DE102020206495A1 - Parking assistance system for parking a motor vehicle, method for parking a motor vehicle and motor vehicle with a parking assistance system - Google Patents

Abstract

The invention relates to a parking assistance system (15) for parking a motor vehicle (4), with a control device and a detection device (17) by means of which a permitted parking space (1, 2, 3) for the motor vehicle (4) can at least partially be detected and corresponding Parking space data can be generated which can be provided to the control device. The invention provides that, depending on the parking space data, a restricted area (21) can be arranged within the permitted parking space (1, 2, 3) by means of the control device, whereby the motor vehicle (4) arrives in the permitted parking space (1, 2, 3) the blocking area (21) can be positionally aligned. The invention also relates to a method that can be carried out by means of the parking assistance system (15) and a motor vehicle (4) equipped with such a parking assistance system (15).

Description

According to claim 1, the invention relates to a parking assistance system for parking a motor vehicle. The invention further relates to a method for parking a motor vehicle. In addition, the invention relates to a motor vehicle equipped with such a parking assistance system.

In order to make parking a motor vehicle particularly simple and inexpensive for a respective user, in particular the driver, parking assistance systems are known from the prior art, in particular from (series) vehicle construction, which assist the driver when parking and / or exiting his motor vehicle support in / out of parallel and perpendicular parking spaces and even take over a longitudinal and / or lateral guidance of the motor vehicle during the parking process. Objects in the vicinity of the motor vehicle or in the vicinity of the corresponding parking space / parking space (such as other vehicles, curbs, walls, etc.) are detected using environment sensors (such as ultrasonic sensors, cameras, laser scanners, etc.) of the motor vehicle or the parking assistance system. The motor vehicle is aligned with the objects in the vicinity of the parking lot, in particular by setting a standard distance between the objects and the motor vehicle that is dependent on the size of the parking space, the standard distance being at least dimensioned or specified so that the motor vehicle is safe and with as little effort as possible can be parked out of the parking lot.

A parking position in the parking lot is usually determined on the basis of the objects adjacent to the parking lot recognized by the environment sensors. At the end of the parking process, the motor vehicle is aligned in the longitudinal direction to a front of the objects adjoining the parking lot and in the transverse direction to a side of the objects adjoining the parking lot, so that the objects adjoining the parking lot and the parked motor vehicle are aligned from each other via a - in particular a predetermined distance - are spaced apart.

However, parking in certain areas may be excluded due to a legally stipulated (for example, marked or unmarked traffic sign) prohibition of parking. Such a stopping ban may only have an effect at certain times and / or only for certain types of vehicles or road users and (for example and not exhaustively) due to an entry / exit (in particular fire service entrance), a residential parking zone, a stop for public transport, a disabled parking space, a pedestrian crossing, a manhole cover, an intersection or junction area, a lowered curb, a cycle path or protective strip, etc.

To this end, the DE 10 2009 001 316 A1 a method for fully or partially automatic implementation and / or support of a parking process of a motor vehicle, with the steps of: determining a parking space suitable for parking the motor vehicle; Carrying out and / or supporting the parking process, whereby before, after or during the determination of the suitable parking space, it is checked by means of at least one optical sensor device whether the parking space is a valid parking space. This gives the user or driver a system that helps them avoid their own parking violation.

In densely populated areas, such as cities, cramped space conditions and, in some cases, a driver's inability to drive, often lead to a vehicle, in particular a passenger and / or truck, being parked in a space-wasting manner in the parking area, which creates a parking space for another road user or his vehicle is denied. For example, it is not uncommon for two adjacent parking spaces that are permitted in themselves to be blocked by a single vehicle. However, parking space or parking spaces are becoming increasingly rare in today's times, especially in densely populated areas. Because the desire of the population for a particularly versatile and always unrestrictedly available and flexible individual mobility is still unbroken, which is leading to an ever larger vehicle fleet.

There is therefore a need to use existing parking space particularly efficiently so that as many motor vehicles as possible can be parked, especially in an urban environment.

the DE 10 2012 215 218 A1 and the DE 10 2018 111 522 A1 disclose a method and a device for parking space optimization with the following steps: a) Determining whether at least one additional parking space can be provided within a predetermined parking area by changing the position of motor vehicles (already) parked within this parking area, this determining using a ( central) monitoring device or a processor takes place; and b) remotely controlled moving, depending on the result of step a), at least one motor vehicle parked within the parking area in a motor vehicle movement process in such a way that the at least one additional parking space is provided. However, this is remote controlled Moving the already parked vehicles is relatively unsafe, since a traffic risk check does not take place directly on the vehicles to be moved. Furthermore, a particularly space-wasting parking space was initially permitted, which can then be remedied with great effort.

The object of the invention is to use existing parking space in a particularly simple and / or space-efficient manner with little effort.

This object is achieved by a parking assistance system with the features specified in claim 1 and by a method for parking a motor vehicle designed according to claim 9 and a motor vehicle with the features specified in claim 10.

Features, advantages and advantageous refinements of the parking assistance system according to the invention are to be regarded as features, advantages and advantageous refinements of the method according to the invention or the motor vehicle according to the invention, and vice versa. Features, advantages and advantageous refinements of the method according to the invention are to be regarded as features, advantages and advantageous refinements of the motor vehicle according to the invention and vice versa.

