DE102019202935B3 - Method for supporting an own vehicle when performing a predefinable driving maneuver, control device for carrying out the method and motor vehicle - Google Patents

Abstract

The invention relates to a method for supporting an own vehicle (10) when performing a predeterminable driving maneuver. The proprietary vehicle (10) sends a position change request and identification data relating to at least one third-party vehicle (12a, 12b) to a large number of motor vehicles (12a to 12d, 16a to 16c). Each motor vehicle of the plurality of motor vehicles (12a to 12d, 16a to 16c) then checks whether it can identify itself as a third-party vehicle (12a, 12b) affected by the position change request on the basis of the identification data received. If the test is affirmative, the respective third-party vehicle checks whether it can implement a position change value that can be derived from the position change request without the involvement of other motor vehicles (12c, 12d, 16d) that are adjacent to it on the side facing away from the own vehicle. If this test is also answered in the affirmative, a control device (26) of the at least one third-party vehicle (12a, 12b) controls at least one of its motor vehicle components to change the position by the derivable position change value.

Description

The present invention relates to a method for supporting an own vehicle when performing a predeterminable driving maneuver. It also relates to a control device that is set up to carry out such a method and to a motor vehicle with such a control device.

The present invention particularly supports driving maneuvers such as a parking or parking process when parking in parallel, a maneuvering process or a turning process at an intersection. Longitudinal parking often takes place on the side of the road. Here, vehicles are parked one behind the other along a street, preferably in parking spaces that are specified by street signs. With a free parking space, a vehicle must maneuver, depending on the parking space and vehicle dimensions, in order to be able to enter the parking space. In this context, automobile manufacturers also offer parallel parking assistants, who take over parking in a partially automated manner. To do this, however, the parking assistant must estimate the parking space as sufficiently large, which is not always the case in practice. The driver often has to park himself in a parking space that the parking assistant considers to be insufficiently large. Many people perceive this as a stressful situation. When parking in parallel in a small parking space, the situation can arise that the driver's vehicle hampers the traffic on its lane for a disproportionately long time after several unsuccessful attempts.

In the case of turning processes, the situation can arise that a driver's vehicle cannot carry out a turning process because several foreign vehicles are stowed in front of him in another lane, in particular the straight lane, in the intersection. This can mean that in a traffic light phase only a few vehicles that want to turn can pass the intersection.

The DE 10 2013 221 274 A1 relates to a method for supporting a parking or parking process of a vehicle in or out of a parking space, the parking space being limited by at least one third-party vehicle. In this case, a communication signal is transmitted to the at least one third-party vehicle by means of a communication means assigned to the vehicle, whereby at least one control unit of the third-party vehicle is woken up. The vehicle and / or the third-party vehicle autonomously detects the surroundings of the foreign vehicle by means of a sensor system and determines from the recorded data of the surroundings whether the parking space can be enlarged by an autonomous maneuver of the foreign vehicle, the maneuver being carried out by the foreign vehicle if the test is positive.

The DE 10 2018 111 522 A1 relates to a vehicle system that includes a position sensor that is programmed to output a distance signal that represents a distance from a primary parked vehicle to a boundary. It also includes a processor that is programmed to receive a parking request from a parked vehicle and to move a distance based at least in part on the distance to the boundary and an amount of space to allow the primary parked vehicle to exit a parking space determine.

The DE 10 2009 057 647 A1 relates to a method for operating a motor vehicle with an interface that is designed for communication with another motor vehicle, in which data and / or a maneuvering request in connection with a parking or parking request of the motor vehicle or yet another motor vehicle in the presence of the parking or Parking request are issued via the interfaces to the other motor vehicle.

The DE 10 2012 215 218 A1 relates to a method for parking space optimization, in which it is first determined whether at least one additional parking space can be provided within a predetermined parking area by changing the position of motor vehicles parked within this parking area, this determination being carried out using a central monitoring device. Subsequently, at least one motor vehicle parked within the parking area is moved remotely in a motor vehicle movement process in dependence on the determination step such that the at least one additional parking space is provided.

