DE102020213321A1 - Method for detecting an object in an area surrounding a motor vehicle and assistance system - Google Patents

Abstract

The invention specifies a method (100) for detecting an object (2, 3, 4, 5) in an environment of a motor vehicle (1) by means of an assistance system (7) of the motor vehicle (1), in which the motor vehicle (1) relatively is moved to the object (2, 3, 4, 5) and ultrasonic signals are emitted with an ultrasonic sensor (8) of the assistance system. Echoes (10, 11, 12, 13) of the ultrasonic signals reflected by the object (2, 3, 4, 5) are received, with a control device using the received echoes (10, 11, 12, 13) to determine respective distance values and the object (2, 3, 4, 5) is detected based on the distance values of the echoes (10, 11, 12, 13). According to the invention, a respective difference between the distance values of two successive echoes (10, 11, 12, 13) is formed for a plurality of temporally successive echoes (10, 11, 12, 13), the object (2, 3, 4, 5) is detected based on the formed differences. The invention also specifies an assistance system (7) with an ultrasonic sensor (8) and a control device, which is designed to carry out such a method (100).

Description

The invention relates to a method for detecting an object in the surroundings of a motor vehicle, in particular for locating a parking space, using an assistance system of the motor vehicle, in which the motor vehicle is moved relative to the object and ultrasonic signals are emitted with an ultrasonic sensor of the assistance system. In this case, echoes of the ultrasonic signals reflected by the object are received and respective distance values are determined by means of a control device on the basis of the received echoes, with the object being detected based on the distance values of the echoes. The invention also relates to an assistance system with an ultrasonic sensor and a control device, which is designed to carry out such a method.

Methods and corresponding assistance systems are already known from the prior art, which provide the driver with various information about the surroundings of the motor vehicle using ultrasonic sensors and support him when maneuvering the motor vehicle and in particular when locating a parking space or a free parking space and when parking the vehicle support motor vehicle in the parking space. For example, there are assistance systems that are equipped with parking space localization and show the driver whether there is a parking space in the immediate vicinity of the motor vehicle or whether an existing parking space is large enough to park the motor vehicle in it. For reliable localization and dimensioning of a parking space, such assistance systems require information about objects in the vicinity of the vehicle, which can be formed, for example, by parked vehicles, boards, walls and walls.

For this purpose, the motor vehicle is usually moved past the objects, with a measurement cycle being carried out at predetermined points in time while it is being moved past. With each measuring cycle, an ultrasonic signal is emitted with an ultrasonic sensor. For this purpose, a membrane of the ultrasonic sensor is usually excited to mechanical vibrations with a corresponding transducer element. This ultrasonic signal is reflected by the objects and can be received again as an echo by a receiver device of the ultrasonic sensor. A distance between the motor vehicle and the objects can be determined on the basis of the transit time difference between the time of transmission and the time of reception, taking into account the propagation speed of the ultrasonic signal.

A method and an assistance system of the type mentioned are for example in DE 10 2005 044 050 A1 disclosed. When a motor vehicle drives past objects located at the side of the motor vehicle and spaced apart from one another, ultrasonic signals are emitted by means of an ultrasonic sensor of the motor vehicle and the echoes of the ultrasonic signals reflected by the objects are received. Based on the received echoes, respective distance values are determined and, based on this, the objects and ultimately a parking space are determined.

The present invention is based on the object of specifying a method for detecting an object in the vicinity of a motor vehicle and a corresponding assistance system which enables the object to be detected as reliably as possible and, based on this, in particular a sufficiently precise localization of a parking space.

The above object is achieved by the entire teaching of claim 1 and the independent claim 12. Expedient embodiments and developments of the invention are set out in the dependent claims and the following description.

In the method according to the invention for detecting an object in the surroundings of a motor vehicle, in particular for locating a parking space, using an assistance system of the motor vehicle, the motor vehicle is moved relative to the object and ultrasonic signals are emitted with an ultrasonic sensor of the assistance system. In this case, echoes of the ultrasonic signals reflected by the object are received, with the respective distance values being determined by means of a control device on the basis of the received echoes. The object is detected based on the distance values of the echoes.

According to the invention, a respective difference between the distance values of two consecutive echoes is formed for a plurality of temporally consecutive echoes, with the object being detected on the basis of the differences formed.

