DE102015118471A1 - Method for the at least semi-autonomous maneuvering of a motor vehicle with an active chassis system, driver assistance system and motor vehicle - Google Patents

Abstract

The invention relates to a method for at least semi-autonomous maneuvering of a motor vehicle (1), in which a parking space (9) is detected in a surrounding area (7) of the motor vehicle (1), a driving trajectory (14) for parking the motor vehicle (1). is determined in the parking space (9), the motor vehicle (1) along the particular Fahrtrajektorie (14) maneuvered and during maneuvering by means of odometry continuously a position value is determined, which describes a position of the motor vehicle (1), wherein a movement of a wheel (15) of the motor vehicle (1) via a curb (12) is detected and the position value is corrected on the basis of the detected movement, wherein a change in height (.DELTA.z) at least one damper device (17) of an active suspension system (16) of the motor vehicle (1). , which is adjusted when moving the wheel (15) over the curb (12) for holding the motor vehicle (1) in a horizontal position, is detected and the Position value is corrected on the basis of the detected height change (Δz).

Description

The present invention relates to a method for at least semi-autonomous maneuvering of a motor vehicle, in which a parking space is detected in a surrounding area of the motor vehicle, a driving trajectory for parking the motor vehicle in the parking space is determined, the motor vehicle is maneuvered along the determined driving trajectory and during the Maneuvering means odometry continuously a position value is determined which describes a position of the motor vehicle, wherein a movement of a wheel of the motor vehicle is detected by a curb and the position value is corrected on the basis of the detected movement. Moreover, the present invention relates to a driver assistance system for a motor vehicle. Finally, the present invention relates to a motor vehicle.

In the present case, the interest is directed in particular to driver assistance systems which assist the driver in maneuvering the motor vehicle and in particular when parking the motor vehicle in a parking space. Driver assistance systems are already known from the prior art which can detect parking spaces or free parking spaces with the aid of corresponding sensors and support the driver during the parking process. In this case, the driver can be supported both in the longitudinal parking as well as the transverse parking. In addition, driver assistance systems are known which maneuver the motor vehicle semi-autonomously during the parking process. In this case, the driver assistance system takes over the steering of the motor vehicle and the driver continues to operate the accelerator pedal and the brake. Furthermore, driver assistance systems are already known which enable autonomous or fully autonomous maneuvering of the motor vehicle.

Furthermore, driver assistance systems are known from the prior art, which support the driver during parking maneuvers, in which the motor vehicle at least partially drives over a curb. This is for example given when the motor vehicle is moved when parking so that at least one wheel of the motor vehicle is moved over a curb. During the parking process, the position of the motor vehicle is determined continuously. This is usually done by odometry. In this case, the movement of the motor vehicle is determined, for example, based on the revolutions of at least one wheel of the motor vehicle. In addition, the direction of travel of the motor vehicle can be determined on the basis of the data of a steering angle sensor and / or a rotation rate sensor. If the motor vehicle is moved over the curb during the parking process, errors in odometry can result.

This describes the DE 10 2012 014 809 A1 a method for detecting a curb crossing of a motor vehicle during a maneuver maneuver at a speed less than or equal to 10 km / h. In this case, a wheel speed and a direction of travel are respectively determined with wheel sensors of the wheels of the motor vehicle. The curb crossing is identified when a wheel has a positive acceleration for a given time interval and at least one of the other wheels has a negative acceleration for the same time interval. Furthermore, the detection of the curb crossing is used to correct an odometric position determination and to calculate trajectories of a parking assistant.

It is an object of the present invention to provide a solution, as a motor vehicle in a parking operation in which the motor vehicle is moved over a curb, can be maneuvered reliable.

This object is achieved by a method by a driver assistance system and by a motor vehicle with the features according to the respective independent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.

An inventive method is used for at least semi-autonomous maneuvering of a motor vehicle. Here, a parking space is detected in an area surrounding the motor vehicle. In addition, a driving trajectory for parking the motor vehicle in the parking space is determined and the motor vehicle maneuvered along the determined Fahrtrajektorie. Furthermore, a position value which describes a position of the motor vehicle is continuously determined during the maneuvering by means of odometry. In addition, a movement of a wheel of the motor vehicle is detected via a curb and the position value is corrected on the basis of the detected movement. Furthermore, a change in height of at least one damper device of an active chassis system of the motor vehicle, which is adjusted when the wheel is moved over the curb to hold the motor vehicle in a horizontal position, is detected. The position value is then corrected based on the detected altitude change.