According to the invention, a parking assistance system is provided by means of which a motor vehicle can be parked, for example in or on a parking space or a parking lot or a parking space. The motor vehicle is designed in particular as a motor vehicle, that is to say as a truck and / or passenger vehicle, or as a motorcycle. The parking space can have more than one parking space. At least a first end of the parking space adjoins a barrier, for example a legal no-stopping restriction and / or a physical barrier (such as a wall, a delimitation element (“bollard”), another motor vehicle, a curb etc.), the first End of the parking lot and a first end of the parking lot coincide. At a second of its ends, which is opposite the first end, the parking lot adjoins another usable area of the parking space, for example a neighboring parking lot. Accordingly, the parking space, in particular the parking lot and the neighboring parking lot, offer at least space for two motor vehicles, each of average dimensions. The respective end of the parking lot can represent a longitudinal end or a transverse end of the parking lot. Accordingly, at least one of the ends of the parking space and / or parking lot can be formed by the barrier.

The parking assistance system has a detection device by means of which the parking space or at least one of the parking spaces for the motor vehicle can at least partially be detected. For example, a longitudinal extension, a transverse extension, a clearance height, a parking space orientation to the roadway or to other objects (parallel parking lot, cross parking lot, sloping parking lot) of the parking space or parking lot or parking spaces can be detected by means of the detection device, which can in particular have a sensor system. Here, the longitudinal extent is limited by two mutually opposite longitudinal ends of the parking lot and the transverse extent is limited by two transverse ends of the parking lot which are at least substantially perpendicular to the longitudinal ends. The respective longitudinal end and / or the respective transverse end can be formed by a structural structure, a floor marking, a vehicle, etc. arranged adjacent to the corresponding parking space.

If the parking space is subject to a parking restriction at least in some areas and / or at least temporarily, for example due to a legal no-stopping restriction, this can also be detected by means of the detection device. In particular, the detection device is also designed to detect the surroundings of the parking space. This means that the detection of the parking space is not limited by the parking space or the at least one parking space itself. Rather, the detection device can be used to detect objects and / or conditions that are directly adjacent to the parking space / parking lot, for example the neighboring parking lot and / or a neighboring vehicle parked on it, the parking situation of the neighboring vehicle as well as the no stopping adjacent to the parking lot, etc. the respective situation can accordingly form at least one of the ends - that is to say at least one of the longitudinal ends and / or at least one of the transverse ends - of the parking lot or form a barrier for the parking lot.

The detection device is further designed to provide at least one corresponding detection result, in particular in that parking space data can be generated by means of the detection device which corresponds to the at least one detection result. The parking space data accordingly comprise at least partially characterizing data for the parking space or its parking spaces - the data thus comprise or describe characteristics of the parking space. The parking space data in particular have spatial characteristics (such as the longitudinal extent, the transverse extent, the clearance height, the parking space orientation, etc.) and / or legal characteristics, for example whether the parking space has the parking restriction.

For the following, it is assumed that the parking space is suitable for parking with the motor vehicle. In this respect, the parking space is a permitted parking space. That means, that the parking space is free of any parking restrictions of any legal kind affecting this or in this. In other words, a user, in particular the driver, of the motor vehicle is allowed and enabled to drive into or onto the parking space by means of the motor vehicle and to park the motor vehicle there, for example to switch to a parking operating mode. Accordingly, the parking space and the motor vehicle correspond to one another, so that there are no physical obstacles that impede parking or exiting by means of the motor vehicle. In particular, the longitudinal extent, the transverse extent and the clear height of the parking space are greater than the correspondingly assigned spatial extents of the motor vehicle, so that the intended parking and exiting are just as possible as the safe opening of a flap element (for example a door) of the motor vehicle.

The parking space data can be made available to a control device by means of the detection device. In this respect, the parking assistance system has the control device, the detection device and the control device being coupled or connected to one another in a wireless and / or wired manner for data transmission. By means of the control device, for example, a driving trajectory for particularly safe parking or exiting of the motor vehicle in the parking space can be determined and made available to the user or driver, for example on an optical display device. Parking and / or exiting or the corresponding driving trajectory can / can include maneuvering the motor vehicle in / on the parking lot.

In order to use the available parking space in a particularly simple and / or space-efficient manner by means of the parking assistance system, a restricted area within the permitted parking space ( 1 , 2 , 3 ) can be arranged. Accordingly, the control device is designed according to the invention to at least determine on the basis of the parking space data whether a restricted area is to be arranged or placed in the parking space. Here, the parking space data can be processed or further processed or evaluated by the control device in such a way that a corresponding processing or evaluation result then at least states whether the restricted area is to be placed in or on the parking space or whether the restricted area is to be arranged within the parking space or not . If the processing or evaluation result indicates that the restricted area is not required, the driving trajectory for parking can be determined by means of the control device, whereby the motor vehicle to be parked can be aligned with the objects that are directly adjacent to the parking space / parking lot, in particular by using the parking assistance system or the control device can set a standard distance between the objects and the motor vehicle that is dependent on the size of the parking space and is at least dimensioned or specified so that the motor vehicle can be parked safely and with as little effort as possible from the parking space.

Since the restricted area is dispensed with if necessary, parking of the motor vehicle in a particularly space-efficient manner is ensured by means of the parking assistance system. This is because the restricted area can, for example, have the standard spacing, which can then be omitted as required, as a result of which only very little parking space is required for parking by the motor vehicle.

If it has been recognized that the restricted area is to be used in the parking space, the restricted area can be arranged, for example, between a (designated) parking position of the motor vehicle and the second end of the parking space, to which the further usable area of the parking space is directly or immediately For example, the neighboring parking lot or the neighboring vehicle possibly parked on it is adjacent. In particular, an edge of the restricted area facing the first end of the parking space and the first end of the parking space are spaced apart from one another by a distance which is at least large enough that the vehicle can be used to drive the driving trajectory into the parking space as intended. The neighboring vehicle can be another motor vehicle or a motorless vehicle, for example a trailer vehicle parked alone.