The invention is initially based on the consideration that a parking space is regularly delimited by certain objects which usually have a rectangular shape, namely parked vehicles, curbs, walls and walls. The invention is also based on the consideration that the distance values of the ultrasonic signals or echoes reflected by the outer surface of such an object adjoining the motor vehicle essentially strongly correlate with one another relate. In this case, therefore, a distance value determined using an echo does not differ or differs only slightly from a distance value determined using an echo that is closest in time. In other words, if the echoes are entered on the basis of their respective distance value in a map that describes the relative position of the motor vehicle to such an object and is plotted over two mutually orthogonal spatial directions, the corresponding echoes are essentially arranged along a line. If several temporally consecutive or adjacent echoes are evaluated with regard to their respective distance values or an arrangement essentially along a line, a corresponding object can be detected extremely reliably on this basis. The invention therefore provides that a respective difference between the distance values of two successive echoes is formed for a plurality of temporally successive echoes, and that the object is detected on the basis of the differences formed.

The configuration according to the invention has the advantage that it provides a method by means of which an object can be reliably detected and, based on this, in particular a sufficiently precise localization of a parking space is possible.

In the context of this application, detecting the object is understood to mean recognizing an object in the vicinity of the motor vehicle that is relevant, in particular for locating a parking space.

The ultrasonic sensor is preferably designed as a so-called one-dimensional (1D) ultrasonic sensor, ie as an ultrasonic sensor for determining distance.

The ultrasonic sensor can be arranged, for example, in or behind a bumper of the motor vehicle. As an alternative to this, the ultrasonic sensor can be arranged in or behind a body component, for example a door of the motor vehicle.

In an advantageous embodiment, the absolute value of the respective difference is compared with a predefined limit value, with that difference being set to a difference value of 0, the absolute value of which is smaller than the limit value. In this way, certain tolerances can be taken into account and an object can still be detected in the event of tolerable deviations in the differences. In particular, an object designed as a parked vehicle can be detected that is not parked exactly parallel to the direction of movement of the motor vehicle, whose outer surface, which reflects the ultrasonic signals, is therefore not aligned exactly parallel to the direction of movement of the motor vehicle, but at a certain angle to the direction of movement of the motor vehicle.

Accordingly, the limit value is advantageously predetermined such that an object is detected whose outer surface, which reflects the ultrasonic signals, is oriented at an angle of up to 10°, preferably up to 5°, to the direction of movement of the motor vehicle. In a further advantageous embodiment, the limit value is alternatively or additionally predetermined as a function of technical properties or parameters of the ultrasonic sensor and/or a current speed of the motor vehicle and/or a temperature in the area surrounding the motor vehicle and/or humidity in the area surrounding the motor vehicle and/or an installation height of the ultrasonic sensor on the motor vehicle. Since the temperature in and around the motor vehicle has a noticeable effect on the airborne sound insulation, the temperature can be recorded using an appropriate sensor and the threshold value can be adjusted accordingly. The same applies to the humidity. This leads to an even more reliable detection of the object.

Advantageously, the limit is predetermined by applying a Monte Carlo simulation. For example, measurements are simulated with an object designed as a parked vehicle, which is aligned at an angle of 5° in relation to the direction of movement of the motor vehicle or whose outer surface, which reflects the ultrasonic signals, is at an angle of 5° in relation to the direction of movement of the motor vehicle is aligned. In addition, noise is added to these measurements on the basis of the properties or parameters to be found, for example, in a sensor data sheet of the ultrasonic sensor, and the differences and the distribution (histogram) of the differences are calculated. The limit value is then determined based on this. Alternatively, the limit value can be determined based on real measurements and the empirical distribution (histogram) of the differences or by applying an analytical method.

In a further advantageous embodiment, the sign of the respective difference is determined, with the object being detected using the sign. The sign includes in particular the sign characterizing a negative number, ie a negative differential value as negative, ie less than 0, in particular the minus sign, which denotes a positive number, ie a positive diff reference value as positive, ie greater than 0, characters identifying, in particular plus sign, as well as the character identifying the number 0, in particular no leading sign. A detection of the object based on the respective signs of the differences and a corresponding algorithm are extremely robust and such an algorithm can be carried out with relatively little computing power.

In a further advantageous embodiment, a sign value is determined by applying a signum function to the respective difference, the sign value +1 being determined for a positive difference value, the sign value -1 for a negative difference value and the sign value 0 for a difference value 0.