The DE 10 2016 205 142 A1 relates to a method for initiating a cooperative driving maneuver by providing a driving intention message for vehicles in an environment of a vehicle, the driving intention message comprising information about an intention of a driver or an at least partially automatic vehicle control system of the vehicle to perform a driving maneuver. Information about a driving intention is obtained, the driving intention being based on the intention to perform the driving maneuver. A position of the vehicle is then determined. Then the driving intention message is determined based on the information about the driving intention. Subsequently, transmission parameters for the driving intention message are calculated, the transmission parameters being a repeat rate and include a transmission time based on a desired reception probability of the driving intention message, the driving intention and the position of the vehicle. Finally, the driving intention message is provided as a direct vehicle-to-vehicle message for the vehicles in the vicinity of the vehicle based on the transmission parameters.

The object of the present invention is therefore to develop a method mentioned at the outset in such a way that the flow of traffic is promoted. The object further consists in providing a control device for carrying out the method and a motor vehicle with such a control device.

This object is achieved by a method with the features of claim 1, a control device with the features of claim 10 and a motor vehicle with the features of claim 11.

The present invention is based on the knowledge that certain driving maneuvers can be carried out more quickly if the space available to the driver's own vehicle to carry out the driving maneuver is increased. Using the example of parallel parking, the owner's vehicle announces the parking / unloading process to the long-parking third-party vehicles and "requests" the motor vehicles in front of and behind the parking space by sending a corresponding request for more space for the parking / unloading process. The vehicles can enlarge the parking space by moving up. Using the example of the turning process at an intersection, the driver's vehicle “requests” the third-party vehicle in front of him by sending a corresponding request for a change in position, at least to the extent that the driver's vehicle can carry out the turning process. The affected third-party vehicle can often reduce the distance to the vehicle in front of it in order to implement the position change request of the own vehicle.

1. a) das Eigenfahrzeug sendet eine Positionsveränderungsanforderung sowie von mindestens einer Erfassungsvorrichtung des Eigenfahrzeugs erfasste Identifizierungsdaten betreffend das mindestens eine Fremdfahrzeug, mittels denen sich das mindestens eine Fremdfahrzeug identifizieren kann, an eine Vielzahl von Kraftfahrzeugen;
2. b) jedes Kraftfahrzeug der Vielzahl von Kraftfahrzeugen prüft, ob es sich auf der Basis der empfangenen Identifizierungsdaten als ein von der Positionsveränderungsanforderung betroffenes Fremdfahrzeug identifizieren kann;
3. c) das mindestens eine Kraftfahrzeug, dass die Prüfung von Schritt b) bejaht und damit ein von der Positionsveränderungsanforderung betroffenes Fremdfahrzeug darstellt, prüft, ob es einen aus der Positionsveränderungsanforderung ableitbaren Positionsveränderungswert ohne Beteiligung weiterer, an es selbst auf der vom Eigenfahrzeug abgewandten Seite angrenzender Kraftfahrzeuge umsetzen kann;
4. d) falls die Prüfung von Schritt c) bejaht wird, steuert eine Steuervorrichtung des mindestens einen Fremdfahrzeugs mindestens eine seiner Kraftfahrzeugkomponenten zur Änderung der Position um den ableitbaren Positionsveränderungswert an,

wobei das Eigenfahrzeug als Fahrmaneuver einen Abbiegevorgang einer Kreuzung durchführt, bei dem ein vorausfahrendes Fremdfahrzeug beteiligt wird, wobei im Schritt a als ableitbarer Positionsveränderungswert ein Wert eines gewünschten mindestabstands an das zumindest eine vorrausfahrende Fremdfahrzeug gesendet wird.A method according to the invention for supporting an own vehicle when performing a predeterminable driving maneuver is therefore characterized by the following steps:

1. a) the own vehicle sends a position change request and identification data acquired by at least one detection device of the own vehicle relating to the at least one third-party vehicle, by means of which the at least one third-party vehicle can identify, to a large number of motor vehicles;
2. b) each motor vehicle of the plurality of motor vehicles checks whether it can identify itself as a third-party vehicle affected by the position change request on the basis of the identification data received;
3. c) the at least one motor vehicle that affirms the test of step b) and thus represents a third-party vehicle affected by the position change request, checks whether it has a position change value that can be derived from the position change request without the involvement of other motor vehicles adjacent to it on the side facing away from the own vehicle can implement;
4. d) if the test of step c) is answered in the affirmative, a control device of the at least one third-party vehicle controls at least one of its motor vehicle components to change the position by the derivable position change value,

wherein the driver's vehicle as a driving maneuver performs a turning process at an intersection, in which a third-party vehicle in front is involved, wherein in step a, a value of a desired minimum distance is sent to the at least one third-party vehicle driving ahead as a derivable position change value.