With the aid of the method, the motor vehicle should be maneuvered, at least semi-autonomously, thereby assisting the driver when parking the motor vehicle in the parking space. For this purpose, the parking space can first be detected on the basis of sensor data of one or more sensors of the motor vehicle, which are designed in particular as ultrasonic sensors. To this end For example, the motor vehicle can be moved past the parking space and in this case the surrounding area of the motor vehicle with the sensors can be detected continuously. In particular, a distance between the motor vehicle and objects which limit the parking space can be determined with the sensors. In addition, it can be provided that a current position of the motor vehicle with respect to the detected parking space is determined. Thus, a relative position of the motor vehicle or a predetermined reference point of the motor vehicle relative to the detected parking space can be determined. Based on this information, a driving trajectory along which the motor vehicle is moved into the parking space for parking can be determined. The motor vehicle can then be moved starting from a starting position along the driving trajectory in the parking space. In this case, the motor vehicle can be moved semi-autonomously. In this case, for example, a driver assistance system of the motor vehicle takes over an intervention in the steering in order to move the motor vehicle along the driving trajectory. The driver of the motor vehicle continues to press the accelerator pedal and the brake. It can also be provided that the motor vehicle is moved autonomously or fully autonomously along the driving trajectory. In this case, the driver assistance system also takes over an intervention in a drive motor and / or a brake of the motor vehicle.

During the drive of the motor vehicle along the planned driving trajectory, a position value is continuously determined. This position value describes the current position of the motor vehicle and thus also the relative position of the motor vehicle to the detected parking space. The position value is determined on the basis of odometry data or by means of odometry. For this purpose, the number of revolutions of at least one wheel of the motor vehicle can be detected in order to determine the movement of the motor vehicle. Further, the data of a steering angle sensor and / or a rotation rate sensor can be used to determine the direction of travel of the motor vehicle. In the present case, the interest is particularly parking spaces in which the motor vehicle is at least partially moved over a curb. In this case, at least one wheel of the motor vehicle rolls over the curb. This curb, for example, serves to delineate different areas of the road from each other. For example, a roadway may be delimited from another area of the road by the curb on which the motor vehicle is to be at least partially parked. In this case, the parking space is at least partially on the demarcated from the roadway through the curb area. This area, which is delimited by the curb, can in particular be arranged elevated to the roadway. Furthermore, such a parking operation is present, for example, when at least one wheel when parking in the parking space on the curb or on the curb is moved up and down again. This case is, for example, when the curb limits the parking space and the driving trajectory is selected such that at least one wheel of the motor vehicle is moved over the curb during the parking process.

The interest in this case applies to motor vehicles which have an active suspension system. This active suspension system can also be referred to as a dynamic damper system with height correction or as a level control. The active suspension system includes a plurality of damper devices, wherein each wheel of the motor vehicle is associated with a damper device. Such a damper device may comprise, for example, a hydropneumatic shock absorber. Here, for example, by the pumping or the discharge of compressed air and / or oil a change in height of the damper device can be made possible. Alternatively, the active suspension system may be formed, for example, as an air suspension. In this case, at least one damper device of the active suspension system can be adjusted so that a horizontal position of the motor vehicle is maintained when the wheel of the motor vehicle is moved over the curb. In this case, there is a change in height of at least one damper device of the active suspension system in order to keep the position of the motor vehicle horizontally. This change in height of the at least one damper device of the active suspension system is now used to correct the position value. This takes into account that the wheel is moved up when rolling on the curb. It can also be considered that the wheel is moved down the curb when rolling. This movement over the curb is not taken into account in the odometry, as this is assumed to be a movement of the motor vehicle on a flat road. Based on the change in height of the at least one damper device, the path traveled by the wheel when rolling up on the curb or when rolling down from the curb can now be estimated. This allows the position value to be corrected and thus the error in the odometry to be compensated.

