EP3327698A1 - Method for assisting a driver of a motor vehicle when parking the motor vehicle in a parking lot, driver assistance system and motor vehicle - Google Patents

Abstract

The invention relates to a method for supporting a driver of a motor vehicle (1) when parking the motor vehicle (1) on a parking area (3) in a surrounding area (4) of the motor vehicle (1), wherein by means of an evaluation device (10) for determining the parking area (3) at least one parking area boundary (7) is detected by means of at least one sensor device (5) of the motor vehicle (1) detected from the surrounding area (4) sensor data, and a first reference to the parking area (3) in a on a display device ( 11) of the motor vehicle (1) (B3, B4, B5, B6, B7, B8) of the surrounding area (4) is displayed, wherein for the driver in the image (B3, B4, B5, B6, B7, B8) on the display device (11) for plausibility of the detected by the evaluation (10) parking area (3) a second indication is displayed, by which the driver the at least one parking area boundary (7), based on which the parking area (3) d By the evaluation device (10) is classified as such, is visualized for the driver. The invention also relates to a driver assistance system (2) and a motor vehicle (1).

Description

The invention relates to a method for supporting a driver of a motor vehicle when parking the motor vehicle on a parking area in an environmental area of the motor vehicle, wherein at least one parking area boundary is detected by means of an evaluation device for determining the parking area based on sensor data acquired from at least one sensor device of the motor vehicle from the surrounding area , and a first indication of the parking area is displayed in an image of the surrounding area displayed on a display device of the motor vehicle. The invention also relates to a driver assistance system and a motor vehicle.

It is already known from the prior art to provide driver assistance systems for motor vehicles, by means of which a driver of the motor vehicle can be assisted in guiding the motor vehicle. Such a driver assistance system can be, for example, a parking assistance system or parking assistant, which can assist the driver when parking the motor vehicle on a parking area or when parking the motor vehicle in a parking space.

To determine the parking area is from the DE 10 2014 111 011 A1 a method is known in which sensor data are provided by the surrounding area by means of at least one sensor device of the motor vehicle. Furthermore, at least one object in the surrounding area is detected and a spatial arrangement of the at least one object with respect to the motor vehicle is determined on the basis of the sensor data by means of an evaluation device of the motor vehicle. In addition, a position and / or an orientation of the parking area are determined on the basis of the determined spatial arrangement of the at least one object by means of the evaluation device.

In the DE 102 50 021 A1 A method of operating a display system in a vehicle to find a suitable parking space is shown. In this case, a parking space symbol is displayed in a current image of an environment of the vehicle on a screen that displays such an area in the current image symbolized to scale, which can be reached when parking starting from a current vehicle position.

Furthermore, in the EP 2 623 398 A1 discloses a method and a driver assistance system for determining a target position of a vehicle in a parking space. By means of a sensor arrangement, two-dimensional and three-dimensional environmental parameters of the parking space are determined, and an environmental map is created by means of an evaluation device based on the environmental parameters. Based on the two-dimensional environmental parameters, a provisional target position in the parking space is determined, which is corrected on the basis of the three-dimensional environmental parameters.

Parking area determinations by means of such already known methods can be unintuitive or incomprehensible for the driver since the driver is not informed about the procedure of the driver assistance system when determining the parking area.

It is an object of the present invention to provide a solution, as a driver can be supported particularly reliable and traceable for the driver in a parking operation.

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

According to one embodiment of a method according to the invention for supporting a driver of a motor vehicle when parking the motor vehicle on a parking area in an environmental area of the motor vehicle, at least one parking area boundary is detected by means of an evaluation device for determining the parking area based on sensor data acquired from the surrounding area by means of at least one sensor device of the motor vehicle. A first indication of the parking area can be displayed in an image of the surrounding area displayed on a display device of the motor vehicle. In particular, for the driver on the display device in the image for checking the plausibility of the parking area detected by the evaluation device, a second indication is displayed, by means of which the driver receives the at least one Parking area boundary, based on which the parking area is classified by the evaluation as such, is visualized for the driver.

In a method according to the invention for supporting a driver of a motor vehicle when parking the motor vehicle on a parking area in an environmental region of the motor vehicle, at least one parking area boundary is detected by means of an evaluation device for determining the parking area based on sensor data acquired from the surrounding area by means of at least one sensor device of the motor vehicle. A first indication of the parking area is displayed in an image of the surrounding area displayed on a display device of the motor vehicle. In addition, a second indication is displayed for the driver on the display device in the image for checking the plausibility of the parking area detected by the evaluation device, by means of which the driver can visualize the at least one parking area boundary on the basis of which the parking area is classified as such by the evaluation device becomes.

