (10), wherein the driving support system (12) is adapted to perform the above method. The invention further relates to a vehicle (10) having an above drive assisting system (12).

Description

The present invention relates to a method for determining a parking position for a vehicle, comprising the steps of receiving surroundings information in an area around the vehicle, determining a parking space based on the surroundings information and determining a preferred destination position for parking the vehicle in the determined parking space based on the environmental information.

Also, the present invention relates to a driving support system for parking a vehicle, wherein the driving support system is configured to perform the above method.

Further, the present invention relates to a vehicle having an above driving assistance system.

In the prior art, various driving support systems are known which relate to the parking of a vehicle. The driving assistance systems for parking are commonly referred to as parking assist systems, and include systems that indicate a parking space and systems that indicate a parking space along with a trajectory for parking the vehicle, the vehicle being parked by the vehicle operator. Additionally, parking assistance systems include semi-autonomous parking systems in which the vehicle operator performs a longitudinal or lateral guidance of the vehicle, and the vehicle or driving assistance system autonomously performs the required lateral guidance, and fully autonomous vehicle parking systems. in which the vehicle or the driving support system autonomously takes over the required transverse and longitudinal guidance. The vehicles may additionally include a distance to reach the parking lot as belonging to the parking process, for example when parking the vehicle in a known home environment.

An initial task in these driving support systems is an identification of a suitable parking space and - based on this - a determination of a parking position to this parking lot. For this purpose, an environment of the vehicle with environmental sensors is usually detected in order to first identify a parking space. The environmental sensors provide environmental information that may, for example, be combined to form an environmental map. The parking space initially meets minimum conditions for parking the vehicle, i. The vehicle to be parked fits in principle into the parking space.

Based on this, a preferred target position in the parking space is determined. The preferred target position is located, for example, in the middle of the parking space. When the parking space of adjacent parked vehicles is limited, the preferred target position in the parking space can be determined centrally between these adjacent vehicles. Accordingly, the preferred position may be different depending on other parked vehicles in the same parking space.

Subsequently, it is checked whether the preferred position in the parking space satisfies various conditions. Such conditions include e.g. a distance to a curb, a position of the curb under the vehicle, a projection over other parked vehicles, potholes in the range of wheels or others. If such a provision is not adhered to, the preferred position is discarded as a parking position, which in turn leads to the parking space being discarded altogether. It is in principle irrelevant how the subsequent parking operation is to be carried out at the parking position, i. by the driver, semi-autonomous or fully autonomous.

A disadvantage of this approach is that parking spaces are sometimes discarded or are not offered to a driver or a driving support system of the vehicle for parking, even if there is a suitable parking position within the parking space that meets all required conditions.

In this context is from the DE 10 2013 221 355 A1 a method for parking a vehicle in a parking space is known, wherein the parking space is located at least partially on an elevated road boundary in a curve. The method comprises the following steps: acquiring environmental data with the aid of at least one proximity sensor, determining an environmental model of the elevated roadway boundary from the acquired environmental data, wherein the environmental model comprises at least one curvature of the elevated roadway boundary, and determining a target parking location in dependence on the curvature of the elevated roadway boundary ,

From the DE 10 2015 118 468 A1 is a method for at least semi-autonomous maneuvering of a motor vehicle in a parking space with curb known. In the method, a parking space is first detected in an environmental region of the motor vehicle, wherein the parking space is bounded by a curb or a curb is disposed within the parking space. In addition, a driving trajectory for parking the motor vehicle in the parking space is determined and the motor vehicle is maneuvered along the determined driving trajectory. The driving trajectory is determined such that it has at least two parking trains, between which a direction of travel of the motor vehicle is changed at a change point, and that a distance between at least one wheel of the motor vehicle and the curb at the change point exceeds a predetermined minimum distance.

In addition, from the EP 2 161 173 B1 a method and a device for supporting a parking operation of a vehicle in a parking space known, wherein a steering of the vehicle is automatically steered during the parking operation by a control device. In order to further improve ride comfort for the driver, the steering is automatically steered by the control device into a parking position after the vehicle has reached its parking position.