The method according to the invention allows predeterminable driving maneuvers to be carried out faster, as a result of which the duration of a traffic obstruction can be reduced. Accordingly, the invention contributes to increasing the flow of traffic, especially in cities. Moreover, as far as parking is concerned, situations that are perceived as stressful for many people can be avoided. By improving the flow of traffic, the present invention contributes to the reduction of accidents and accordingly relates to a safety application. Therefore, the ITS tape can be used to implement the present invention.

The position change value denotes an amount of movement in the longitudinal direction of the third-party vehicle away from the driver's vehicle, for example between 10 and 60 cm, preferably between 30 and 50 cm.

In step a), location data of the own vehicle and / or sensor data relating to the at least one third-party vehicle are preferably sent as identification data. The location data of the own vehicle are preferably determined by DGNSS (Differential Global Navigation Satellite System) or RTK (Real Time Kinematics) and therefore offer an accuracy of less than one meter. The sensor data preferably comprise image, radar or ultrasound data. To this The purpose of the own vehicle is equipped with a front and / or rear camera or 360 ° camera or side camera and / or corresponding radar or ultrasound devices.

By setting the strength of the transmission signal, the sending of the position change request and the identification data can be controlled to a desired recipient group. This can be, for example, 10 m, preferably even a few meters, in the vicinity of the driver's vehicle.

Step a) of the method according to the invention can be triggered manually by a driver of the driver's vehicle, by a longitudinal parking assistant of the driver's vehicle or by a control device of the driver's vehicle that controls the driver's vehicle in an autonomous or semi-autonomous operating mode. In this way, the invention can be used both in manually controlled motor vehicles and in at least partially autonomously controlled motor vehicles.

A preferred embodiment is characterized by a further step e). If the test of step c) is negated, the respective third-party vehicle carries out steps a) to d) with reference to a respective further motor vehicle which is adjacent to it on the side facing away from the own vehicle, in steps a) to d) the respective third-party vehicle then represents the own vehicle and the respective further motor vehicle represents the respective third-party vehicle. This can be repeated with the inclusion of other third-party vehicles. The predeterminable algorithm can be further developed accordingly, that is to say each motor vehicle itself determines how far it is ready to unlock the person in front / behind it. The front / rear man then requests the missing amount to meet his own requirements. Correspondingly, step e) is repeated with reference to further adjacent motor vehicles until the position change request of the own vehicle can be realized. This procedure ends when no further unlocking is necessary or the person in front / behind is not equipped to carry out the procedure or refuses to change the position

If the mutual coordination has taken place, the respective change in position is implemented.

The own vehicle preferably sends data relating to an estimated duration of the parking process at least to the at least one third-party vehicle. In this way, the respective third-party vehicle can estimate how long it must remain in the awakened state. In this way, the quiescent current consumption of the third-party vehicles involved can be kept low.

A preferred development is characterized by a step f), in which, after the driver's vehicle has completed its driving maneuver, the control device of the respective motor vehicle involved, in addition to the driver's vehicle, controls the at least one motor vehicle component of the respective motor vehicle in such a way that the respective motor vehicle moves into its own Starting position at the time of performing step a) moved. In other words, all third-party vehicles involved return to the initial situation. The change in position was therefore only temporary. As an alternative, provision can be made for the vehicles involved to set the same distance from one another, in particular when parking in parallel, after the driver's vehicle has completed its driving maneuver. Instead of the same distance, a distance negotiated between the control devices of the respective motor vehicle can also be set, which takes into account, for example, the length of the two vehicles defining the respective distance.

The respective motor vehicles can be used to carry out the method according to the invention directly by means of short-range communication, in particular as IEEE802.11 p, IEEE802.11 bd and / or V2X communication (Vehicle-to-Everything), preferably C-V2X or 5G-V2X , communicate with each other, or via a backend or edge cloud computing device, preferably via mobile radio. In order to further reduce the quiescent current consumption, discontinuous reception can be provided, in particular in the case of V2X communication, that is to say the third-party vehicles involved discontinuously check whether V2X communication has been received.