The restricted area is irrelevant, so it is in particular a data element. Furthermore, the restricted area does not result from any kind of statutory stopping prohibition extending into the parking space, but is activated or determined purely by the parking assistance system, in particular by means of the control device. In addition, it is permissible for the motor vehicle to drive over the restricted area along the driving trajectory during the parking maneuver in order to get to the parking position and / or to align the motor vehicle in / on the parking lot.

Furthermore, the restricted area restricts - should it have been defined - a positional alignment of the motor vehicle in the permitted parking space. This positional alignment can be determined by the control unit in particular before parking and / or during parking, and forms an end position for the motor vehicle when the driving trajectory into the parking lot has been traveled by means of this. In other words, the motor vehicle is following the driving trajectory based on the positional alignment on the Parking lot can be aligned positionally. Since the positional alignment is specified before the end of the parking process, it is a designated positional alignment of the motor vehicle in the parking lot.

It is provided that the restricted area, when it is used, restricts the (designated) positional alignment of the motor vehicle in the parking lot. In other words, it is provided that when the motor vehicle is parked in or on the parking lot, the restricted area remains free, so that a maximum of space is guaranteed between the neighboring parking space or the neighboring vehicle that may be parked on it and the motor vehicle and, at the same time, a minimum of space between the motor vehicle and the vehicle the no-parking and / or physical barrier. In other words, it is provided that the motor vehicle is at least aligned with the restricted area when parking. The motor vehicle is thus aligned with the restricted area. Even if the restricted area is not sufficient for another motor vehicle to park in the parking space before the neighboring vehicle leaves, there is a particularly large parking space or part of the parking space for the further motor vehicle, for example that of a third party, at the latest after the neighboring vehicle has left Road user or driver. This is because the parking space is used in a particularly space-efficient manner, since the minimum amount of space between the no-parking zone or the physical barrier and the adjacent end of the motor vehicle is wasted.

This is particularly advantageous for drivers of relatively large or long motor vehicles, for example for drivers of delivery or transport vehicles, minibuses, etc. Since this space-saving parking is an integral part of the functionality of the parking assistance system, it is also particularly easy for the user of the parking assistance system to to park the motor vehicle efficiently in the manner described. Furthermore, there is a particularly high level of acceptance of the parking assistance system on the part of the user, since the user (or buyer) of the parking assistance system can hope for an improvement in his parking quality. Furthermore, the user behaves in a particularly cooperative manner in road traffic, especially in stationary traffic, by parking in a particularly considerate and space-saving manner - even without his active involvement, but simply by using the parking assistance system. As a result, safety in road traffic is increased, since the stress level of a road user looking for a parking space is lower, the less he is confronted with space-wasting parked motor vehicles.

The invention is also based on the knowledge that the occupied parking space changes continuously. If the vehicles are optimally positioned from the start, a vacant space that is initially unsuitable for parking another vehicle can, after a certain period of time - for example, when a neighboring vehicle is parked - increase the usable parking space for parking a third party vehicle, who otherwise could not use the parking space. Thus, even a small increase in the usable parking space increases the usability of the parking space for a larger number of vehicle users.

In a further advantageous embodiment of the parking assistance system, it is provided that the motor vehicle is aligned with both the restricted area and the no-parking zone or the physical barrier when parking. For example, the motor vehicle can be arranged or aligned with the parking in / on the parking lot between the restricted area and the barrier. The motor vehicle is thus positionally aligned on the one hand to the restricted area and on the other hand to the barrier, that is to say to the no-stopping zone, to the physical barrier and / or to the neighboring vehicle. This ensures an even more advantageous alignment of the motor vehicle in the parking lot, which can also be referred to as a “parking space”, in particular for the benefit of the third road user or driver, since the parking space or parking space is used particularly efficiently and in a space-saving manner.

In a further embodiment of the parking assistance system, the control device is designed to use the restricted area to determine the positional alignment of the motor vehicle for parking in the permitted parking space when the restricted area is present. In other words, when creating the driving trajectory, at the end of which the motor vehicle is positioned in the parking space or on the parking lot, the restricted area is taken into account if it has previously been activated, for example by means of the control device. Thus, even before the actual parking, the driving trajectory tailored to the restricted area is available, which the user only needs to drive in order to park the motor vehicle in the parking area with particularly little effort and yet in a particularly space-efficient manner.

It has also proven to be advantageous if the detection device has a sensor system by means of which the permitted parking space can at least partially be detected and corresponding sensor data can be provided to the control device, by means of which it can be determined on the basis of the sensor data whether the restricted area is to be arranged in the permitted parking space. The sensor system has at least one sensor and is designed to place traffic signs, in particular with an additional sign, (lowered) curbs, line markings on the floor etc. to capture or detect. A stopping prohibition can be recognized in this way. The sensor system is also designed to detect the positions and distances of objects (such as vehicles and curbs) to the motor vehicle and their height.

If the parking assistance system is part of a motor vehicle, it is particularly advantageous if the detection device of the parking assistance system has at least part of a sensor system of the motor vehicle, the sensor system of the motor vehicle then having at least one dual functionality, namely - firstly - providing a functionality of the parking assistance system and Secondly, at least one further functionality of the motor vehicle is provided, for example for highly automatic, fully automatic or autonomous driving of the motor vehicle. In this way, a separate sensor system for the parking assistance system can be dispensed with, with the result that the parking assistance system, and in particular the motor vehicle equipped with the parking assistance system, can be designed to be particularly efficient in terms of mass, which subsequently makes the motor vehicle particularly fuel-efficient and / or fuel-efficient can be operated energy-efficiently or with low emissions.