The EP 2 340 980 B1 concerns a parking assist system for assisting the driver in a reverse maneuver to park the vehicle on the roadside parallel to the direction of the road in a parking space between a first obstacle and a second obstacle, which are the front and rear limits of the gap with respect to the body of the vehicle. The system comprises a detection device for detecting the environment outside the vehicle and a processing device which is designed to generate control signals for following a parking path. The detector is configured to generate signals indicative of the surroundings of the parking space while the vehicle is traveling to a maneuver start position. The processing device is adapted, while the vehicle has not yet started the parking maneuver, to generate a series of signals indicating positions along one and the same reference path for the parking maneuver according to a logic.

From the EP 2 990 273 A1 For example, an electronic control unit is known that supports the parking of a host vehicle in a parking space. Ultrasonic sensors detect the shape of the side edge of a road and the presence of an obstacle on the road edge. The electronic control unit sets a corner of the obstacle positioned on the side opposite the road side edge as an origin corner, determines an imaginary line that follows the shape of the road side edge and extends from the originating corner, and recognizes the space therebetween the imaginary line and the street side edge as a parking space. The electronic control unit then determines whether the vehicle can be parked in the identified parking space.

Based on the above-mentioned prior art, the object of the invention is therefore to specify a method for determining a parking position for a vehicle, a driving support system for parking a vehicle and a vehicle with a driving assistance system, which enable reliable parking in a parking space.

The object is achieved by the features of the independent claims. Advantageous embodiments of the invention are specified in the subclaims.

According to the invention, there is thus provided a method for determining a parking position for a vehicle, comprising the steps of receiving surroundings information in an area around the vehicle, determining a parking space based on the surroundings information, determining a preferred destination position for parking the vehicle in the determined parking space based on the Environment information, determining at least one allowable parking area for parking the vehicle in the determined parking space with permitted vehicle positions in the determined parking space based on restrictive provisions for safe parking of the vehicle, and determining the parking position in the determined parking space taking into account the allowable parking area and the preferred target position ,

According to the invention, there is also provided a driving support system for parking a vehicle, wherein the driving support system is configured to perform the above method.

Further, according to the invention, a vehicle is provided with an above driving assistance system.

The basic idea of the present invention is therefore to create an additional possibility for determining a parking position in parking spaces by determining the permissible parking area. Thus, it is no longer necessary to discard a parking space when a found preferred target position does not meet all conditions or requirements. The parking position is determined based on the preferred target position and the permitted parking area. Only if the permissible parking area is empty, ie there is no suitable parking position in the parking space, the parking space is discarded altogether. As a result, parking spaces suitable for parking the vehicle can be avoided as inappropriate, and there is an increased chance of finding a valid parking position in an identified parking space. This increases acceptance of corresponding driving support systems and leads to an improved user experience when parking the vehicle. A required time to park the vehicle may be in the Average be reduced by parking in a wider range in principle suitable parking spaces is made possible. Furthermore, starting from the permissible parking area, for example, a reduction in the risk of damage to rims and tires is achieved by avoiding unnecessary, sharp curb crossings, by attributing only those areas to the permissible parking area that fulfill these requirements.

The receiving of environmental information in an area around the vehicle is usually done with at least one environmental sensor. In this case, environmental sensors basically include radar sensors, LiDAR-based sensors, in particular laser scanners, ultrasound sensors, and also optical cameras for different wavelength ranges, for example visible light, ultraviolet light or even infrared light. Cameras can be designed as individual cameras or as stereo cameras with two single cameras arranged together. One or more of these environmental sensors may be used in basically any combination to generate the environmental information. The environmental information of various environmental sensors may be combined to produce, for example, a neighborhood map.