By means of the method, therefore, a driver assistance system can be realized which can assist the driver when parking the motor vehicle on the parking area, ie when parking in a parking space. For this purpose, the parking area is first recognized on the basis of the sensor data of the at least one sensor device. In particular, the parking area boundaries are detected on the basis of the sensor data, and the parking area is defined or classified as such on the basis of the parking area boundaries. In particular, at least two parking area boundaries are recognized by which geometric parameters of the parking space, for example, a starting point, an end point, a width, a depth and an orientation of the parking space to a roadway of the motor vehicle, can be determined. The parking area may be a longitudinal parking space, a transverse parking space or an oblique space parking space. After detection of the parking space, the driver can be informed by means of the display device about the presence of the parking area in the surrounding area. For this purpose, the first reference to the parking space is displayed in the image of the surrounding area of the motor vehicle. The display device may be, for example, a head-up display device and / or a touch-sensitive screen in an interior or a passenger compartment of the motor vehicle.

The parking area detected by the evaluation device can be selected by the driver for a parking procedure to be carried out. For this purpose, the driver can perform a control gesture. For example, he may be the one on the touch-sensitive Touch the screen shown first note on the parking space and thus select the parking space. Based on this selection, the driver can be assisted by the driver assistance system when parking the motor vehicle on the parking area. For example, the motor vehicle can be parked in the parking area at least semi-autonomously. For this purpose, a parking trajectory is determined by the driver assistance system, along which moves the motor vehicle for parking in the parking space. This parking trajectory can also be displayed in the image of the surrounding area on the display device.

In addition, the driver is informed in the image of the second indication by which the driver is informed of the parking area boundary on the basis of which the evaluation device has classified the parking area as such. The driver is thus visualized which object in the surrounding area or which environment information has been identified by the evaluation device as the at least one parking area boundary. The driver is thus informed about the procedure of the evaluation device, ie the driver assistance system, in the determination of the parking area. As a result, an operation of the driver assistance system in parking area recognition can be visualized and made plausible for the driver. Namely, if, for example, an object in the surrounding area is erroneously identified as a parking area boundary by the evaluator, and an area adjacent to the object in the surrounding area is erroneously recognized as a parking area, it is at least traceable to the driver by issuing the second clue based on which environment information the evaluation device has recognized and classified the area as a parking area. The method can thus advantageously provide a particularly user-friendly and intuitive driver assistance system.

Preferably, at least one road marking on a roadway of the motor vehicle is recognized as the parking area boundary on the basis of the sensor data. In particular, the at least one lane marking is detected on the basis of camera data of at least one vehicle-side camera. In the camera data or image data, which are detected by the at least one, designed as a camera sensor device, the lane markings on the roadway of the motor vehicle can be detected. The road markings are in particular two-dimensional objects in the form of lines on the road. The lane markings can be recognized, for example, by the evaluation device via contrast detection algorithms. After recognizing the lane marking is in the image in addition to the first, on the Parking area indicative note issued the second note, which informs the driver that the parking area was recognized and classified as such based on the lane marking.

In particular, in the event that only one lane marking, so for example only one line was detected, this one line can be used for determining the orientation of the parking space. Then, for example, in the image on the display device, a warning signal is output, which informs the driver, for example, that based on the road marking only the orientation of the parking space can be detected. The indication signal may be a pictogram, for example.

In an advantageous development of the invention, a lane marking detected on the basis of the camera data is only recognized by the evaluation device as a parking area boundary if a course of the lane marking corresponds to a predetermined profile profile. The invention is based on the knowledge that different road markings exist, which can limit parking areas. Such pavement markings serving as parking area boundaries may, for example, have a straight, a T-shaped, an L-shaped course, etc. In order to be able to reliably identify the lane markings recognized in the camera data as parking area boundaries, these recognized lane markings are compared with predetermined course profiles. For this purpose, for example, different course profiles can be stored in a vehicle-mounted storage device. In addition, based on the course profiles, an orientation of the parking space to the roadway of the motor vehicle can be determined. It can therefore be recognized, for example, whether it is, for example, a longitudinal parking space, a transverse parking space or an oblique parking space gap.

Also, based on the sensor data, a three-dimensional object can be recognized as the parking area boundary. Such a three-dimensional object may be another vehicle, a tree, a bicycle or the like. For this purpose, also predetermined object profiles can be stored in the vehicle-side storage device, so that a recognized, three-dimensional object can be additionally classified. The three-dimensional objects can be detected on the basis of the camera data and / or on the basis of other sensor data, for example a radar sensor, ultrasound sensor or laser scanner of the motor vehicle.