In a further embodiment of the parking assistance system, at least one piece of information about the restricted area can be delivered to the user. This information can relate to the restricted area itself, for example a positional location of the same or whether the restricted area is used in the parking lot at all. Furthermore, the at least one item of information can relate to the first end of the parking space, the designated parking position of the motor vehicle, etc. For delivery or provision, it is provided that the control device has an output unit by means of which the information or information can be made available to the user, for example can be displayed. The information can represent a suggestion for the user, so that he can orient himself accordingly on the information or on the suggestion in order to park as space-saving as possible. The output unit can be, for example, a display, a loudspeaker, a vibration element, etc., so that the at least one piece of information about the restricted area can be delivered to the user optically, acoustically and / or haptically. The output unit can be formed by an output unit of a vehicle infotainment system.

It has also been found to be advantageous if the control device can use the parking space data to determine whether the restricted area - if it exists - is at least partially due to a parking situation of the neighboring vehicle parked adjacent to the permitted parking space, which then determines the positional alignment of the motor vehicle is at least partially formed by a distance between the motor vehicle and the neighboring vehicle. Accordingly, the restricted area then has at least a first partial area, which results on the basis of the parking situation of the neighboring vehicle parked adjacent to the permitted parking space.

This means that the parking space data include data that characterize the neighboring parking space, for example whether or that the neighboring parking space is occupied by the neighboring vehicle parked on it, length, width, height, etc. In particular if the neighboring vehicle is at its first end, that of the parking lot is turned away, on which the vehicle is to be parked on, is adjacent to a physical barrier (for example a third motor vehicle) or the no-stopping zone, a distance between the no-stop zone and / or the physical barrier and from the detection device, in particular the sensor system the first end of the neighboring vehicle can be detected. If it is then recognized, for example by means of the control device, that the neighboring vehicle could no longer or no longer be able to park safely and / or with little effort if the standard distance between the neighboring vehicle and the motor vehicle were set, the standard distance is extended by the restricted area. As a result, after the motor vehicle has been parked, there is then a distance between it and the neighboring vehicle which is greater than the (predetermined) standard distance, so that the neighboring vehicle can still park out of the neighboring parking lot particularly easily. Because the restricted area means that the neighboring vehicle has maximum maneuvering space. This once again underlines the particularly cooperative nature of the parking assistance system in road traffic.

In other words, the parking situation of the neighboring vehicle parked adjacent to the permitted parking space comprises at least a distance between the neighboring vehicle and other objects in the vicinity of the neighboring vehicle. This can lead to parking situations in which a previously parked vehicle can only be parked very uncomfortably or not at all due to the distances to objects in the vicinity of the parking lot.

According to a further embodiment, the control device can use the parking space data to determine whether the restricted area - if it exists - is at least partially due to the no-stopping zone adjacent to the permitted parking space, whereby the positional alignment of the motor vehicle is then at least partially due to a distance between the motor vehicle and the second end of the parking space, to which, for example, the neighboring parking lot is adjacent, is formed. To that extent if the restricted area then has, as an alternative or in addition to the first sub-area, another sub-area which is different from this and which results from a no-stopping prohibition adjacent to the permitted parking space. This is because it is provided that the motor vehicle is used to park in a space-saving and / or efficient manner as possible, which is achieved by parking particularly close to the no-stopping zone.

A further advantageous embodiment provides that the control device can be provided with server data by means of a server device, on the basis of which it can be determined whether the restricted area is to be arranged in the permitted parking space. For this purpose, the parking assistance system can have the server device; for example, the detection device can be formed at least partially by the server device or comprise it. Alternatively or additionally, the server device can be arranged far away from the parking assistance system or the motor vehicle equipped with it. In this case, the server device can be designed as a so-called backend. In any case, the server device and the control device are coupled or can be coupled to one another for, in particular, bidirectional data transmission, directly or indirectly and wirelessly and / or in a wired manner.

In order to determine whether or not the restricted area is to be arranged within the parking space by means of the parking assistance system, provision can be made for the server data to be made available to the control device, for example to be sent. The server data - such as map data, satellite images and / or other data that at least partially characterize the parking space, etc. - can be provided to the server device by several vehicles (swarm data) or other information sources (for example from map providers). The server device can be designed, for example, as a cloud server device, the server data being held by means of the cloud server device (which can also be referred to as a backend). Ideally, the back-end data or server data have a specified minimum current status, for example, they are not older than a day. Here, the server data can arise in particular from vehicle-to-vehicle data communication, from vehicle-to-infrastructure data communication and / or from data communication between mobile radio devices (smartphones).

In this respect, the server device can be, for example, at least part of a navigation system, in particular a satellite navigation system, with which the motor vehicle is or can be equipped. Accordingly, it is then provided that the navigation system for data transmission is coupled or can be coupled to the parking assistance system, in particular to the control device.

The server data thus include at least one piece of information, which flows into the evaluation result of the control device, as to whether the restricted area should be arranged in the parking space. The server data include, for example, information / data on the presence and / or the position of a legal no-stopping restriction in the vicinity of the motor vehicle.

By means of the control device, based on the server data, in particular in conjunction with the current position of the motor vehicle itself (for example GPS position), it is determined whether a restricted area is required. For this purpose, the vehicle's own position can be transmitted to the server device or cloud server device. This can in particular represent a triggering event directed to the backend, on the basis of which the server data relating to the parking space or parking lot in which the motor vehicle is intended to be parked is provided by means of the server device. Furthermore, the triggering event can be designed as an activation of the parking assistance system.

The parking space can thus be characterized even more precisely, as a result of which it can be determined more reliably whether the restricted area in the parking space is advantageous.

Finally, it can also be provided that the parking assistance system comprises a steering and / or drive unit which can be used to provide the positional alignment of the motor vehicle in the permitted parking space by means of the control device, whereby the motor vehicle can be maneuvered into the parking space by means of the steering and drive unit and can be positionally aligned in the parking space, in particular - if the restricted area is present - can be positionally aligned in the parking space with the aid of the restricted area. If the restricted area is not available or if it has not been activated by the control device, the positional alignment of the motor vehicle takes place on the basis of the objects that directly adjoin the parking space / parking lot.