The determination of a parking space based on the environmental information is done in a conventional manner. In this case, in addition to the surrounding information, further information can be used, for example map information, position signals, in particular satellite position signals, for example GPS, Galileo, Glonass or Beidou. The determination of the parking space takes place taking into account vehicle dimensions of the vehicle to be parked, so that only parking spaces are determined as a minimum requirement, which are suitable in principle for each vehicle to be parked. In addition, a maneuverability of the vehicle can also be taken into account. Accordingly, a supplement may be added to the dimensions of the vehicle if necessary to determine a suitability of the parking space for the vehicle to be parked.

Determining a preferred target position for parking the vehicle in the determined parking space is based on the environmental information. The preferred target position may, for example, be located centrally in the parking space. In this case, for example, a parking space marking can be evaluated. Also, the preferred target position can be determined depending on other parameters. When the parking space of adjacent parked vehicles is limited, the preferred target position in the parking space can be determined centrally between these adjacent vehicles. Accordingly, the preferred position may differ depending on the respective other parked vehicles in the same parking space.

The determination of at least one permissible parking area for parking the vehicle in the determined parking space can be determined based, for example, on dimensions and maneuverability of the vehicle to be parked. For example, the parking space is usually longer than necessary when parked longitudinally. If it is too short, the parking space is rejected as inappropriate. Thus, there is typically at least one corridor in the longitudinal direction which enables parking of the vehicle. The same applies in principle in the transverse direction of the vehicle and accordingly when parking in transverse parking spaces or when parked obliquely.

The restrictive provisions for safe parking of the vehicle serve to protect the vehicle as well as other road users. The restrictive provisions are intended in particular to enable a damage-free parking of the vehicle in the parking space, in particular a risk of damage to rims and tires should be reduced by avoiding unnecessary and possibly sharp ground obstacles such as curbs. The restrictive provisions include, for example, a distance to a curb, a position of the curb under the vehicle, a position of an obstacle in the area of the parking space, a protrusion over other parking vehicles, a distance from limitations of the parking space, a distance to adjacent vehicles, or others , At least some of these restrictive provisions will be used as appropriate to identify one or more areas within the parking space that will allow safe and damage-free parking of the vehicle in the parking space. Restrictive conditions are used for example with dimensions of the vehicle to be parked, a turning circle of the vehicle, dimensions of the parking space, an alignment of limitations of the parking space. Depending on the parking space and the surrounding information, it may in principle occur that no permissible parking area in the parking space can be identified. In that case the parking space should be discarded. The permissible parking area may include one or more individual areas. Particularly in the case of obstacles in the area of the parking space, for example a curb, the permissible parking area can be subdivided into a plurality of individual areas.

Determining the parking position in the determined parking space taking into account the permissible parking area and the preferred target position. For example, a parking space is discarded if the permitted parking area is empty. In that case, that does not apply Determine the parking position in this parking space. Further details for determining the parking position in the parking space are given below.

In an advantageous embodiment of the invention, the step for determining the parking position includes determining the preferred target position as a parking position when the preferred target position is within the allowable parking range. The simplest case is thus that the preferred target position can be used directly as a parking position, i. the preferred target position is the permitted parking area. A subsequent parking process can thus be started immediately.

In an advantageous embodiment of the invention, the step for determining the parking position comprises determining an avoidance position within the permissible parking range as a parking position if the preferred target position is not within the permissible parking range. Thus, in the described case, an avoidance position within the allowable parking range is determined as the parking position. The preferred target position is discarded as a parking position. Various constraints may be used to determine a suitable avoidance position, as set forth below.

In an advantageous embodiment of the invention, determining an alternative position within the permissible parking area as parking position comprises determining the evasive position as a function of the preferred destination position. The preferred target position will usually, as an ideal position, fulfill important criteria for parking the vehicle in the parking space. Thus, the preferred target position provides a good clue for selecting the avoidance position as a parking position.

In an advantageous embodiment of the invention, determining the avoidance position depending on the preferred target position comprises determining the avoidance position within the allowable parking range with a minimum distance from the preferred target position. Based on the above-mentioned assumption that the preferred target position usually fulfills important criteria for parking the vehicle in the parking space as an ideal position, it is to be assumed that the avoidance position also fulfills as many of these criteria as possible if it is as close as possible to the preferred target position , The parking of the vehicle at the avoidance position is thus not only possible in principle, as is the case for the entire permissible parking area, but moreover can simply take place within the permissible parking area. Various mathematical and / or geometric methods are known as such to determine a minimum distance between the preferred target position and the allowable parking range.