Preferably, the change in height of the damper device, which is connected to the wheel, which is moved over the curb, detected and this determines an adjustment of the damper device. When the wheel hits the curb when parking the motor vehicle and rolls up, for example, on this curb, this wheel has a different height compared to the other wheels. To the motor vehicle or to hold the chassis of the motor vehicle horizontally, that damper device, which is adjusted with the wheel, which is moved to the curb. In particular, a movable part of the damper device is retracted. Here, the adjustment of the damper device, which is connected to the wheel that is moved to the curb, determined. This adjustment can be provided for example by the active suspension system and transmitted to a control device, by means of which the position value is determined. Based on this adjustment, the change in height of the damper device can be determined. The change in height particularly describes a component of the adjustment path along the vehicle vertical direction. This adjustment can then be used to determine the distance traveled by the wheel when rolling on the curb. In this case, the geometric dimensions of the wheel and in particular of the tire can be taken into account. In addition, the mechanical properties of the wheel or the tire can be used. Thus, it can also be determined, for example, how the tire itself deforms during the movement over the curb. This allows a precise correction of the position value.

In a further embodiment, the change in height of at least one further damper device, which is connected to a further wheel, determined. In order to hold the motor vehicle horizontally, for example when rolling up a wheel on the curb, it may also be provided in the active suspension system that at least one further damper device, which is connected to a further wheel, is extended. In particular, this additional wheel can not be moved up onto the curb. Also from this at least one further damper device, the adjustment can be determined during extension of the movable part of the damper device. In particular, it may be provided that the respective adjustment paths of all damper devices which are connected to the four wheels of the motor vehicle are determined. In this way, the respective height change of the damper device and thus also a correction value for the position value can be determined precisely.

Furthermore, it is advantageous if, during the maneuvering of the motor vehicle, the movement of at least one further wheel is detected via the curb, the height change of the at least one damper device is detected when moving the at least one further wheel over the curb and the position value is corrected on the basis of the detected height change , Depending on the parking space, it may be the case that several wheels of the motor vehicle are moved sequentially over the curb during the parking process. For example, it may be the case that in the longitudinal parking the two wheels of the motor vehicle, which are assigned to one side of the motor vehicle, are successively moved up to the curb. When transverse parking, it may also be the case that the two wheels, which are assigned to an axle, are moved substantially simultaneously on the curb. Now, it is provided that the respective change in height of each wheel, which is moved up to the curb, is detected and in each case a correction value for correcting the position value is determined. The correction of the position value is thus carried out every case when a wheel of the motor vehicle is moved up to the curb. This allows an accurate determination of the position value over the entire parking process. Thus, this method allows a stable and accurate final parking position.

In a further embodiment, it is checked whether the detected altitude change exceeds a predetermined threshold value and the position value is corrected if the altitude change exceeds the threshold value. The threshold value can be determined such that the position value is only corrected if the wheel is moved over the curb. The height difference can be determined based on geometric dimensions or heights of curbs. This can for example be in a range between 10 and 14 cm. Thus it can be achieved that the position value is only changed if the motor vehicle is moved up to the curb. Furthermore, it can be achieved that adjustments of the respective damper devices to compensate for low road bumps are not taken into account in the determination or correction of the position value.

In one embodiment, based on the detected altitude change, a path traveled by the wheel when moving over the curb is determined, and the position value is corrected based on the determined distance traveled. On the basis of the detected height change or the adjustment of the damper device can be deduced the height of the curb. As already explained, furthermore, the geometric dimensions and / or the mechanical properties of the wheel and in particular of the tire can be taken into account in order to determine the path that the wheel covers when driving over the curb. When moving the wheel over the curb, this case can be considered, in which the wheel is moved up to the curb. But it can also be considered the case in which the wheel is moved from the curb down. This can be the case, for example, if the driving trajectory for parking the motor vehicle has several Park trains, between which the direction of travel is changed. For example, the motor vehicle in a first Einparkzug can first be moved backwards and in a subsequent, second Einparkzug forward. It may also be the case that a wheel first on the curb and then moves down the curb again. With the respective curb crossings, the distance traveled can then be determined on the basis of the altitude change and thus the position value can be corrected accordingly.

In a further embodiment, an angle between the wheel and the curb is determined by means of the odometry, determined based on the specific angle and the height change rotation of the motor vehicle when moving the wheel on the curb and corrects the position value based on the specific rotation. The odometry error can be corrected not only with respect to the distance, but also with respect to a rotation of the motor vehicle. When the wheel rolls over the curb, it is usually the case that the wheel hits the curb at a certain angle. On the basis of the odometry data, in particular the angle between the wheel and the curb can be determined when the wheel hits the curb. If the wheel hits the curb at a certain angle, it may be the case that the motor vehicle turns over the curb as the wheel moves. For this purpose, appropriate tests can be carried out as the motor vehicle rotates at different angles of incidence when driving over the curb. In this way, an estimate of the rotation of the wheel as it moves the wheel over the curb can be made. The estimate of the rotation of the motor vehicle can then be used to correct the position value.