On the basis of the detected parking space boundaries and the parking space geometry determined therefrom, the parking assistance trajectory can then be determined by the driver assistance system in the parking space. If, for example, a three-dimensional object and a lane marking were detected which limit the parking space, the parking trajectory and a position of the motor vehicle in the parking space are adapted in particular to a position of the object. This is particularly advantageous if the object, for example another vehicle, is parked on the lane marking, and thus projects at least partially into the parking area of the motor vehicle bounded by the lane markings. In this case, the parking trajectory can be determined such that the motor vehicle is oriented in the parking position along the parking area boundary, but is aligned at a distance from the other vehicle. When determining the parking trajectory, it can also be provided that the driver can select whether the motor vehicle is to be parked forwards or backwards in the parking space.

According to an embodiment of the method, based on the sensor data, a model of the surrounding area is created and displayed as the image of the surrounding area on the display, wherein as the first reference a model of the parking space and as the second indication a model of the at least one parking area boundary displayed in the image becomes. According to this embodiment, the image shows a virtual environment area which is artificially generated and displayed on the display device. For modeling the surrounding area, a plurality of objects, for example, obstacles, the parking area boundaries, other lane markings, etc., can be detected by means of vehicle-side sensor devices in the surrounding area. In addition, orientations of the objects with respect to the motor vehicle can be determined on the basis of the sensor data, and based on the objects an environment map can be created which describes the environment region of the motor vehicle to scale. Based on the environment map, the model of the surrounding area can then be created, in which the objects are displayed to scale as models or virtual objects in the image.

The first indication of the parking area may, for example, be represented as a rectangular area with a parking space symbol in the image and thus symbolizes the parking area in the image of the surrounding area. The second indication of the parking area boundary formed as lane markings may, for example, be shown as a line in the image, which in particular has a course which corresponds to a real course of the lane markings in the surrounding area. The second reference to the parking area boundary formed as an object may, for example, be represented as a model or symbol of the object in the image which describes the object. The image provided to the driver is thus particularly realistic.

It can be provided that the at least one modeled and displayed parking area boundary, on the basis of which the parking area is identified as such, is additionally optically marked in the image of the surrounding area. In particular, the parking area boundary for the optical marking is highlighted in color and / or displayed flashing and / or framed. This is particularly advantageous if the evaluation device has detected a plurality of parking area boundaries in the surrounding area on the basis of the sensor data and these are also displayed or modeled in the image. In order to visualize particularly clear to the driver that parking area boundary on the basis of which the evaluation device has defined the parking area, it is visually highlighted or marked, for example, by flashing and / or displayed in a signal color and / or framed. The driver can thus particularly easily and quickly detect the parking area and the parking area boundaries.

According to a further embodiment of the method, a camera image of the surrounding area generated from camera data of at least one camera of the motor vehicle is displayed as the first reference, the parking area located in the camera image being optically marked in the camera image and the second reference being shown in FIG Parking area boundary located in the camera image is optically marked in the camera image. Here, therefore, a model of the surrounding area is not displayed on the display device, but camera images of the surrounding area, for example in the form of a video sequence, are displayed on the display device.

The parking area itself can be marked in the image, for example by a transparent and / or three-dimensional overlay ("overlay"). The superimposition can be, for example, a colored surface whose shape corresponds to a shape of the real parking area. In addition, a parking lot icon may be displayed on the parking area in the camera image. The parking area boundary is also optically highlighted in the camera image. It can be provided that the at least one parking area boundary shown in the camera image to the optical marking with a modeled, in particular colored, parking area boundary is superimposed and / or framed. The marking can therefore also be a transparent and / or three-dimensional overlay. This insertion of markers into a real image of the surrounding area is also referred to as "Augmented Reality" (AR) and provides the driver with a particularly intuitive display. This display reliably provides the driver with the information relevant to the parking process, for example the parking area boundaries and the parking area itself.

It proves to be advantageous if the surrounding area in the image is displayed from a third-person perspective, by means of which the driver sees the surrounding area as well as the motor vehicle on the display device from the viewpoint of a vehicle-external observer. Such a perspective of an off-vehicle observer, a so-called virtual camera, represents a particularly intuitive view of the surrounding area for the driver. The third-person view can, for example, show the modeled environment in which the objects in the surrounding area are recognized on the basis of the sensor data, based on the sensor data, the environment map is created and based on the map environment, the motor vehicle and its surrounding area is modeled with the objects located therein. The third-person perspective can also be generated from the image data or camera data of the at least one vehicle-side camera, in particular a vehicle-side all-round vision camera system. For this purpose, for example, by stitching together or "stitching" the image data, an image of the surrounding area is determined, which gives the appearance as if it had been detected by a real camera at a position of the virtual camera. Such a third person perspective may be, for example, a bird's-eye view in which the surrounding area of the motor vehicle and the motor vehicle itself are viewed from above.