Particularly preferably, at least two adjacent motor vehicles each exchange data recorded during control by the respective control device for carrying out a change in position by at least one detection device of the respective motor vehicle, the data relating to the change in position, in particular the distance of the respective motor vehicles from one another or the speed which the motor vehicles move towards or away from each other. In this way, the motor vehicles can monitor each other. This has the advantage that several vehicles can change position at the same time, which speeds up the overall process. Furthermore, unforeseen obstacles in the implementation of the change in position can be met. For example, while the position change is being carried out, a pedestrian can walk between two adjacent parked motor vehicles, not counting on the parked motor vehicles starting to move. Furthermore, a motor vehicle be prevented from implementing an agreed position change, for example by an object lying in front of or behind a wheel or because devices for monitoring the position change are covered with snow or ice. If such obstacles are recognized, the process is repeated and terminated if the obstacle occurs again.

Further preferred embodiments result from the subclaims.

The invention further relates to a control device which is set up to carry out a method according to the invention, the control device preferably having a processor device. The invention also relates to a motor vehicle which has at least one motor vehicle component for carrying out a change in position of the motor vehicle, the motor vehicle having a control device according to the invention.

The invention also includes further developments of the control device according to the invention and of the method according to the invention, which have features as have already been described in connection with the further developments of the method according to the invention. For this reason, the corresponding developments of the control device according to the invention and the method according to the invention are not described again here.

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

The invention also includes combinations of the features of the described embodiments.

• 1 eine schematische Darstellung einer Verkehrssituation, in der ein Eigenfahrzeug einen Längsparkvorgang durchführen möchte;
• 2 einen Signalflussgraphen; und
• 3 eine schematische Darstellung zur Erläuterung eines Ausführungsbeispiels des erfindungsgemäßen Verfahrens.

Exemplary embodiments of the invention are described below. This shows:

• 1 is a schematic representation of a traffic situation in which a vehicle wants to perform a parallel parking process;
• 2nd a signal flow graph; and
• 3rd is a schematic representation for explaining an embodiment of the method according to the invention.

The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention that are to be considered independently of one another and that further develop the invention independently of one another. Therefore, the disclosure is intended to include combinations of the features of the embodiments other than those shown. Furthermore, the described embodiments can also be supplemented by further features of the invention that have already been described.

In the figures, the same reference numerals designate elements that have the same function.

1 shows a traffic situation in which an own vehicle 10th want to perform a parallel parking process, that is, backwards to the side between other vehicles 12a and 12b that on the roadside 14 are parked, want to park. In front of the third-party vehicle 12a there is another third-party vehicle 12c , behind the third-party vehicle 12b there is another third-party vehicle 12d . Behind the own vehicle 10th vehicles jam 16a , 16b . A lane is designated 18.

Each of the vehicles 12a to 12d , 16a , 16b is with a front camera 20 , a rear camera 22 as well as two side cameras 24a , 24b fitted. instead of this or in addition, a 360 ° camera can also be provided. For the sake of clarity, these cameras are only for your own vehicle 10th provided with reference numerals.

The steps to be performed to perform the parking process are described with further reference to FIG 2nd explained. The process starts in step 100 , in which it is triggered manually by a driver of the vehicle 10th , by a parallel parking assistant of your own vehicle 10th or by a control device 26 of the own vehicle 10th that the own vehicle 10th controls in an autonomous or semi-autonomous operating mode.

In step 120 sends the own vehicle 10th a position change request and from at least one of the cameras 20 , 22 , 24a , 24b identification data of the own vehicle relating to at least one of the third-party vehicles 12a , 12b that the parking space 28 limit, by means of which the at least one third-party vehicle can identify, in a predeterminable radius in which the motor vehicles are present 12a to 12d , such as 16a , 16b are located. The owner's vehicle sends the identification data 10th in particular location data of the own vehicle 10th and / or from the cameras 20 , 22 , 24a , 24b generated sensor data relating to the at least one third-party vehicle 12a , 12b .