In a further advantageous embodiment, the sign value of the difference between the distance values of the two consecutive echoes is assigned to the later echo of the two echoes, the object being detected when the number of consecutive echoes with assigned sign value 0 exceeds a predetermined threshold value. The reliability of the detection is further increased by the comparison with a predetermined threshold value for the number of temporally successive echoes with an assigned sign value of 0. If this condition is met, the multiple consecutive echoes are classified as echoes arranged along a sufficiently long line and the object is detected based on this. If, for example, there are only two temporally consecutive echoes with an assigned sign value of 0, it can be assumed that these echoes do not originate from an object to be detected, which can be taken into account by defining a corresponding threshold value. The knowledge that the objects to be detected, in particular the objects that regularly delimit a parking space, usually have a rectangular shape is taken into account here, and that the outer surface of such an object adjoining the motor vehicle or the outer surface of the object, which the ultrasonic signals reflected, a certain minimum number of reflected ultrasonic signals or echoes can be received.

In a further advantageous embodiment, the object is detected if, in addition, the temporally last echo of the plurality of temporally successive echoes has an assigned sign value +1 or an assigned sign value -1. Such an echo is classified as an echo not (longer) along or on the line and indicates in particular an ultrasonic signal not (longer) reflected by the object or by the outer surface of the object adjoining the motor vehicle and thus to the end of the object or its outer surface. This procedure makes it possible to implement a particularly robust and reliable algorithm for detecting the object.

In a further advantageous embodiment, after the respective difference has been formed, a median filter or a Gaussian filter is first applied to the respective difference. In the subsequent method steps, the difference then relates to the correspondingly filtered difference. Such filtering in particular compensates for variances in the errors in the measured or determined distance values.

In a further advantageous embodiment, a parking space delimited by the object is recognized on the basis of the detected object. The parking space is expediently identified based on the first and/or last echo of the plurality of temporally successive echoes with an assigned sign value of 0, which, seen in the direction of travel of the motor vehicle, represent in particular the start area or end area of the outer surface of the object adjoining the motor vehicle.

In a further advantageous embodiment, the object is detected as a vehicle, a curb, a wall or a brick wall. Such objects regularly delimit a parking space and usually have an essentially rectangular shape, so that these objects and consequently a parking space can be detected based on the differences formed between the distance values of a plurality of temporally consecutive echoes.

In a further advantageous embodiment, the method is used in an assisted and/or semi-automatic and/or automatic parking method.

Furthermore, the present invention includes an assistance system with an ultrasonic sensor and a control device. The control device is designed to carry out the method according to the invention.

The ultrasonic sensor is preferably designed as a so-called one-dimensional (1D) ultrasonic sensor, ie as an ultrasonic sensor for determining distance.

The ultrasonic sensor can be arranged, for example, in or behind a bumper of the motor vehicle. Alternatively, the Ultra sound sensor, be arranged in or behind a body part, for example a door of the motor vehicle.

The assistance system advantageously includes a number of ultrasonic sensors, in particular a number of one-dimensional ultrasonic sensors.

The advantages and preferred embodiments described for the method according to the invention also apply correspondingly to the assistance system according to the invention.

• 1 in einer schematischen Darstellung ein Kraftfahrzeug zur Ausführung des erfindungsgemäßen Verfahrens in einer Vorbeifahrt an Objekten in einer Umgebung des Kraftfahrzeugs,
• 2 ein schematisches Diagramm, das die Echos der Objekte in der Umgebung des Kraftfahrzeugs gemäß 1 entlang einer vom Kraftfahrzeug zurückgelegten Strecke darstellt,
• 3 ein Ablaufdiagramm eines Verfahrens zum Erfassen eines Objekts in der Umgebung des Kraftfahrzeugs gemäß 1,
• 4 in einer schematischen Darstellung die Situation gemäß 1 nach Ausführung des erfindungsgemäßen Verfahrens, und
• 5 ein schematisches Diagramm, das die den Echos gem. 2 zugeordneten gefilterten Differenzen und Vorzeichenwerte darstellt.