In particular, an oblique plan view of the surrounding area and the motor vehicle are shown as the third person perspective, in which the vehicle-external observer located above and behind the motor vehicle looks down obliquely onto the motor vehicle. In the case that the third-person view is generated from camera data, a model of the motor vehicle may be inserted in the oblique plan view image because the motor vehicle itself can not be detected by the camera system. By the third-person perspective, in particular the oblique plan view image, receives the Driver a particularly good overview of the surrounding area of the motor vehicle.

The invention also relates to a driver assistance system for a motor vehicle for assisting a driver of the motor vehicle when parking the motor vehicle on a parking area in a surrounding area of the motor vehicle. In one embodiment, the driver assistance system comprises at least one vehicle-side sensor device for detecting sensor data from the surrounding area, an evaluation device for detecting at least one parking area boundary based on the sensor data and determining the parking area based on the at least one detected parking area boundary, and a display device for displaying an image of the surrounding area and Presenting a first indication of the parking area in the image. In particular, the display device is designed to display for the driver in the image for plausibility checking of the parking area detected by the evaluation device a second indication, by which the driver is visualized the at least one parking area boundary on the basis of which the parking area is classified as such by the evaluation device ,

The driver assistance system particularly preferably comprises at least one vehicle-side sensor device for detecting sensor data from the surrounding area, an evaluation device for detecting at least one parking area boundary based on the sensor data and determining the parking area based on the at least one detected parking area boundary, and a display device for displaying an image of the surrounding area and for displaying a first indication of the parking area in the picture. In addition, the display device is designed to display for the driver in the image for plausibility of the detected by the evaluation parking area a second hint, by which for the driver the at least one parking area boundary, based on which the parking area is classified by the evaluation as such, visualized is.

A motor vehicle according to the invention comprises a driver assistance system according to the invention. The motor vehicle is designed in particular as a passenger car.

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

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

Fig.1

eine schematische Darstellung einer Ausführungsform eines erfindungsgemäßen Kraftfahrzeugs bei einer Vorbeifahrt an einer Parkfläche;

Fig. 2a, 2b

schematische Bilder eines Umgebungsbereiches des Kraftfahrzeugs gemäß dem Stand der Technik;

Fig. 3a-3d

schematische Bilder eines Umgebungsbereiches des Kraftfahrzeugs, welche mittels einer Ausführungsform eines erfindungsgemäßen Verfahrens bestimmt wurden;

Fig. 4a, 4b

weiter Ausführungsformen von schematischen Bildern des Umgebungsbereiches des Kraftfahrzeugs, welche mittels einer Ausführungsform eines erfindungsgemäßen Verfahrens bestimmt wurden;

Fig. 5a-5e

schematische Darstellungen von Verlaufsprofilen von Fahrbahnmarkierungen;

Fig. 6

eine schematische Darstellung von verschiedenen Fahrbahnmarkierungen, welche Parkflächenbegrenzungen einer Parkfläche des Kraftfahrzeugs beschreiben;

Fig. 7a, 7b

schematische Darstellung von unterschiedlichen Parkflächenbegrenzungen von Parkflächen; und

Fig. 8a-8c

schematische Darstellung von unterschiedlich orientierten Parkflächen.

Showing:

Fig.1

a schematic representation of an embodiment of a motor vehicle according to the invention when passing on a parking area;

Fig. 2a, 2b

schematic images of a surrounding area of the motor vehicle according to the prior art;

Fig. 3a-3d

schematic images of a surrounding area of the motor vehicle, which were determined by means of an embodiment of a method according to the invention;

Fig. 4a, 4b

further embodiments of schematic images of the surrounding area of the motor vehicle, which were determined by means of an embodiment of a method according to the invention;

Fig. 5a-5e

schematic representations of course profiles of road markings;

Fig. 6

a schematic representation of various road markings, which describe parking area boundaries of a parking area of the motor vehicle;

Fig. 7a, 7b

schematic representation of different parking area boundaries of parking areas; and

Fig. 8a-8c

schematic representation of differently oriented parking areas.