In step 140 tests every motor vehicle of the multitude of motor vehicles 12a to 12d , 16a , 16b whether it is based on the identification data received as a foreign vehicle affected by the position change request 12a , 12b can identify. For the foreign vehicles 12c , 12d , 16a , 16b this test is negative, so that it is in step 160 finish the procedure. The vehicles 12a , 12b answer the question with yes, are awakened from their sleep mode and set the procedure in step 180 away. In step 180 checks the respective third-party vehicle 12a , 12b whether there is a position change value that can be derived from the position change request without involvement of others, on it itself on that of the own vehicle 10th opposite side of adjacent motor vehicles 12c , 12d can implement. If the test is affirmative, controls in step 200 a control device 26 of the respective third-party vehicle 12a , 12b at least one of its motor vehicle components to change the position by the derivable position change value. Each of the control device 26 Motor vehicle components to be controlled are, in particular, drive device, a braking device and a steering device of the corresponding motor vehicle. In other words, the motor vehicle is moving 12a forward by a certain amount, the motor vehicle 12b backwards by a certain amount. As it is for the own vehicle 10th it is irrelevant which of the third-party vehicles 12a , 12b what contribution to enlarging the parking space 28 provides, it can be provided that each of the third-party vehicles 12a , 12b contributes half of the requested amount. However, it can also be taken into account that the distance between the motor vehicles 12a and 12c is smaller than the distance between the motor vehicles 12b and 12d . These distances can vary from the motor vehicles 12a , 12b be determined and for the determination of each motor vehicle 12a , 12b contribution to be paid is taken into account, for example as a percentage. Following step 200 can step 220 be carried out after the own vehicle 10th has completed its driving maneuver, the control device 26 of the respective, in addition to the own vehicle 10th involved motor vehicle 12a , 12b controls the at least one motor vehicle component such that the respective motor vehicle 12a , 12b to its starting position at the time Step is performed 120 moved back.

Communication between the vehicles involved 10th , 12a to 12d , 16a , 16b takes place directly by means of short-range communication or via a back-end or edge cloud computing device, preferably via mobile radio.

For the duration of the parking process, the distance d1 is reduced, for example, to the value d2, and the distance d3 to the value d4. Because the length of the foreign vehicles 12a , 12b is constant, the parking space increases 28 by the sum of the differences d1 - d2 and d3 - d4. The process then ends in step 240 .

Provided in the step 180 the answer, however, is no, the respective third-party vehicle leads 12a , 12b the steps 120 subsequently with reference to a respective further motor vehicle, that is to say the third-party vehicle 12a with respect to the motor vehicle 12c and the third-party vehicle 12b with respect to the motor vehicle 12d from that to it itself on that of the own vehicle 10th in the intended parking state of the own vehicle 10th adjacent side, the respective third-party vehicle then in the respective steps 12a , 12b the own vehicle 10th represents and the respective other vehicle 12c , 12d the respective third-party vehicle.

These steps can be repeated with reference to further adjacent motor vehicles until the position change request of the driver's vehicle can be realized. In the representation of 2nd The steps to be carried out in a first expansion level are each identified by a prime.

3rd shows a schematic representation for explaining an application of the method according to the invention. 3rd shows an intersection 30th in which there are some vehicles 12a , 16c , 16d have jammed. An own vehicle 10th would like to turn off the road 18a in the lane 18b carry out. In the situation shown, the distance between the own vehicle is 10th and the third-party vehicle 12a d5. This is not sufficient to the own vehicle 10th to enable the turning process.

Using the method according to the invention, the third-party vehicle enlarges 12a the distance to the value d6 corresponding to one from the own vehicle 10th sent out position change request by the foreign vehicle 12a drives a little bit forward. This leads to a reduction in the distance between the vehicles 12a and 16d . So that the own vehicle 10th now carry out the turning process.

After the own vehicle 10th is turned, the third-party vehicle 12a return to its original position, but can also remain in the position it was in during the turning process. Provided by the movement of the third-party vehicle 12a alone the desired distance d6 cannot be set in front of the third-party vehicle 12a stationary motor vehicles 16d , 16c be involved, that is the vehicle 16d reduces the distance to the vehicle 16c so that the vehicle 12a more space is available to set the distance d6.

While 1 shows a parking process, the method can easily be used for a parking process. A typical situation is that when parking, the distance to the back man, who was not available at the time of parking, is very small. The procedure accelerates and simplifies the parking process.