In this way, the parking assistance system further contributes to improved traffic safety, since a fully or highly automatic parking process carried out by the parking assistance system is particularly fast and safe. This is because the human driver becomes the source of error from the regulation process or control process of the parking assistance system or the one equipped with it, which is associated with the parking Motor vehicle at least largely removed.

The invention also relates to a motor vehicle equipped with the parking assistance system. The advantages of this motor vehicle have already been explained in connection with the description of the parking assistance system.

The invention also relates to a method for parking a motor vehicle, wherein a detection device at least partially detects a permitted parking space, which is delimited at one of its ends by a barrier, for the motor vehicle and generates corresponding parking space data which are provided to a control device. The method is characterized in particular in that a restricted area is arranged in the permitted parking space by means of the control device, depending on the parking space data, so that the motor vehicle is positioned in the permitted parking space on the restricted area and on the barrier.

The invention also includes further developments of the method according to the invention which have features as they have already been described in connection with the further developments of the parking assistance system according to the invention or the motor vehicle according to the invention. For this reason, the corresponding developments of the method according to the invention are not described again here.

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

• 1 eine schematische Draufsicht auf einen Parkraum mit Längsparkplätzen (1a) bzw. Querparkplätzen (1b), welche nur wenig parkraumeffizient genutzt sind;
• 2 eine schematische Draufsicht auf den Parkraum mit den Längsparkplätzen (2a) bzw. Querparkplätzen (2b), auf welchen ein jeweiliger Sperrbereich angeordnet ist;
• 3 eine schematische Draufsicht auf den Parkraum mit den Längsparkplätzen (3a) bzw. Querparkplätzen (3b), bei welchen aufgrund des Sperrbereichs der Parkraum besonders effizient genutzt ist;
• 4 eine schematische Draufsicht auf den Parkraum mit den Längsparkplätzen, bei welchem ein sicheres Ausparken eines Kraftfahrzeugs nicht gewährleistet ist;
• 5 eine schematische Draufsicht auf den Parkraum mit den Längsparkplätzen, bei welchem ein sicheres Ausparken eines Kraftfahrzeugs aufgrund des Sperrbereichs gewährleistet ist; und
• 6 ein Verfahrensschema in Form eines Flussdiagramms zur Verdeutlichung eines Verfahrens zum Parken des Kraftfahrzeugs.

An exemplary embodiment of the invention is described below. This shows:

• 1 a schematic plan view of a parking space with parallel parking spaces ( 1a) or cross parking spaces ( 1b) which are only used in a poorly efficient manner;
• 2 a schematic top view of the parking area with the parallel parking spaces ( 2a) or cross parking spaces ( 2 B) on which a respective blocking area is arranged;
• 3 a schematic top view of the parking area with the parallel parking spaces ( 3a) or cross parking spaces ( 3b) in which the parking space is used particularly efficiently due to the restricted area;
• 4th a schematic plan view of the parking space with the parallel parking spaces, in which a safe parking of a motor vehicle is not guaranteed;
• 5 a schematic plan view of the parking space with the parallel parking spaces, in which a safe parking of a motor vehicle is guaranteed due to the restricted area; and
• 6th a method scheme in the form of a flowchart to illustrate a method for parking the motor vehicle.

The exemplary embodiment explained below is a preferred embodiment of the invention. In the exemplary embodiment, the described components of the embodiment each represent individual features of the invention that are to be considered independently of one another, which also develop the invention independently of one another and are therefore also to be regarded as part of the invention individually or in a combination other than the one shown. Furthermore, the described embodiment can also be supplemented by further features of the invention that have already been described.

In the figures, functionally identical elements are each provided with the same reference symbols. The following are a parking assistance system 15th , a motor vehicle equipped with it 4th and a method for parking a motor vehicle are jointly described. Here are means of the parking assistance system 15th and / or the motor vehicle 4th trained to carry out steps of the method.

1 shows a schematic plan view of a parking space 1 with a parallel parking lot 2 ( 1a) or a cross car park 3 ( 1b) on which a motor vehicle 4th is parked. Adjacent to the parking lots 2 , 3 is a respective neighboring parking lot 5 arranged on which another motor vehicle is parked, hereinafter referred to as the neighboring vehicle 6th referred to as. In the motor vehicle 4th In the present example, it is a motor vehicle, in particular a passenger vehicle or truck. This also applies to the neighboring vehicle 6th .

The parking space 1 has a longitudinal extension 7th on, so at least the parking spaces 2 , 3 - and in particular further parking spaces - from the parking space 1 are included. To the respective parking lot 2 , 3 borders on its first end 8th a barrier, for example a no-stopping policy 9 and / or a physical barrier 10 (especially the neighboring vehicle 6th ), what there - i.e. in / on the barrier ( 6th , 9 , 10 ) - may or may not be parked. About a second ending 11 of the respective parking space 2 , 3 that the first end 8th opposite is the neighboring parking lot 5 to the parking lot 2 , 3 at.

The no stopping 9 is in particular a statutory stopping ban, which is caused, for example, by a five-meter area of an intersection or junction area that is to be kept clear, a lowered curb, public transport assigned stopping area, a pedestrian crossing ("zebra crossing"), a traffic light system, a bicycle lane or bicycle protection lane, a parking area only for certain road users (for example only residents) and / or certain types of vehicles (for example only electric vehicles or no trucks), a level crossing, a Manhole cover in the road surface, a property entrance or exit, an approach zone for rescue vehicles ("fire service access") etc. is justified. Alternatively or additionally, the no-stopping rule can apply 9 be signposted or be erected by a corresponding signage and / or by a floor marking at a different location than the one mentioned above. It can further be provided that the no-stopping ban is only effective on certain days and / or at certain times of the day. However, these examples are not to be understood as conclusive; for a complete list, relevant legal texts must be consulted (for Germany the road traffic regulations and possibly state-specific regulations).