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

Fig. 1 shows a motor vehicle 1 according to the present invention, which is designed here as a passenger car. The motor vehicle 1 comprises a driver assistance system 2, which can assist a driver of the motor vehicle 1 when parking the motor vehicle 1 on a parking area 3 in a surrounding area 4 of the motor vehicle 1. For this purpose, the driver assistance system 2 has at least one sensor device 5 on the vehicle, which in the present case is designed as a camera. On the basis of sensor data of the vehicle-side sensor device 5, the parking area 3 can be detected in the surrounding area 4, for example while the motor vehicle 1 is moving on a carriageway 6 along a forward direction V and thereby passes by the parking area 3. The parking area 3 is bounded by parking area boundaries 7, wherein the parking area boundaries 7 can be formed by two-dimensional objects, for example lane markings 8, as well as by three-dimensional objects, for example other vehicles 9.

The parking area boundaries 7 can be detected, for example, on the basis of the sensor data, for example based on camera images of the camera. The driver assistance system 2 has, for example, an evaluation device 10 which is designed to evaluate the sensor data detected by the vehicle-side sensor device 5 so that the parking surface 3 can be recognized and provided to the driver of the motor vehicle 1 for a parking operation. On the basis of the sensor data can also geometrical data of the parking space 3, for example, a beginning (here the left side roadway marking 8) and an end (here the right side roadway marking 8), a depth T, a width B, a Orientation, etc. of the parking space 3, are detected. In particular, in the event that only one lane marking 8, that is, for example, only one line, is detected on the basis of the sensor data, this lane marker 8 can be used only for determining the orientation of the parking space 3. Also, an occupancy state of the parking space 3 and / or other properties of the parking space 3 can be detected. For example, it can be recognized whether it is a disabled parking space, a women's parking lot, a taxi parking lot or the like.

In addition, the driver assistance system 2 has a display device 11 which is designed to take pictures B1, B2, B3, B4, B5, B6, B7, B8 (see FIG Fig. 2a, 2b . Fig. 3a to 3d . Fig. 4a, 4b ) of the surrounding area 4. In addition, a first reference to the parking area 3 is displayed in the images B1, B2, B3, B4, B5, B6, B7, B8. The display device 11 may be formed, for example, as a "head-up display" or a touch-sensitive screen in an interior of the motor vehicle 1.

In the in Fig. 2a and Fig. 2b In the prior art images B1, B2, an artificially generated model 4 'of the surrounding area 4 is shown, which schematically depicts the surrounding area 4. In other words, the images B1, B2 show a virtual surrounding area 4 '. In the pictures B1, B2 are also a model 1 'of the motor vehicle 1 and a model 3' of the parking space 3, so a virtual motor vehicle 1 'and a virtual parking space 3', shown from a bird's eye view, in which the driver from above vertically down looks at the motor vehicle 1 and the surrounding area 4. In other words, the images B1, B2 are top view images which are displayed to the driver on the display device 11. The model 3 'of the parking space 3 forms the first indication signal on the parking space 3. The images B1, B2 represent the surrounding area 4 of the motor vehicle 1 in particular to scale. This means that a relative position of the parking space 3 to the motor vehicle 1 a relative position of the model 3 'corresponds to the parking space 3 to the model 1' of the motor vehicle 1 in the images B1, B2.

In the image B1, a search symbol 12 is additionally shown, by which the driver of the motor vehicle 1 is informed that the driver assistance system 2 is in search of a free parking area 3 in the surrounding area 4. In addition, a parking space symbol 13 is shown in the model 3 'of the parking area 3. In the image B2, the model 3 'of the parking area 3 as well as the parking space symbol 13 in comparison to the image B1 are optically highlighted, for example, illuminated.

As a result, drivers are advised that the motor vehicle 1 can park in the parking space 3 starting from a current position of the motor vehicle 1 in the surrounding area 4. In other words, starting from the current position of the motor vehicle 1 in the surrounding area 4, a parking trajectory 15 can be determined, along which the motor vehicle 1 can move into the parking space 3 without collision.

As in Fig. 2b illustrated, the driver by means of a control element 14, for example by controlling a pointer icon on the display device 11, select the parking space 3, so that the driver can be supported when parking in the selected parking space 3. For example, an automatic parking operation into the parking space 3 after selecting the parking space 3 can be started and carried out by the driver assistance system 2. In addition, the parking trajectory 15 can be displayed in the image B2. However, the images B1, B2 according to the prior art may be unintuitive for the driver of the motor vehicle 1, since the driver is not visualized based on which environmental information the driver assistance system 2 has detected the parking space 3 in the sensor data.