The space required for the respective driving maneuvers can be stored in a storage device of the respective motor vehicle, in particular in a user-specific manner. For example, in the case controlled by a longitudinal parking assistant or in a semi-autonomous or autonomous operating mode of the motor vehicle, this is the vehicle length + 2x50 cm, in manual operating mode the vehicle length + 2x20 cm. During the turning process, the distance can be set such that in the semi-autonomous or autonomous operating mode of the motor vehicle, the minimum distance between the third-party vehicle that occurs during the turning process 12a and the own vehicle 10th 50 cm, in manual mode 20 cm.

Claims (10)

Method for supporting an own vehicle (10) when performing a predefinable driving maneuver, comprising the following steps: a) the own vehicle (10) sends a position change request and identification data recorded by at least one detection device (20, 22, 24a, 24b) of the own vehicle (10) relating to the at least one third-party vehicle (12a, 12b), by means of which the at least one third-party vehicle ( 12a, 12b) can identify a plurality of motor vehicles (12a to 12d, 16a to 16c) (step 120); b) each motor vehicle of the plurality of motor vehicles (12a to 12d, 16a to 16c) checks whether it can identify itself on the basis of the identification data received as a foreign vehicle (12a, 12b) affected by the position change request (step 140); c) the at least one motor vehicle that affirms the test of step b) and thus represents a third-party vehicle affected by the position change request (12a, 12b), checks whether it is a position change value that can be derived from the position change request without the involvement of others, itself on that of the Own vehicle-facing side of adjacent motor vehicles (12c, 12d, 16d) can implement (step 180); d) if the test in step c) is answered in the affirmative, a control device (26) of the at least one third-party vehicle (12a, 12b) controls at least one of its motor vehicle components to change the position by the derivable position change value (step 200), the own vehicle (10 ) performs a turning maneuver at an intersection (30), in which a third-party vehicle (12a) in front is involved, in step a) (step 120) as a derivable position change value, a value of a desired minimum distance (d6) from the at least one third-party vehicle in front (12a) is sent. Procedure according to Claim 1 , characterized in that in step a) (step 120) are sent as identification data: - location data of the own vehicle (10); and / or - sensor data relating to the at least one third-party vehicle (12a, 12b). Method according to one of the preceding claims, characterized in that step a) (step 120) is triggered: - manually by a driver of the driver's vehicle (10); - by a parallel parking assistant of the driver's vehicle (10); or by a control device (26) of the driver's vehicle (10), which controls the driver's vehicle (10) in an autonomous or semi-autonomous operating mode. Method according to one of the preceding claims, characterized by the following further step: e) the test of step c) is negated: the respective third-party vehicle (12a, 12b) carries out steps a) to d) with reference to a respective further motor vehicle which adjacent to it itself on the side facing away from the own vehicle (10), the respective third-party vehicle (12a, 12b) then representing the own vehicle (10) in steps a) to d) and the respective further motor vehicle representing the respective third-party vehicle (step 120 ' , Step 140 ', step 160', step 180 ', step 200', step 220 ', step 240'). Procedure according to Claim 4 , characterized in that step e) is repeated with reference to other adjacent motor vehicles until the position change request of the own vehicle (10) can be realized. Method according to one of the preceding claims, characterized by the following further step: f) after the driver's vehicle (10) has completed his driving maneuver, the control device (26) of the respective motor vehicle involved in addition to the driver's vehicle (10) controls the at least one motor vehicle component in such a way that the respective motor vehicle moves into its starting position at the time step a) is carried out (step 220). Method according to one of the preceding steps, characterized in that the respective motor vehicles (12a to 12d, 16a to 16c) directly, in particular by means of short range communication IEEE802.11p, IEEE802.11bd and / or V2X communication, preferably C-V2X or 5G-V2X, communicate with one another, or via a back-end or edge cloud computing device, preferably via mobile radio. Method according to one of the preceding claims, characterized in that at least two adjacent motor vehicles each exchange data recorded during control by the respective control device (26) in order to carry out a change in position of at least one detection device (20, 22, 24a, 24b) of the respective motor vehicle , the data relating to the change in position, in particular the distance between the respective motor vehicles or the speed at which the motor vehicles move towards or away from one another. Control device (26), characterized in that it is set up to carry out a method according to one of the preceding claims, wherein the control device (26) preferably has a processor device. Motor vehicle (10, 12a, 12b) which has at least one motor vehicle component for carrying out a change in position of the motor vehicle (10, 12a, 12b), characterized in that it has a control device (26) Claim 9 having.

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