Preferably, an intervention in a drive motor and / or a braking device of the motor vehicle is performed for maneuvering the motor vehicle, based on the detected height change, a height of the curb is determined and the engagement in the drive motor and / or the braking device is performed in dependence on the determined height. In other words, the motor vehicle should be fully autonomously maneuvered during the parking process. In this case, a driver assistance system can intervene in the steering of the motor vehicle. In addition, the motor vehicle can engage in the drive motor and the brake. The driver assistance system can have a corresponding longitudinal controller with which the speed of the motor vehicle is controlled while driving along the driving trajectory. Depending on the height of the curb, the speed can now be adjusted. It can be provided in particular that the speed is reduced when rolling the wheel over the curb. Furthermore, it can be provided that the motor vehicle is decelerated before the curb crossing. The driver assistance system can also regulate the torque provided by the drive motor. For example, the torque can be increased during the curb crossing. Subsequently, the torque can be reduced again to prevent acceleration of the motor vehicle after the curb crossing. In particular, thus damage to the wheel and / or the rim in the curb crossing due to excessive speed can be avoided.

Furthermore, it is advantageous if, based on the detected change in altitude, a height of the curb is determined and, depending on the determined height, a damping property of the at least one damper device is adjusted. The active suspension system can be designed so that the damping and spring properties of the respective damper devices can be adjusted. Thus, it may be provided, for example, that the damping is set softer during the curb crossing. In this way, the comfort for the vehicle occupants can be increased at the curb crossing. In addition, damage to the wheel can be prevented.

In a further embodiment, a contact of the wheel with the curb is detected and corrected the position value based on the detected contact. Based on the odometry data and / or on the basis of the sensor data of the at least one sensor, the distance between the motor vehicle and the curb can be determined continuously while driving along the driving trajectory. From this it can also be deduced when the wheel should touch the curb. Furthermore, it can be provided that the real contact of the wheel with the curb is detected. For this purpose, for example, the directions of rotation of the respective wheels can be examined. Furthermore, the torque provided by the engine can be monitored. If the odometry data describe a different position of the motor vehicle from the contact of the wheel with the curb, then the position value can be corrected on the basis of this information.

An inventive driver assistance system for a motor vehicle is designed to carry out a method according to the invention. Preferably, the driver assistance system comprises at least one sensor, which is designed in particular as an ultrasonic sensor. With the sensor objects in the surrounding area of the motor vehicle can be detected. Instead of an ultrasonic sensor, a camera, a radar sensor, a lidar Sensor or the like can be used. The driver assistance system may also include a corresponding control device, for example an electronic control unit. With the control device, the sensor data can be evaluated and thus the parking space can be detected. Furthermore, the control device can be designed to receive data about the current adjustment paths of the damper devices of the active suspension system.

A motor vehicle according to the invention comprises a driver assistance system according to the invention. The motor vehicle is designed in particular as a passenger car. In addition, the motor vehicle in particular comprises an active suspension system or the level control.

The preferred embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the driver assistance system according to the invention and to the motor vehicle according to the invention.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and feature combinations 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 alone in the figures, can be used not only in the respectively specified combination but also in other combinations or in isolation, without the frame to leave the invention. Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, but which emerge and can be produced by separated combinations of features from the embodiments explained. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim.

The invention will now be described with reference to preferred embodiments and with reference to the accompanying drawings.

Showing:

1 a motor vehicle according to an embodiment of the present invention, which has a driver assistance system;

2 the motor vehicle according to 1 which is parked in a parking space; and

3 the motor vehicle according to 2 , wherein a wheel of the motor vehicle is located on a curb.

In the figures, identical and functionally identical elements are provided with the same reference numerals.