Therefore, as in Fig. 3a, 3b . 3c, 3d, 4a, 4b shown, images B3, B4, B5, B6, B7, B8 generated and displayed on the display device 11, in which in addition to the first reference to the parking area 3, a second reference to those parking area boundaries 7 is displayed, based on which the evaluation device 10 of the driver assistance system 2 has detected the parking area 3 as such. It is shown in the pictures B3, B4, B5, B6, for example, that in addition to the model 3 'of the parking space 3, models 8', 9 'of the road marking 8 and the other vehicles 9, ie models of the parking area boundaries 7, are represented. The models of the parking area boundaries 7 thus form the second indication. A course of the lane markings 8 ', 9' in the images B3, B4, B5, B6 corresponds to a real course of the lane markings 8, 9 on the lane 6. For example, the lane marking 8 'according to Fig. 3a . 3c, 3d formed as a T-shaped line and the pavement marking 8 'according to Fig. 3b formed as a straight line.

In addition, the virtual parking areas 3 'are designed to be particularly close to reality and are shown in a position relative to the virtual motor vehicle 1', which corresponds to a real, relative position of the parking area 3 to the motor vehicle 1. For example, the models describe 3 'according to Fig. 3a . 3c, 3d a longitudinal parking space, while the model 3 'according to Fig. 3b describes a transverse parking space. In Fig. 3a In addition, the search icon 12 is shown. Based on the parking lot symbol 13, which in Fig. 3c is shown, the virtual parking space 3 'is marked, whereby the driver is advised that the parking space 3 is accessible from a current position of the motor vehicle 1 in the surrounding area 4. After selecting the parking space 3, for example by means of the operating element 14, the parking trajectory, as in Fig. 3b . 3d shown in the image B4, B6 are shown.

In the event that only one parking area boundary 7, that is to say, for example, only one line, is detected and only the orientation of the parking space 3 can be detected by means of one line, a corresponding indication signal can be displayed on the display device 11. By the notification signal, the driver can be informed that only the orientation of the parking space 3 can be detected. The indication signal may be a pictogram, for example.

In Fig. 4a and Fig. 4b Further embodiments of generated images B7, B8 are shown, which can be displayed on the display device 11. For example, the parking lot symbol 13 is in both Fig. 4a as well as in Fig. 4b shown. The motor vehicle 1 is located on the basis of the search symbol 12 in accordance with Fig. 4a shown, still looking for that position in the surrounding area 4, from which can be parked in the parking space 3. In Fig. 4b is the parking lot 13 compared to Fig. 4a visually highlighted, for example, marked in color. In addition, the parking trajectory 15 is displayed. Thereby, the driver is advised that the parking operation can be started and carried out starting from the current position of the motor vehicle 1 in the surrounding area 4. The parking process can be carried out, for example, at least semi-autonomously along the parking trajectory 15.

It can be provided that, as in Fig. 3b and Fig. 4a, 4b 2, further lane markings 8 "are displayed in the images B4, B7, B8, wherein those lane markings 8 'by means of which the parking area 3 has been identified are optically emphasized For visual highlighting, the lane markings 8' can be displayed flashing and / or be highlighted in color.

The images B3, B4, B5, B6, B7, B8 are shown here from a third-person perspective, in which the driver from above the motor vehicle 1 obliquely down on the motor vehicle 1 and the surrounding area 4 looks. The images B3 to B8 thus show three-dimensional views of the surrounding area 4, by means of which the driver receives a particularly good overview of the surrounding area 4.

For recognizing the different design and serving as parking area boundaries 7 road markings 8, which exemplifies in the Fig. 6, Fig. 7a, 7b and Fig. 8a, 8b, 8c are shown, the detected lane markings 8 are compared with predetermined course profiles 16a, 16b, 16c, 16d, 16e, 16f, which are shown by way of example in FIG Fig. 5a to Fig. 5f are shown. In a first profile 16a (see Fig. 5a ), an L-shaped curve 17 is shown, wherein a first leg 18 of the course 17 has a greater length compared to a second leg 19 of the course. The legs 18, 19 are formed here at right angles to each other. By the leg 18, the width B of the parking space 3 can be limited, with the leg 18 in particular over the depth T of the parking space 3 extends. The leg 19 limits the parking space 3 to the lane 6 of the motor vehicle 1 out.