In an advantageous embodiment of the invention, the step for determining an alternative position within the permissible parking area as parking position comprises determining the alternative position as longitudinal and / or transverse displacement starting from the preferred target position. In the case of a longitudinal and / or transverse displacement, the avoidance position is determined by a simple displacement. In this case, first a displacement in the longitudinal direction and then in the transverse direction can be examined, or vice versa. The longitudinal and / or transverse displacement refers to an orientation of the parking space, to an orientation of a roadway or a current vehicle orientation. Starting from a common parking space for longitudinal or transverse parking, a suitable displacement can be found quickly and easily with a corresponding displacement. In addition, for example, with a possible longitudinal displacement and a possible transverse displacement, a further criterion for selecting the parking position can be used, such as a distance from the preferred target position.

In an advantageous embodiment of the invention, the step for determining the avoidance position is carried out as a longitudinal and / or transverse displacement starting from the preferred target position, taking into account the surroundings information in the area of the parking space. Based on the environmental information, for example, obstacles, in particular ground obstacles such as curbs or potholes, can be identified in the area of the parking space. In a curb marker, which is usually parallel to a roadway, an avoidance position can typically be determined by a shift transversely to the curb edge, as the parking position thereby quickly moves away from the curb. Here, therefore, a transverse displacement with respect to a longitudinal parking space is preferred.

In an advantageous embodiment of the invention, the steps for determining a preferred target position, for determining at least one permissible parking area and for determining the parking position based on a point position of the vehicle, in particular a point position of a center of a rear wheel axle of the vehicle. By defining the vehicle as a point position, an efficient and unambiguous determination of the preferred target position, the parking position and the permissible parking range can take place. A comparison of the avoidance position with the allowable parking range can be made independently of the dimensions of the vehicle, which enables efficient processing.

In an advantageous embodiment of the invention, the driving support system is executed, the vehicle autonomously at the parking position in the parked parking space to park. Autonomous parking continues the procedure with an application of the parking position. Alternatively, the vehicle can be parked semi-autonomously, ie the vehicle is designed for autonomous transverse or longitudinal guidance, and the corresponding longitudinal or transverse guidance is provided by the driver of the vehicle.

The invention will be explained in more detail with reference to the accompanying drawings with reference to preferred embodiments. The illustrated features may represent an aspect of the invention both individually and in combination. Features of various embodiments are transmittable from one embodiment to another.

• 1 eine schematische Ansicht eines Fahrzeugs gemäß einer ersten, bevorzugten Ausführungsform mit einem Fahrunterstützungssystem, das hier als Einparkassistenzsystem ausgeführt ist, und ausgeführt ist, ein Verfahren zum Ermitteln einer Parkposition für das Fahrzeug durchzuführen,
• 2 ein Ablaufdiagram zur Durchführung des Verfahrens zum Ermitteln einer Parkposition für das Fahrzeug gemäß der ersten Ausführungsform,
• 3 eine schematische Darstellung des Fahrzeugs gemäß 1 zum Parken in einer Parklücke längs zur Fahrbahn mit einem Bordstein im Bereich der Parklücke in einer bevorzugten Zielposition als erster Anwendungsfall des Verfahrens aus 2,
• 4 eine schematische Darstellung des ersten Anwendungsfalls des Verfahrens gemäß 3 mit einem in der Parklücke eingezeichneten zulässigen Parkbereich,
• 5 eine schematische Darstellung des ersten Anwendungsfalls des Verfahrens gemäß 3 mit dem Fahrzeug in der Parklücke an der bevorzugten Zielposition und der Parkposition,
• 6 eine schematische Darstellung des Fahrzeugs gemäß 1 zum Parken in einer Parklücke quer zur Fahrbahn mit einem Bordstein im Bereich der Parklücke in einer bevorzugten Zielposition und einer restriktierenden Bestimmung als zweiter Anwendungsfall des Verfahrens aus 2,
• 7 eine schematische Darstellung des zweiten Anwendungsfalls des Verfahrens gemäß 6 mit einem in der Parklücke eingezeichneten zulässigen Parkbereich,
• 8 eine schematische Darstellung des ersten Anwendungsfalls des Verfahrens gemäß 6 mit dem Fahrzeug in der Parklücke an der bevorzugten Zielposition und zwei Ausweichzielpositionen als möglichen Parkpositionen,
• 9 eine schematische Darstellung des Fahrzeugs gemäß 1 zum Parken in einer Parklücke längs zur Fahrbahn mit einem Bordstein im Bereich der Parklücke in einer bevorzugten Zielposition und einer restriktierenden Bestimmung als dritter Anwendungsfall des Verfahrens aus 2,
• 10 eine schematische Darstellung des zweiten Anwendungsfalls des Verfahrens gemäß 9 mit einem in der Parklücke eingezeichneten zulässigen Parkbereich, und
• 11 eine schematische Darstellung des ersten Anwendungsfalls des Verfahrens gemäß 9 mit dem Fahrzeug in der Parklücke an der bevorzugten Zielposition und zwei Ausweichzielpositionen als möglichen Parkpositionen.