1 shows a motor vehicle 1 according to an embodiment of the present invention in a plan view. The car 1 is designed in the present case as a passenger car. The car 1 includes a driver assistance system 2 , The driver assistance system 2 in turn comprises a control device 3 , which for example by an electronic control unit (ECU - Electronic Control Unit) of the motor vehicle 1 can be formed. In addition, the driver assistance system includes 2 at least one sensor 4 ,

In the present case includes the driver assistance system 2 eight sensors 4 , which are each formed as ultrasonic sensors. There are four sensors 4 at a front area 5 of the motor vehicle 1 and four sensors 4 at a stern area 6 of the motor vehicle 1 arranged. The sensors 4 are trained to at least one object 8th in a surrounding area 7 of the motor vehicle 1 capture. The sensors 4 serve in particular to a relative position between the object 8th and the motor vehicle 1 to determine. The sensors 4 For example, at corresponding passage openings in the bumpers of the motor vehicle 1 be arranged. It can also be provided that the sensors 4 hidden behind the bumpers are arranged.

2 shows the motor vehicle 1 which is in a parking space 9 is parked. The parking space 9 is present by two more vehicles 10 limited. For recognizing the parking space 9 can the motor vehicle 1 for example on a roadway 11 at the vehicles 10 to be moved over. During the movement of the motor vehicle 1 can with the sensors 4 consecutively the surrounding area 7 of the motor vehicle 1 be captured and this as objects 8th the other vehicles 10 be recognized. Here, the free space between the other vehicles 10 be measured and thus as a parking space 9 be recognized. Starting from a current position of the motor vehicle 1 can be a driving trajectory 14 be determined, along which the motor vehicle 1 in the parking space 9 is moved.

The movement of the motor vehicle 1 along the driving trajectory 14 is shown schematically here. In the present case, the motor vehicle 1 backwards into the parking space 9 emotional. It can do this be provided that the motor vehicle 1 semi-autonomous along the driving trajectory 14 maneuvered. In this case, the driver assistance system takes over 2 an intervention in the steering of the motor vehicle 1 , The driver of the motor vehicle 1 continues to press the accelerator pedal and the brake. It can also be provided that the motor vehicle 1 Fully autonomous in the parking space 9 maneuvered. This is where the driver assistance system intervenes 2 additionally in a drive motor and a brake of the motor vehicle 1 one.

This is located inside the parking space 9 a curb 12 about which the motor vehicle 1 when parking in the parking space 9 moves. The parking space 9 is thus partially an area 13 assigned by the roadway 11 through the curb 12 is disconnected. For example, this area may 13 increased compared to the roadway 11 be arranged. When moving the motor vehicle 1 along the driving trajectory 14 First, the rear right wheel 15 and then the front right wheel 15 of the motor vehicle 1 over the curb 12 emotional.

While driving the motor vehicle 1 along the driving trajectory 14 is continuously determined a position value which the position of the motor vehicle 1 describes. For this purpose, the rotation of at least one wheel 15 of the motor vehicle 1 be recorded. In addition, the data of a steering angle sensor and / or a rotation rate sensor can be used to determine the current direction of travel of the motor vehicle 1 to determine.

3 shows the motor vehicle 1 during the parking process or during the movement along the driving trajectory 14 , being a wheel 15 of the motor vehicle 1 at least partially on the curb 12 located. In the front there is the right rear wheel 15 partly on the curb 12 , The car 1 further includes an active landing gear system 16 , The active suspension system 16 includes for each of the wheels 15 of the motor vehicle 1 a damper device 17 , In the present case, the damper devices 17 the two rear wheels 15 of the motor vehicle 1 shown. The active suspension system 16 can also be referred to as level control. Here, the damper devices 17 be adjusted so that the motor vehicle 1 is kept in a horizontal position. In the active suspension system 16 In particular, the damper devices are adjusted such that a vehicle transverse axis y substantially coincides with a horizontal.

If the wheel 15 on the curb 12 is moved up, becomes a moving element 18 the damper device 17 adjusted. In the present case, the movable element 18 moved in. The moving element 18 is adjusted by an adjustment so that a change in height .DELTA.z the damper device 17 results. The height change .DELTA.z describes in particular the component of the displacement of the damper device 17 along a vehicle vertical axis z. To determine the change in altitude .DELTA.z, the active suspension system 16 the adjustment of the damper device 17 to the controller 3 transfer.