It is in 1 to recognize that by means of the motor vehicle 4th only little space was parked. Because between a first end 12th of the motor vehicle 4th and the first end 8th of the parking lot 2,3 is due to the little space-efficient parking of the motor vehicle 4th unusable parking space 13th present, its longitudinal extent 14th is not large enough for another motor vehicle to use this unusable parking space 13th could use to park on it.

The car 4th has a parking assistance system 15th on that a user, in particular the driver, of the motor vehicle 4th when parking and / or exiting the motor vehicle 4th in / out of the respective parking lot 2 , 3 supports. In the present example, the parking assistance system 15th a steering and drive unit of the motor vehicle 4th on or is at least connected to this for the transmission of control commands to a longitudinal and / or lateral guidance of the motor vehicle 4th to take over at least partially and / or temporarily during a parking process. Objects are in the vicinity of the motor vehicle 4th or in the vicinity of the corresponding parking lot 2 , 3 (for example the neighboring vehicle 6th , Curbs 16 , Walls, etc.) by means of a detection device 17th of the parking assistance system 15th recorded. A positional orientation of the motor vehicle 4th then takes place on the basis of the means of the detection device 17th detected objects, in particular by means of the parking assistance system 15th a standard distance 18th is set between the objects and the motor vehicle, the standard distance 18th is at least dimensioned or specified so that with the motor vehicle 4th safely and with as little effort as possible from the parking lot 2 , 3 can be parked.

For this purpose, the detection device has a sensor system in the present case 19th on or is at least connected or coupled to this for the transmission of sensor data. With the sensors 19th In particular, it is then at least partially a sensor system of the motor vehicle 4th if this is with the parking assistance system 15th Is provided. The sensors 19th has at least one sensor, which can be designed as an ultrasonic sensor, a camera sensor, a laser scanner, a lidar sensor, etc., for example.

With reference to 1a and 1b it can therefore be seen that the motor vehicle 4th by parking it at the neighboring vehicle 6th was positionally aligned, the unusable parking space 13th caused. But as mentioned at the beginning, there is a need to use the available parking space 1 particularly simple and / or space-efficient to use, so that as many motor vehicles as possible on / in the parking space 1 can be parked.

Therefore, the parking assistance system 15th a control device (not shown in the figure), which by means of the detection device 17th Parking space data, that is at least the parking space 1 or its parking spaces 2 , 3 at least partially characterizing data can be provided. In particular, the parking space data have spatial characteristics (such as the longitudinal extent 7th , a transverse extension, a clear height, etc.) of the parking space 1 or the respective parking space 2 , 3 on. Furthermore, the parking space data have legal characteristics, for example whether the parking space 1 of the no-stopping rule 9 or the physical barrier 10 adjoins or whether the no-stopping 9 in the parking lot 1 , i.e. in one of the parking spaces in the parking area 1 , affects. In the present example are the parking lots 2 , 3 each suitable for the motor vehicle 4th for parking. For one thing, that means the parking spaces 2 , 3 are allowed to park, so there is no stopping directly in the parking lot 2 , 3 affects.

On the other hand, the longitudinal extension corresponds 7th the parking lots 2 , 3 and a park length 20th of the motor vehicle 4th with each other, which means that the longitudinal extension of the park 20th of the motor vehicle 4th is smaller than the corresponding longitudinal extent 7th of the parking lot 2 , 3 . Through the length of the park 20th is one of the respective motor vehicle 4th Dependent extent described that the parking lot 2 , 3 must have at least to means of the motor vehicle 4th intended to drive a safe driving trajectory into the parking lot 2, 3 and still be able to safely open a flap element (for example door, trunk lid, etc.) as intended. The longitudinal extension of the park 20th is in the parking lot 2 , 3 one of objects free portion of a total length of the parking lot 2 , 3 or the parking space 1 .

The control device uses the parking space data to determine whether a restricted area 21 in the permitted parking space 1 is to be laid that the positional alignment of the motor vehicle 4th in the permitted parking space 1 or in the parking lots 2 , 3 restricts. The restricted area 21 is in 2 shown, which is a schematic plan view of the parking space 1 with the parallel parking spaces 2 ( 2a) or cross parking spaces 3 ( 2 B) shows, being in the respective parking space 1 the restricted area 21 is arranged.

The restricted area 21 has a blocking longitudinal extent 22nd resulting from the difference between the total length of the parking lot 2 , 3 and the length of the park 20th of the motor vehicle 4th results. In 2 it can be seen that the motor vehicle 4th that in the respective parking lot 2 , 3 has been parked, in particular by means of the parking assistance system 15th , on the one hand at the restricted area 21 and on the other hand the no-stopping rule 9 or at the physical barrier 10 was positionally aligned. That means the restricted area 21 at least one of the standard distances 18th includes or replaces it. The present is the restricted area 21 between a second end 23 of the motor vehicle 4th and the second end 11 the corresponding parking lot 2 , 3 arranged or through the two ends 11 , 23 limited or included. Because in contrast to the representation according to 1 fall in the representation of the 2 the ends 11 , 23 apart. In other words, are the ends 11 , 23 from each other at least over the locking longitudinal extent 22nd spaced.