It shows

• 1 1 is a schematic view of a vehicle according to a first preferred embodiment with a driving assistance system, which is embodied here as a parking assistance system, and designed to carry out a method for determining a parking position for the vehicle,
• 2 a flow chart for performing the method for determining a parking position for the vehicle according to the first embodiment,
• 3 a schematic representation of the vehicle according to 1 for parking in a parking space along the roadway with a curb in the area of the parking space in a preferred target position as the first application of the method 2 .
• 4 a schematic representation of the first application of the method according to 3 with a permitted parking area marked in the parking space,
• 5 a schematic representation of the first application of the method according to 3 with the vehicle in the parking space at the preferred target position and the parking position,
• 6 a schematic representation of the vehicle according to 1 for parking in a parking space across the road with a curb in the parking space in a preferred target position and a restrictive determination as the second application of the method 2 .
• 7 a schematic representation of the second application of the method according to 6 with a permitted parking area marked in the parking space,
• 8th a schematic representation of the first application of the method according to 6 with the vehicle in the parking space at the preferred target position and two avoidance destination positions as possible parking positions,
• 9 a schematic representation of the vehicle according to 1 for parking in a parking space along the roadway with a curb in the area of the parking space in a preferred target position and a restrictive determination as a third application of the method 2 .
• 10 a schematic representation of the second application of the method according to 9 with a permitted parking area marked in the parking space, and
• 11 a schematic representation of the first application of the method according to 9 with the vehicle in the parking space at the preferred target position and two avoidance destination positions as possible parking positions.

The 1 shows a vehicle 10 according to a first, preferred embodiment. The vehicle 10 is a basically any vehicle 10 , the example here as vierrädriges vehicle 10 is shown.

The vehicle 10 includes a driving support system 12 That's here as a parking assistance system 12 is executed. The driving support system 12 is in 1 schematically as part of the vehicle 10 shown. The parking assistance system 12 The first embodiment here includes by way of example a front camera 14 , a rearview camera 16 and a control unit 18 that have a data bus 20 connected to each other.

The control unit 18 is one for use in the vehicle 10 executed data processing device, the sensor data from the front camera 14 and the rear camera 16 receives and processes. The control unit 18 accordingly includes a memory and a CPU for processing the sensor data. The control unit 18 leads to a data processing program that in the memory of the control unit 18 is stored. The control unit 18 of the parking assistance system 12 is further elaborated, the vehicle 10 to control autonomously, ie in particular the vehicle 10 to accelerate, delay, and make changes in direction. Corresponding controls are referred to as longitudinal and transverse guidance.