Exemplary embodiments of the invention are explained in more detail below with reference to a drawing. Show in it:

• 1 in a schematic representation of a motor vehicle for carrying out the method according to the invention when driving past objects in an area surrounding the motor vehicle,
• 2 a schematic diagram corresponding to the echoes of the objects in the vicinity of the motor vehicle 1 represents along a route covered by the motor vehicle,
• 3 a flowchart of a method for detecting an object in the area surrounding the motor vehicle according to 1 ,
• 4 in a schematic representation the situation according to 1 after carrying out the method according to the invention, and
• 5 a schematic diagram showing the echoes acc. 2 associated filtered differences and sign values.

Corresponding parts are always provided with the same reference symbols in all figures.

In 1 1 is a schematic representation of a motor vehicle 1 for carrying out method 100 according to the invention as it drives past objects 2, 3, 4, 5 in an area surrounding motor vehicle 1, with the arrow indicating travel direction 6 of motor vehicle 1. The motor vehicle 1 has an assistance system 7 with an ultrasonic sensor 8 with a specific detection range 9 and a control device (not shown).

A parked first vehicle 2, a spaced apart parked second vehicle 3 and a spaced apart parked third vehicle 4 are located in the direction of travel 6 to the side of the motor vehicle 1 as objects in this order. In addition, a curb extends in the direction of travel 6 along a certain section 5.

The motor vehicle 1 is moving in the direction of travel 6 relative to these objects 2, 3, 4, 5, with the ultrasonic sensor 8 of the assistance system 7 transmitting ultrasonic signals and echoes 10, 11, 12, 13 of the objects 2, 3, 4 , 5 reflected ultrasonic signals are received. Based on the echoes 10, 11, 12, 13 recorded in this way, respective distance values are then determined by means of the control device.

In 2 a schematic diagram is shown which corresponds to the received echoes 10, 11, 12, 13 of the objects 2, 3, 4, 5 in the vicinity of the motor vehicle 1 1 represents along a route covered by the motor vehicle 1. The diagram depicts the distance covered by the motor vehicle 1 on the abscissa and the determined distance values of the received echoes 10, 11, 12, 13 on the ordinate.

Both the echoes 10 representing the first vehicle 2, the echoes 11 representing the second vehicle 3, the echoes 12 representing the third vehicle 4 and the echoes 13 representing the curb 5 can be seen.

3 FIG. 1 shows a flowchart of a method 100 for detecting an object 2, 3, 4, 5 in the area surrounding motor vehicle 1 according to FIG 1 . The method 100 is explained as an example for the third vehicle 4, the motor vehicle 1 being moved relative to the third vehicle 4, and the ultrasonic sensor 8 transmitting ultrasonic signals and receiving echoes 12 of the ultrasonic signals reflected by the third vehicle 4 and determining the respective distance values will.

In a step 101, a type of initialization takes place. If necessary, all echoes 10, 11, 12, 13 still present or stored from a previous process are deleted and a limit value for an absolute value of a difference and a threshold value for a number of temporally consecutive echoes with an assigned sign value 0 are defined.

For the explanation of the following steps, the assumption is made that there are already several temporally consecutive echoes 12 originating from the third vehicle 4, more precisely from the lateral outer surface of the third vehicle 4 facing the motor vehicle 1, which after step 101 of the initialization using of the subsequent steps 102 to 110 have been processed successively, that is to say that steps 102 to 110 have already been run through several times after step 101 of initialization.

In a step 102, another echo 12 that is immediately next in time is now selected for processing.

Subsequently, in a step 103, a difference is formed between the distance values of the currently added echo 12 and the echo 12 immediately preceding in time.

In a next step 104, a median filter or alternatively a Gaussian filter is applied to the difference formed. This compensates for variances in the errors in the measured or determined distance values.

In a step 105, the absolute value of the filtered difference is then compared with the predetermined limit value. As a result, certain tolerances can be taken into account and an object can still be detected in the event of tolerable deviations in the filtered differences.

If the absolute value of the filtered difference is smaller than the limit value, the filtered difference is set to a difference value of 0 in a step 106 .

In a next step 107, a sign value is determined by applying a signum function to the filtered difference. The sign value +1 is defined for a positive difference value, the sign value -1 for a negative difference value and the sign value 0 for a difference value 0. The corresponding sign value is assigned to the filtered difference and the echo 12.