The restricted area 21 has a beneficial effect on the particularly efficient use of parking space, as in 3 is shown in a schematic plan view of the parking space 1 with its parallel parking spaces 2 ( 3a) or cross parking spaces 3 ( 3b) shows which due to the restricted area 21 are used particularly efficiently. Because after the neighboring vehicle 6th the neighboring parking lot 5 has left or has parked out of it, the neighboring parking lot is due to the restricted area 21 on which the motor vehicle 4th is not parked at the moment, a larger overall length 24 on as if the motor vehicle 4th on the neighboring vehicle 6th would have been aligned. This enables a third motor vehicle in a particularly efficient manner in terms of parking space 25th in / on the neighboring parking lot 5 drives up and parks there, even if the third motor vehicle 25th a longer park length than the neighboring vehicle 6th should have. The in 1 depicted unusable parking space 13th is omitted or is advantageously made usable instead.

4th shows the parking space in a schematic plan view 1 with the parallel parking spaces 2 , in which a safe parking of a motor vehicle, in particular the neighboring vehicle 6th , is not guaranteed because the neighboring vehicle 6th and another motor vehicle, for example the third motor vehicle 25th , are too close to each other for the neighboring vehicle 6th easily and efficiently from the neighboring parking lot 5 could park out. Because the second end 23 of the motor vehicle 4th is about the standard distance 18th from the neighboring vehicle 6th remotely located. Based on this representation, in 5 the top view of the parking space 1 with the parallel parking spaces 2 shown, with a safe parking of a neighboring vehicle 6th due to the restricted area 21 is guaranteed. Because the restricted area 21 is sized and between the neighboring vehicle 6th and the motor vehicle 4th in the parking lot 1 positionally arranged that the neighboring vehicle 6th sufficient space is available for efficient parking. In particular, the neighboring vehicle 6th the space required to pull out of a parking space through the parking assistance system 15th provided by using the parking assistance system 15th by means of the motor vehicle 4th in the parallel parking lot 2 is parked.

This is done before the actual parking process of the motor vehicle 4th in the parallel parking lot 2 a parking situation of the neighboring vehicle 6th detected, for example by means of the detection device, in particular the sensor system 19th . This changes the parking situation of the neighboring vehicle 6th Part of the parking space data, which is used on the one hand to determine whether the restricted area 21 is necessary or at least useful, and on the other hand, which longitudinal blocking extension 22nd the restricted area 21 having.

The parking assistance system 15th further comprises a server device 26th by means of which server data can be provided to the control device, on the basis of which it can be determined whether the restricted area 21 in the permitted parking space 1 is to be arranged. In the present case, the server device 26th far from the parking assistance system 15th or the motor vehicle equipped with it 4th arranged so that the server device 26th is designed as a so-called backend. The server facility 26th and the control devices are coupled or can be coupled to one another for bidirectional data transmission directly or indirectly and wirelessly and / or in a wired manner.

The server data - such as map data, satellite images and / or otherwise the parking space 1 at least partially characterizing data etc. - can be sent to the server device 26th be provided by several vehicles (swarm data) or other sources of information (e.g. from map providers). Provision is made for the server data to be up-to-date a specified minimum have, for example, are kept up-to-date, so examples are not older than one day. The server data have data from vehicle-to-vehicle data communication, from vehicle-to-infrastructure data communication and / or from data communication between mobile radio devices (smartphones).

The parking assistance system 15th and / or the motor vehicle equipped with it 4th furthermore has a navigation system, which can be at least a part of the server device. The navigation system is designed in particular as a satellite navigation system (for example GPS - Global Positioning System), which is preferably installed in the motor vehicle 4th is integrated. Accordingly, it is then provided that the navigation system for data transmission with the parking assistance system 15th , in particular is coupled or can be coupled to the control device.

Based 6th which shows a process scheme in the form of a flowchart to illustrate the method for parking the motor vehicle 4th steps of the method are explained. The steps can differ from the following description in a different order - no mandatory order can be derived from the numbering of the steps (reference symbols and “first”, “second”, “third” etc.), it is only used for simple description . Furthermore, the method can have further steps that are not explicitly mentioned herein. It is provided that the parking assistance system 15th is designed to carry out the steps of the method.

The method includes a first step 27 , in which an environment detection or detection, for example by means of the detection device 17th , he follows. In a further step 28 , there is a classification of the objects that were captured or detected in the course of the environment detection (for example by sensors). Based on the results, which for example the control device due to the execution of the steps 27 , 28 issues or receives in a further step 29 a parking space suitable for parking is recognized.

The method further comprises a fourth step 30th , the - as well as the steps explained below 31 and 32 - at the same time as the steps 27 , 28 , 29 can take place but do not have to. In the fourth step 30th is a determination of the vehicle's own position 4th made, preferably by means of the navigation system. In the fifth step 31 becomes the own position from the fourth step 30th the server facility 26th provided, about sent. In the method it can then be provided that - for example in a sixth step 32 - based on the vehicle's own position 4th the parking assistance system 15th information is conveyed about whether the (designated) parking space, for example one of the parking spaces 2 , 3 , to the physical barrier 10 and / or the stopping ban 9 adjoins. This can in particular be provided to the control device by the server device 26th sends the information to the control device or in which the control device sends the corresponding information from the server device 26th retrieves.

It is a seventh step further 33 provided, in particular, to the third step 29 and / or to the sixth step 32 can connect. In this seventh step 33 it is evaluated, in particular by means of the control device, whether the (designated) parking space, for example one of the parking spaces 2 , 3 , to the physical barrier 10 and / or the stopping ban 9 adjoins. This is where the sensors come in, in particular 19th the detection device 17th for use, for example a traffic sign recognition of the motor vehicle 4th or the parking assistance system 15th .

The method also has a decision step - an eighth step, for example 34 - on, in the course of which it is decided whether the restricted area 21 in the (designated) parking lot, for example one of the parking lots 2 , 3 , sensible or necessary for the particularly efficient or parking space-efficient use of the parking space 1 is.