Based on the change in altitude .DELTA.z can then be determined the way that the wheel 15 has moved up to the curb when moving. This can also be the geometric dimensions and / or the mechanical properties of the wheel 15 and in particular a tire of the wheel 15 be taken into account. In addition, a rotation of the motor vehicle 1 when rolling up the wheel 15 on the curb 12 be determined. This results, for example, in that the wheel 15 at a certain angle on the curb 12 meets and the motor vehicle 1 when moving up to the curb 12 is twisted. Based on the distance covered when rolling up the wheel 15 on the curb 12 and / or the rotation of the motor vehicle 1 then the position value can be corrected. In this way, the odometry error caused by the curb crossing can be compensated. This allows the motor vehicle 1 precisely maneuvered into the final parking position.

At the in 2 illustrated parking process, it is provided that initially the rear right wheel 15 and then the front right wheel 15 on the curb 12 be moved up. It can be both at the movement of the rear right wheel 15 and in the movement of the front right wheel 15 in each case the position value can be corrected. This procedure can also for parking spaces 9 can be used, which are designed for transverse parking or for oblique parking.

QUOTES INCLUDE IN THE DESCRIPTION

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Cited patent literature

• DE 102012014809 A1 [0004]

Claims (12)

Method for the at least semi-autonomous maneuvering of a motor vehicle ( 1 ), in which a parking space ( 9 ) in a surrounding area ( 7 ) of the motor vehicle ( 1 ), a driving trajectory ( 14 ) for parking the motor vehicle ( 1 ) in the parking space ( 9 ), the motor vehicle ( 1 ) along the particular driving trajectory ( 14 ) is maneuvered and during maneuvering by means of odometry continuously a position value is determined which a position of the motor vehicle ( 1 ), wherein a movement of a wheel ( 15 ) of the motor vehicle ( 1 ) over a curb ( 12 ) and the position value is corrected on the basis of the detected movement, characterized in that a height change (Δz) of at least one damper device ( 17 ) of an active suspension system ( 16 ) of the motor vehicle ( 1 ), which when moving the wheel ( 15 ) over the curb ( 12 ) for holding the motor vehicle ( 1 ) is set in a horizontal position, is detected and the position value is corrected on the basis of the detected height change (Δz). Method according to claim 1, characterized in that the height change (Δz) of the damper device ( 17 ), which with the wheel ( 15 ), which over the curb ( 12 ) is moved, is detected and this is a displacement of the damper device ( 17 ) is determined. Method according to Claim 2, characterized in that the height change (Δz) of at least one further damper device ( 17 ), which with another wheel ( 15 ) is determined. Method according to one of the preceding claims, characterized in that during the maneuvering of the motor vehicle ( 1 ) the movement of at least one other wheel ( 15 ) over the curb ( 12 ), the height change (Δz) of the at least one damper device ( 17 ) when moving the at least one further wheel ( 15 ) over the curb ( 12 ) is detected and the position value is corrected on the basis of the detected height change (Δz). Method according to one of the preceding claims, characterized in that it is checked whether the detected height change (Δz) exceeds a predetermined threshold value and the position value is corrected if the altitude change (Δz) exceeds the threshold value. Method according to one of the preceding claims, characterized in that on the basis of the detected height change (Δz) one of the wheel ( 15 ) when moving over the curb ( 12 ) and the position value is corrected based on the determined distance traveled. Method according to one of the preceding claims, characterized in that by means of the odometry an angle between the wheel ( 15 ) and the curb ( 12 ) is determined, based on the determined angle and the height change (Az) a rotation of the motor vehicle ( 1 ) when moving the wheel ( 15 ) over the curb ( 12 ) and the position value is corrected based on the determined rotation. Method according to one of the preceding claims, characterized in that for maneuvering the motor vehicle ( 1 ) an engagement in a drive motor and / or a braking device of the motor vehicle ( 1 ) is carried out, based on the detected height change, a height of the curb ( 12 ) is determined and the engagement in the drive motor and / or the braking device is performed in dependence on the determined height. Method according to one of the preceding claims, characterized in that a height of the curb is determined on the basis of the detected height change (Δz) as a function of the determined height a damping property of the at least one damper device ( 17 ) is adjusted. Method according to one of the preceding claims, characterized in that a contact of the wheel ( 15 ) with the curb ( 12 ) is detected and the position value is corrected based on the detected contact. Driver assistance system ( 2 ) for a motor vehicle ( 1 ) which is designed to carry out a method according to one of the preceding claims. Motor vehicle ( 1 ) with a driver assistance system ( 2 ) according to claim 11.

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