The front camera 14 and the rear camera 16 be here as environmental sensors 14 . 16 used an area 22 around the vehicle 10 to monitor and a parking space 24 to identify in it. The parking assistance system 12 may additionally or in an alternative embodiment Alternatively, ultrasonic sensors, laser-based sensors, such as lidar, in particular laser scanner, radar as well as other cameras in different numbers and positioning as environmental sensors 14 . 16 include.

The parking assistance system 12 is executed, the method described below for determining a parking position 44 for the vehicle 10 perform. The procedure is in 2 and is described with reference to 3 to 11 in which three individual use cases of the method are illustrated by way of example. 3 to 5 relate to a first use case, 6 to 8th a second application and 9 to 11 a third application.

The procedure begins in step S100 with receiving environmental information in the area 22 around the vehicle 10 with the front camera 14 and the rear camera 16 , Sensor data of the front camera 14 and the rear camera 16 are combined to an environment map of the vehicle 10 to create. Such a map is schematic in the 3 to 11 shown.

In step S110 will the parking space 24 determined based on the environment information. In addition, other information is used, such as map information and satellite position signals, such as GPS, Galileo, Glonass or Beidou. The parking space 24 This takes into account vehicle dimensions and maneuverability of the vehicle to be parked 10 determined so that the parking space 24 for the vehicle to be parked 10 is in principle suitable. The parking space 24 is here from neighboring, parked vehicles 26 limited. In the parking space 24 there is a curb each 28 as a minor obstacle, as reflected in the 3 to 11 results.

In step S120 becomes a preferred target position 36 in the parking space 24 for parking the vehicle 10 in the parking space 24 determined based on the environment information. The preferred target position 36 will be in the parking space 24 in the middle between the neighboring vehicles 26 determined, such as in the 3 . 6 and 9 is shown. The preferred target position 36 is thereby based on a dot position of a center of a rear wheel axle of the vehicle 10 determines why the preferred target position 36 not here visually in the middle of the parking space 24 located. The vehicle 10 is each at the curb 28 aligned.

In step S130 become permissible parking areas 34 for parking the vehicle 10 in the parking space 24 based on dimensions and maneuverability of the vehicle to be parked 10 determined. In addition, restrictive provisions for parking the vehicle 24 evaluated to allow authorized vehicle positions in the parking space 24 to investigate. The restrictive provisions initially include a projection over the neighboring parked vehicles 26 , This is done starting from a connecting line 30 between the neighboring, parked vehicles 26 a supernatant line 32 determined based on a permitted supernatant, as in the 3 to 11 located. A survival of the vehicle 10 over the supernatant line 32 is accordingly inadmissible and leads to a limitation of the permissible parking areas 34 , The restrictive provisions continue to include a position of the curb 28 under the vehicle 10 , This results in a non-permitted range 42 when the curb 28 in the range of wheels of the vehicle 10 located as in the 6 and 9 is shown. The resulting permissible parking area 34 includes in the first application of the 3 to 5 a single surface, as in 4 is shown, and in the second and third application, two individual areas, as in the 7 and 10 is shown. The permitted parking area 34 is based on a dot position of the center of the rear wheel axle of the vehicle 10 determined.

In step S140 becomes the parking position 44 in the determined parking space 24 taking into account the permissible parking area 34 and the preferred target position 36 determined. For this purpose, it is first checked whether the permissible parking area 34 is empty. In this case, determining the parking position is eliminated 44 in this parking space 24 , and the procedure is for the found parking space 24 completed.

If the procedure continues, in step S150 First, check if the preferred target position 36 within the permitted parking area 34 lies. If so, the preferred target position becomes 36 directly as parking position 44 in the parking space 24 and the process goes to the subsequent step S150 , However, this is not the case for the three exemplary use cases, but the preferred target position 36 is in each case the permissible parking area 34 ,