After this decision is in the eighth step 34 a decision result suggests that the restricted area 21 should not or must not be used, takes place in a further, approximately ninth step 35 a determination of a parking process, wherein the designated positional orientation of the motor vehicle 4th based on the objects in the vicinity of the motor vehicle 4th or in the vicinity of the corresponding parking lot 2 , 3 (for example the neighboring vehicle 6th , Curbs 16 , Walls, etc.).

After the decision (step 34 ) a different decision result, that the restricted area 21 Should or must be used for space-efficient parking, takes place in a further, approximately tenth step 36 defining the parking process, the designated positional orientation of the motor vehicle 4th both on the basis of the objects in the vicinity of the motor vehicle 4th or in the vicinity of the corresponding parking lot 2 , 3 (for example the neighboring vehicle 6th , Curbs 16 , Walls, etc.) as well as based on the restricted area 21 he follows.

On the ninth step 35 or at the tenth step 36 closes (directly or indirectly) an eleventh step 37 in which the motor vehicle 4th by means of the parking assistance system 15th in the corresponding parking lot 2 , 3 is maneuvered into and there - depending on whether the restricted area 21 is used or non-positionally aligned in a final parking end position. This is preferably done in a highly automatic, fully automatic and / or autonomous manner, so that the driver of the motor vehicle 4th is at least partially relieved of the driving task of parking. For this purpose, the motor vehicle is correspondingly designed to be at least partially highly or fully automatic and / or autonomous to operate or move.

List of reference symbols

1

Parking space

2

Parallel parking

3

Cross parking lot

4th

Motor vehicle

5

Neighboring parking lot

6th

Neighboring vehicle

7th

Longitudinal extension

8th

first end of the parking lot

9

No stopping

10

physical barrier

11

second end of the parking lot

12th

first end of the motor vehicle

13th

unusable parking space

14th

Longitudinal extension of the parking area

15th

Parking assistance system

16

Curb

17th

Detection device

18th

Standard spacing

19th

Sensors

20th

Longitudinal park extension

21

Restricted area

22nd

Lock longitudinal extension

23

second end of the motor vehicle

24

Longitudinal extension

25th

third motor vehicle

26th

Server setup

27

Process step

28

Process step

29

Process step

30th

Process step

31

Process step

32

Process step

33

Process step

34

Process step

35

Process step

36

Process step

37

Process step

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 102009001316 A1 [0005]
• DE 102012215218 A1 [0008]
• DE 102018111522 A1 [0008]

Claims (10)

Parking assistance system (15) for parking a motor vehicle (4), with a control device and a detection device (17), by means of which a parking space (1, 2, 3) permitted for the motor vehicle (4), which at one of its ends (8, 11 ) is limited by a barrier (6, 9, 10), is at least partially detectable and corresponding parking space data can be generated, which can be provided to the control device, characterized in that a restricted area (21) within the permitted parking space by means of the control device is dependent on the parking space data (1, 2, 3) can be arranged, as a result of which the motor vehicle (4) can be positioned in the permitted parking space (1, 2, 3) on the blocked area (21). Parking assistance system according to Claim 1 , characterized in that the motor vehicle (4) can be positioned in the permitted parking space (1, 2, 3) on the restricted area (21) and on the barrier (6, 9, 10). Parking assistance system (15) according to Claim 1 or 2 , characterized in that if the restricted area (21) is present, the positional alignment of the motor vehicle (4) for parking in the permitted parking space (1, 2, 3) can be determined by means of the control device based on the restricted area (21). Parking assistance system (15) according to one of the preceding claims, characterized in that the detection device (17) has a sensor system (19) by means of which the permitted parking space (1, 2, 3) can at least partially be detected and corresponding sensor data can be provided to the control device, by means of which it can be determined on the basis of the sensor data whether the restricted area (21) is to be arranged within the permitted parking space (1, 2, 3). Parking assistance system (15) according to one of the preceding claims, characterized in that information about the restricted area (21) can be made available to a user of the motor vehicle (4) by means of the control device. Parking assistance system (15) according to one of the preceding claims, characterized in that the restricted area (21) has a partial area which results from a parking situation of a neighboring vehicle (6) parked adjacent to the permitted parking space (1, 2, 3), which then the positional alignment of the motor vehicle (4) is at least partially formed by a distance between the motor vehicle (4) and the neighboring vehicle (6). Parking assistance system (15) according to one of the preceding claims, characterized in that the restricted area (21) has a partial area which results from a stopping prohibition (10) adjacent to the permitted parking space (1, 2, 3), which then results in the positional alignment of the motor vehicle (4) is at least partially formed by a distance between the motor vehicle (4) and a second end (11) of the parking space (1, 2, 3). Parking assistance system (15) according to one of the preceding claims, characterized in that the control device can be provided with server data by means of a server device (26), on the basis of which it can be determined whether the restricted area (21) is to be arranged within the permitted parking space (1, 2, 3) . Method for parking a motor vehicle (4) by means of one according to one of the Claims 1 until 8th trained parking assistance system (15), wherein in the method a detection device (17) a permitted parking space (1, 2, 3), which is delimited at one of its ends (8, 11) by a barrier (6, 9, 10) for the motor vehicle (4) is at least partially recorded and corresponding parking space data is generated, which is provided to a control device, characterized in that a restricted area (21) is arranged within the permitted parking space (1, 2, 3) by means of the control device as a function of the parking space data, so that the motor vehicle (4) is positioned in the permitted parking space (1, 2, 3) in the restricted area (21). Motor vehicle (4) with one according to one of the Claims 1 until 8th trained parking assistance system (15).

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