Then, in a step 108, it is checked whether the filtered difference has the sign value 0. If the filtered difference has the sign value 0, the current echo 12 is processed in a step 109 in conjunction with the previously processed, temporally consecutive echoes 12 from the third vehicle 4, more precisely from the lateral outer surface of the third vehicle 4 facing the motor vehicle 1 as echoes 12 arranged along or in a line and therefore classified as an echo 12 originating from the lateral outer surface of the third vehicle 4 facing the motor vehicle 1 .

This is based on the finding that the distance values of the echoes 12 reflected by the outer surface of the third vehicle 4 adjacent to the motor vehicle 1 correlate strongly with one another, that is, that the distance values of the corresponding echoes 12 do not differ from one another or differ only slightly from one another. This fact is also based on the in the 2 diagram shown. The echoes 12 resulting from the lateral outer surface of the third vehicle 4 adjoining motor vehicle 1 are marked here by a first rectangle 14 for illustration purposes, i.e. the echoes 12 located within this rectangle 14 result from the lateral outer surface of the third vehicle adjoining motor vehicle 1 third vehicle 4. These echoes 12 are essentially arranged along an approximately horizontal line.

In a step 110, a check is then made as to whether the number of echoes 12 which are now present in chronological succession and have an assigned sign value of 0 exceeds the threshold value. If the threshold value is not exceeded, the method 100 goes back to step 102 and the method steps described above are thus run through for a further, chronologically next echo 12 .

In the event that the threshold value is exceeded, the current echo 12 together with the previously processed, temporally successive echoes 12 are classified as echoes 12 arranged along a basically sufficiently long line. This means that there is a sufficiently large (minimum) number of temporally consecutive echoes 12 with an assigned sign value of 0, which in principle indicate an object to be detected. However, the object or its corresponding outer surface could not have been completely measured at this point in time or, to put it another way, using the currently already processed, temporally successive echoes 12 . The method 100 therefore goes back to step 102, as a result of which the method steps described above are run through for a further echo 12 which is next in time.

If, on the other hand, it is determined in step 108 that the filtered difference of the current echo 12 does not have the sign value 0, but rather the sign value −1 or +1, then the method 100 proceeds from step 108 directly to step 112 . Such an echo 12 is classified as an echo 12 not (or no longer) arranged along or on the line and indicates an ultrasonic signal not (or no longer) reflected by the vehicle 4 or by the lateral outer surface of the vehicle 4 facing the motor vehicle 1 and thus towards the end of the vehicle 4 or its corresponding outer surface. This procedure enables the implementation of a particularly robust and reliable algorithm for detecting the vehicle 4.

In step 112, a check is made as to whether the number of previously processed, chronologically consecutive echoes 12 with an associated sign value 0 exceeds the threshold value.

If the threshold value is exceeded, in a step 113 the previously processed, chronologically consecutive echoes 12 with an assigned sign value 0 are classified as echoes 12 arranged along a sufficiently long line and based on this the third vehicle 4 is detected and this as a third Line 15 issued.

In a next step 114, all existing or stored echoes 12 are deleted and the method goes back to step 102. The further method steps are then run through again in accordance with the above statements.

The method 100 explained here as an example for detecting the third vehicle 4 is used accordingly for detecting the first vehicle 2 , the second vehicle 3 and the curb 5 . The specified method steps are therefore run through for all recorded echoes 10, 11, 12, 13. Based on this method 100, the first vehicle 2, the second vehicle 3, the third vehicle 4 and the curb 5 can thus be reliably detected as a respective line 15, 16, 17, 18 and output accordingly, and parking spaces 19, 20 can be located based thereon .

In 4 is a schematic representation of the situation according to 1 shown after performing the method 100 of the present invention. The horizontal lines 15, 16, 17, 18 representing the detected objects 2, 3, 4, 5 can be seen here. The first line 16 represents the first vehicle 2 or the outer surface of the first vehicle 2 adjoining the motor vehicle 1 as it drives past, the second line 17 represents the second vehicle 3 or the outer surface of the second vehicle 1 as it drives past Vehicle 3, the third line 15 represents the third vehicle 4 or the outer surface of the third vehicle 4 adjoining the motor vehicle 1 when it drives past, and the fourth line 18 represents the curb 5.