Thus, possible alternative positions 38 within the permitted parking area 34 depending on the preferred target position 36 certainly. To do this, taking into account the environmental information in the area of the parking space 24 the avoidance position 38 by means of longitudinal or transverse displacement starting from the preferred target position 28 determined. This is the alternative position 38 in the use cases 1 and 3 initially by a shift across the curb 28 determined. Subsequently, another alternative position 38 by a shift 40 along the curb 28 determined. The longitudinal and / or transverse shift refers here by way of example to an orientation of the parking space 24 , In the first use case, exactly one alternative position is created 38 determined accordingly as a parking position 44 is determined as in 5 is shown. In the second application, two alternate positions 38 determined, of which that alternative position 38 as parking position 44 is determined, which is the shortest distance to the preferred target position 36 having. Also in the third application, two alternative positions 38 of which again the alternative position 38 as parking position 44 is determined, which is the shortest distance to the preferred target position 36 having. The parking position 44 as well as the alternative positions 38 , are based on a dot position of a center of a rear wheel axle of the vehicle 10 determined.

In step S150 becomes the vehicle 10 autonomous at the parking position 44 in the determined parking space 24 parked. The vehicle 10 Carries out an autonomous transverse and longitudinal guidance.

LIST OF REFERENCE NUMBERS

10

vehicle

12

Driving assistance system, parking assistance system

14

Front camera, environment sensor

16

Rear camera, environment sensor

18

control unit

20

bus

22

Area around the vehicle

24

parking lot

26

adjacent, parked vehicle

28

curbstone

30

connecting line

32

Supernatant line

34

permissible parking area

36

preferred target position

38

evasive position

40

shift

42

not allowed area

44

parking position

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102013221355 A1 [0009]
• DE 102015118468 A1 [0010]
• EP 2161173 B1 [0011]
• EP 2340980 B1 [0012]
• EP 2990273 A1 [0013]

Claims (11)

A method for determining a parking position (44) for a vehicle (10), comprising the steps Receiving environmental information in an area (22) around the vehicle (10), Determining a parking space (24) based on the environmental information, determining a preferred target location (28) for parking the vehicle (10) in the determined parking space (24) based on the environmental information, Determining at least one permissible parking area (34) for parking the vehicle (10) in the determined parking space (24) with permitted vehicle positions in the determined parking space (24) based on restrictive provisions for safe parking of the vehicle (10), and Determining the parking position (44) in the determined parking space (24) taking into account the permissible parking area (34) and the preferred target position (36). Method according to Claim 1 characterized in that the step of determining the parking position (44) comprises determining the preferred target position (28) as the parking position (44) when the preferred target position (28) is within the allowable parking range. Method according to one of the preceding Claims 1 or 2 characterized in that the step of determining the parking position (44) comprises determining an avoidance position (38) within the allowable parking area (34) as a parking position (44) if the preferred destination position (28) is not within the allowable parking range (34). lies. Method according to Claim 3 characterized in that determining an evasive position (38) within the allowable parking range (34) as the parking position (44) comprises determining the evasive position (38) depending on the preferred target position (28). Method according to Claim 4 characterized in that determining the avoidance position (38) depending on the preferred target position (36) comprises determining the avoidance position (38) within the allowable parking range (34) at a minimum distance from the preferred target position (36). Method according to one of the preceding Claims 3 to 5 characterized in that the step of determining an alternate position (38) within the allowable parking range (34) as a parking position (44) comprises determining the alternate position (38) as longitudinal and / or transverse displacement from the preferred target position (36). Method according to Claim 6 characterized in that the step of determining the avoidance position (38) is effected as a longitudinal and / or transverse displacement starting from the preferred target position (36) taking into account the surroundings information in the area of the parking space (24). Method according to one of the preceding claims, characterized in that the steps for determining a preferred target position (36), for determining at least one permissible parking area (34) and for determining the parking position (44) based on a point position of the vehicle (10), in particular, a dot position of a center of a rear wheel axle of the vehicle (10). A driving support system (12) for parking a vehicle (10), wherein the driving support system (12) is adapted to perform the method of any one of the preceding claims. Driving support system (12) after Claim 9 characterized in that the driving support system (12) is adapted to park the vehicle (10) autonomously at the parking position (44) in the determined parking space (24). Vehicle (10) with a driving support system (12) according to one of the preceding Claims 9 or 10 ,

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