In a second profile 16b (see Fig. 5b ), a T-shaped curve 20 is shown, wherein a first line 21 of the course 20 has a greater length compared to a second line 22 of the course 20. The lines 21, 22 are formed at right angles to each other. By the line 21, in turn, the width B of the parking space 3 can be limited, with the line 21 extends in particular over the depth T of the parking space 3. The line 22 limits the parking space 3 to the roadway 6 of the motor vehicle 1 and may extend over the entire width B of the parking space 3. A lane marker 8, which corresponds to the second profile 16b, is in Fig. 6 shown by a first parking situation P1 of the motor vehicle 1. In a third parking situation P3, a line 22 describing part of the lane marking 8 has a length which extends over the entire width B of the parking space 3.

In a third profile 16c (see Fig. 5c ) a straight course 23 of a line is shown, which in turn limits the width B of the parking space 3 and extends over the depth T of the parking space 3. A lane marker 8 corresponding to the third profile 16b is in FIG Fig. 6 shown by a second parking situation P2 of the motor vehicle 1.

In a fourth profile 16d (see Fig. 5d ) is again shown a T-shaped curve 24, wherein a first line 25 and a second line 26 of the course 24 have approximately the same length. The lines 25, 26 are formed at right angles to each other here. By the line 25, in turn, the width of the parking space 3 can be limited to one side, with the line 25 in particular does not extend beyond the depth T of the parking space 3. The line 26 limits the parking space 3 to the carriageway 6 of the motor vehicle 1 out. A roadway marking 8 running in this way is based on a fourth parking situation P4 in FIG Fig. 6 shown.

In a fifth profile 16e (see Fig. 5e ), in turn, an L-shaped curve 27 is shown, wherein a first leg 28 and a second leg 29 of the course 27 have approximately the same length. The legs 28, 29 are formed at right angles to each other. By the leg 29, in turn, the width of the parking space 3 can be limited to one side, wherein the leg 29 in particular does not extend beyond the depth T of the parking space 3. The leg 28 limits the parking space 3 to the lane 6 of the motor vehicle 1 out. A roadway marking 8 running in this way is based on a fifth parking situation P5 in FIG Fig. 6 shown. In a sixth parking situation P6, the lane markings 8 are L-shaped and connected to each other via the depth of the parking space 3 by means of dashed lines 33. In a sixth profile 16f (see Fig. 5f ), two lines 30, 31 are shown, which meet at an angle 32 smaller than 90 °. The sixth profile 16f describes the parking area boundaries 7 in the form of lane markings 8 of an oblique longitudinal parking space (see for example Fig. 8b ).

The lane markings 8 are detected by the evaluation device 10 in the sensor data of the sensor device 5, compared with the corresponding profile profile 16a to 16f and classified as parking area boundaries 7, if a course of the detected lane markings 8 at least over a predetermined range corresponds to one of the profile profile 16a to 16f.

In the Fig. 7a and Fig. 7b a procedure of the evaluation device 10 of the driver assistance system 2 is visualized in the parking area determination. According to Fig. 7a the evaluation device 10 can recognize the lane markings 8, for example by comparison with the third profile 16c, and classify them as parking area boundaries 7. In particular, the parking trajectory 15 is thereby determined such that the motor vehicle 1 is aligned parallel to the road markings 8 in the parked state and not to the other vehicles parked obliquely Fig. 7b There are no lane markings 8 which correspond to one of the profile profiles 16a to 16f. However, the other vehicles 9 can be recognized by the sensor device 5 and these can be identified as parking area boundaries 7.

On the basis of the profile profiles 16a to 16f, the parking space 3 can also be classified. For example, based on a road mark 8, which corresponds to the second profile profile 16b, the parking space 3, as in Fig. 8a shown to be classified as a longitudinal parking space. Based on a lane marker 8 according to Fig. 8b , which here corresponds in areas to the sixth profile profile 16f, the parking space 3 can be classified as an oblique longitudinal parking space. Also, the parking space 3, as in Fig. 8c shown to be recognized by the other vehicles 9. By an orientation or position of the vehicles 9, the parking space 3 can also be classified. Here, a longitudinal axis of the vehicles 9 extends perpendicular to the roadway 6, so that the parking space 3 according to Fig. 8c is recognized as a longitudinal parking gap.

In summary, the display of the second reference to those parking area boundaries 7, on the basis of which the evaluation device 11 has detected and classified the parking space 3, enables the driver to understand the procedure of the driver assistance system 2 when determining the parking area 3. In particular, the driver can thus be made plausible based on which environmental information the driver assistance system 2 has detected the parking space 3. Thus, the driver can be prevented from being confused if the driver assistance system 2 has erroneously recognized an object in the surrounding area 4 as a parking area boundary 7 and thereby an area in the surrounding area 4 of the motor vehicle 1 as a parking space 3.