Based on the detected second vehicle 3, the detected third vehicle 4 and the detected curb 5 or on the corresponding lines 17, 15, 18, a first parking space 19 was identified and its dimensions were determined. On the basis of the detected first vehicle 2 and the detected second vehicle 3 or the corresponding lines 16, 17, a second parking space 20 was also identified and its dimensions determined. In addition, the parking spaces 19, 20 were localized as parking spaces 19, 20 suitable for the motor vehicle 1 on the basis of a subsequent comparison of the determined dimensions of the parking spaces 19, 20 with the dimensions of the motor vehicle 1 and the space required for maneuvering.

In 5 Fig. 12 is a schematic diagram showing the echoes 10, 11, 12, 13 acc. 2 associated filtered differences and sign values along the route covered by the motor vehicle 1. The respective filtered differences are shown with a square box and the respective sign values with a cross ("x"). The filtered differences and the corresponding sign values of the echoes 12 resulting from the lateral outer surface of the third vehicle 4 adjoining the motor vehicle 1 are again marked here by a second rectangle 14a for the purpose of illustration. The corresponding sign values are arranged along an approximately horizontal line. A detection of the vehicle 4 or the corresponding echoes 12 using the respective sign values of the differences is very robust and such an algorithm can be executed with relatively little computing power.

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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 102005044050 A1 [0004]

Claims (12)

Method (100) for detecting an object (2, 3, 4, 5) in the surroundings of a motor vehicle (1), in particular for locating a parking space (19, 20), using an assistance system (7) of the motor vehicle (1). which the motor vehicle (1) is moved relative to the object (2, 3, 4, 5) and ultrasonic signals are emitted with an ultrasonic sensor (8) of the assistance system, with echoes (10, 11, 12, 13) of the object ( 2, 3, 4, 5) reflected ultrasonic signals are received, with a control device using the received echoes (10, 11, 12, 13) to determine respective distance values and the object (2, 3, 4, 5) based on the distance values of the echoes (10, 11, 12, 13) is detected, characterized in that a respective difference between the distance values of two successive echoes (10, 11, 12, 13) is formed, and that the object (2, 3, 4, 5) is detected based on the formed differences. Method (100) according to claim 1 , characterized in that the absolute value of the respective difference is compared with a predetermined limit value, and that that difference is set to a difference value 0, the absolute value of which is smaller than the limit value. Method (100) according to claim 2 , characterized in that the limit value as a function of a current speed of the motor vehicle (1) and/or a temperature in the area surrounding the motor vehicle (1) and/or an air humidity in the area surrounding the motor vehicle (1) and/or an installation height of the Ultrasonic sensor (8) on the motor vehicle (1) is predetermined. Method (100) according to one of the preceding claims, characterized in that the sign of the respective difference is determined and that the object (2, 3, 4, 5) is detected on the basis of the sign. Method (100) according to claim 4 , characterized in that a sign value is determined by applying a signum function to the respective difference, and that the sign value +1 is determined for a positive difference value, the sign value -1 for a negative difference value and the sign value 0 for the difference value 0. Method (100) according to claim 5 , characterized in that the sign value of the difference between the distance values of the two consecutive echoes (10, 11, 12, 13) corresponds to the later echo (10, 11, 12, 13) of the two echoes (10, 11, 12, 13 ) is assigned, and that the object (2, 3, 4, 5) is detected when the number of temporally consecutive echoes (10, 11, 12, 13) with the assigned sign value 0 exceeds a predetermined threshold value. Method (100) according to claim 6 , characterized in that the object (2, 3, 4, 5) is detected if, in addition, the temporally last echo (10, 11, 12, 13) of the plurality of temporally successive echoes (10, 11, 12, 13) has an associated has a sign value of +1 or an associated sign value of -1. Method (100) according to one of the preceding claims, characterized in that after the respective difference has been formed, first a median filter or a Gaussian filter is applied to the respective difference. Method (100) according to one of the preceding claims, characterized in that a parking space (19, 20) delimited by the object (2, 3, 4, 5) is recognized on the basis of the detected object (2, 3, 4, 5). Method (100) according to one of the preceding claims, characterized in that the object (2, 3, 4, 5) is detected as a vehicle, a curb, a wall or a brick wall. Method (100) according to one of the preceding claims, characterized in that the method (100) is used in an assisted and/or semi-automatic and/or automatic parking method. Assistance system (7) with an ultrasonic sensor (8) and a control device, which is designed to carry out a method (100) according to one of the preceding claims.

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