Claims (14)

Method for supporting a driver of a motor vehicle (1) when parking the motor vehicle (1) on a parking area (3) in a surrounding area (4) of the motor vehicle (1), wherein by means of an evaluation device (10) for determining the parking area (3) at least a parking area boundary (7) is detected by means of at least one sensor device (5) of the motor vehicle (1) detected from the surrounding area (4) sensor data, and a first reference to the parking area (3) in one on a display device (11) of the motor vehicle (1) displayed image (B3, B4, B5, B6, B7, B8) of the surrounding area (4) is displayed,
characterized in that
for the driver in the image (B3, B4, B5, B6, B7, B8) on the display device (11) for plausibility of the parking area (3) detected by the evaluation device (10) a second indication is displayed, by which the driver at least one parking area boundary (7), on the basis of which the parking area (3) is classified as such by the evaluation device (10), is visualized for the driver. Method according to claim 1,
characterized in that
at least one road mark (8) on a roadway (6) of the motor vehicle (1) is recognized as the parking area boundary (7) on the basis of the sensor data. Method according to claim 2,
characterized in that
the at least one road mark (8) is detected on the basis of camera data of at least one vehicle-side camera. Method according to claim 2 or 3,
characterized in that
a road mark (8) detected by the camera data from the Evaluation device (11) only as parking area boundary (7) is detected when a course of the lane marking (8) corresponds to a predetermined profile profile (16a, 16b, 16c, 16d, 16e, 16f). Method according to one of the preceding claims,
characterized in that
a three-dimensional object (9) is recognized as the parking area boundary (7) on the basis of the sensor data. Method according to one of the preceding claims,
characterized in that
based on the sensor data, a model (4 ') of the surrounding area (4) is created and displayed as the image (B3, B4, B5, B6, B7, B8) of the surrounding area (4) on the display device (11), where as the first reference a model (3 ') of the parking space (3) and as the second reference a model (8', 9 ') of the at least one parking area boundary (7) in the image (B3, B4, B5, B6; B7, B8) is shown. Method according to claim 6,
characterized in that
the at least one modeled and displayed parking area boundary (8 ', 9'), on the basis of which the parking area (3) is identified as such, in the image (B3, B4, B5, B6; B7, B8) of the surrounding area (4) additionally optically is marked. Method according to claim 7,
characterized in that
the parking area boundary (8 ', 9') is highlighted in color for the optical marking and / or is shown flashing and / or framed. Method according to one of claims 1 to 5,
characterized in that
as the image, a camera image of the surrounding area (4) generated from camera data of at least one camera of the motor vehicle (1) is displayed, wherein the parking area (3) located in the camera image is optically marked in the camera image as the first clue and as the second clue the parking area boundary (7) located in the camera image optically in the camera image is marked. Method according to claim 9,
characterized in that
the at least one parking area boundary (7), which is shown in the camera image, for visual marking is superimposed and / or framed with a modeled, in particular colored, parking area boundary. Method according to one of the preceding claims,
characterized in that
the surrounding area (4) is displayed in the image (B3, B4, B5, B6, B7, B8) from a third-person perspective, by which the driver the surrounding area (4) and the motor vehicle (1) from the perspective of an external vehicle Observer on the display device (11) is displayed. Method according to claim 11,
characterized in that
as the third-person perspective, an oblique plan view of the surrounding area (4) is determined, in which the vehicle-external observer located above and behind the motor vehicle (1) looks obliquely downwards onto the motor vehicle (1). Driver assistance system (2) for a motor vehicle (1) for assisting a driver of the motor vehicle (1) when parking the motor vehicle (1) on a parking area (3) in a surrounding area (4) of the motor vehicle (1) at least one vehicle-side sensor device (5) for detecting sensor data from the surrounding area (4), - An evaluation device (10) for detecting at least one parking area boundary (7) based on the sensor data and determining the parking area (3) based on the at least one detected parking area boundary (7), and a display device (11) for displaying an image (B3, B4, B5, B6, B7, B8) of the surrounding area (4) and displaying a first reference to the parking area (3) in the image, characterized in that
the display device (11) is designed to display for the driver in the image (B3, B4, B5, B6; B7, B8) a plausibility check of the parking area (3) detected by the evaluation device (10) by means of which the driver is the at least one parking area boundary (7), based on which the parking area (3) by the evaluation device (10) is classified as such visualized. Motor vehicle (1) with a driver assistance system (2) according to claim 13.

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