WO2012143033A1

WO2012143033A1 - Method for assisting a driver of a motor vehicle in parking into a parking space, driver assistance system and motor vehicle

Info

Publication number: WO2012143033A1
Application number: PCT/EP2011/056091
Authority: WO
Inventors: Philippe Gougeon; Eric Dubois; Brigitte D'ANDREA-NOVEL; Clément Boussard; Sungwoo Choi
Original assignee: Valeo Schalter und Sensoren GmbH
Current assignee: Valeo Schalter und Sensoren GmbH
Priority date: 2011-04-18
Filing date: 2011-04-18
Publication date: 2012-10-26
Anticipated expiration: 2013-10-18

Abstract

A method is provided for assisting a driver of a motor vehicle (1) in parking into a parking space (12 to 19), with the aid of a driver assistance system (3), according to which a plurality of parking spaces (12 to 19) are detected by means of a sensor device (6 to 11) of the driver assistance system (3), and for at least two detected parking spaces (12 to 19) information is output by means of an output device (5) of the driver assistance system (3). For each of the at least two parking spaces (12 to 19) a parking trajectory (28) of the motor vehicle (1) from a current position of the motor vehicle (1) into the respective parking space (12 to 19) is determined by the driver assistance system, and the information is generated on the basis of the respective parking trajectories (28).

Description

Method for assisting a driver of a motor vehicle in parking into a parking space, driver assistance system and motor vehicle

The invention relates to a method for assisting a driver of a motor vehicle in parking into a parking space, supported by a driver assistance system. A plurality of parking spaces are detected by a sensor device of the driver assistance system, and for at least two detected parking spaces information is output by an output device. The invention also relates to a driver assistance system which is configured to perform such a method as well as to a motor vehicle with such a driver assistance system.

Such a method and such a driver assistance system are already known from the prior art, i.e. from document EP 1 576 563 B1 . While a motor vehicle passes by a plurality of parking spaces, same parking spaces are measured by means of a measuring device. A storage device stores the characteristics of the plurality of parking spaces, and information concerning the plurality of parking spaces is shown on a display

simultaneously. This displayed information concerns the characteristics of the parking spaces. More precisely, the displayed information concerns the measurements of the parking spaces, i.e. their lenghts and widths. Solely on the basis of the characteristics of the parking spaces it is shown by means of a color code which parking spaces are narrow and involve difficult parking and which parking spaces enable comfortable parking.

The printed matter WO 2007/033806 A1 also describes a driver assistance system, according to which information concerning a plurality of detected parking spaces is shown on a display. A driver assistance system for providing assistance with the parking process is also known from document US 6,948,729 B2.

The interest is presently directed in particular to a fully autonomous driver assistance system, by means of which the motor vehicle can be steered into the parking space autonomously. With such driver assistance systems, the driver merely has to initiate, i.e. enable the parking process and to interrupt it, if necessary. The turning of the steerable wheels in this process is performed by the driver assistance system. The acceleration and deceleration of the motor vehicle is also effected by the driver assistance system. However, alternatively, the functions of accelerating and decelerating the motor vehicle can also be assigned to the driver. With regard to the subject matter of document EP 1 576 563 B1 , it is to be regarded as disadvantageous that the information concerning the parking spaces is generated solely on the basis of the measurements of the parking spaces and, as the case may be, on the basis of a ratio of the measurements of the parking spaces to the measurements of the motor vehicle. That is to say, it is determined merely on the basis of the

characteristics of the parking spaces whether a parking space enables relatively effortless parking or, again, involves difficult parking.

It is the object of the invention to show a way how, according to the method of the type mentioned at the outset, the driver can be enabled to select the most advantageous parking space for his motor vehicle.

According to the invention, this problem is solved by means of a method with the features of patent claim 1 and by means of a driver assistance system with the features of patent claim 12 as well as by means of a motor vehicle with the features of patent claim 13. Advantageous embodiments of the invention are subject matter of the dependent claims and of the description.

A method according to the invention serves for assisting the driver of a motor vehicle in parking into a parking space, namely by means of a driver assistance system. A plurality of parking spaces are detected by a sensor device of the driver assistance system. For at least two identified parking spaces information is output by means of an output device For each of the at least two parking spaces the driver assistance system determines a parking trajectory of the motor vehicle from a current position into the respective parking space. The information is generated on the basis of the respective parking trajectory.

In contrast to the subject matter of document EP 1 576 563 B1 , according to the method of the present invention, the information regarding the parking spaces is not generated on the basis of the characteristics of the parking spaces, but on the basis of the respective parking trajectories. Thus, in contrast to the prior art, the information does not concern the characteristics of the parking spaces, but the characteristics of the parking trajectories. It is, after all, the parking trajectory, which is decisive for the degree of difficulty and the duration of the parking process, and not just the measurements of the parking space. The method according to the invention is thus advantageous in that the driver can, at any one time, select the most convenient parking space, the parking trajectory of which enables the most effortless and/or the quickest parking process. Preferably, the information regarding the at least two parking spaces is output by the output device simultaneously.

The parking spaces are captured by the sensor device. That means that the plurality of parking spaces are measured by the sensor device, e.g. while the motor vehicle passes by the parking spaces. The sensor device can, for example, comprise at least two distance sensors, i.e. a distance sensor on the left side flank of the motor vehicle and a distance sensor on the right side flank of the motor vehicle. The distance sensors can comprise at least one ultrasonic sensor and/or at least one radar device and or at least one laser scanner. In principle, the distance sensors may comprise any art of sensors measuring a distance to an object. By means of distance sensors parking spaces can be measured while the motor vehicle drives past them; during this measuring process, the driver assistance system also takes into account a distance covered by the motor vehicle and/or the speed of the motor vehicle. The sensor device can also comprise at least one camera, and the driver assistance system can identify suitable parking spaces also on the basis of the image data of the at least one camera. That is to say, the driver assistance system can detect marking or boundary lines of a parking space on the ground and thus measure this parking space.

Thus, for the at least two parking spaces information is output which is generated on the basis of the respective parking trajectories. This means that, in one embodiment, a degree of difficulty of the respective parking process and/or a path length of the respective parking trajectory and/or the amount of time required by the respective parking process (the duration of the parking process) is indicated. The driver can thus decide whether the motor vehicle is to be parked as quickly as possible and/or along the shortest possible trajectory and/or with the least amount of effort. Specifically, this can mean that the parking spaces are shown on a display and the degree of difficulty and/or the length of the respective trajectory and/or the amount of time required by the parking process are indicated by a color code applied to the parking spaces. Thus, the information regarding the parking spaces can be visualized through color coding of the parking spaces, which is particularly user-friendly.

The information can thus be generated taking into account a number of parking maneuvers related to the respective parking trajectory. Here, the number of parking maneuvers particularly signifies the number of direction changes of the motor vehicle during the parking process along this trajectory. This embodiment is advantageous in that the driver can select the parking space which requires the least number of parking maneuvers and which enables comparatively effortless parking.

Additionally or alternatively, the information regarding the parking spaces can also be generated taking into consideration a duration of a complete parking process along the respective trajectory. Here, the driver can select the parking space which enables the fastest possible parking of the motor vehicle.

Additionally or alternatively, the information regarding the parking spaces can be generated taking into account a path length of the respective trajectory. This means that the information can be generated having regard to the total distance to be covered by the motor vehicle until it reaches its end position in the parking space. This embodiment enables the driver to select a parking space such that the distance to be covered by the motor vehicle to reach same sparking space is as short as possible. The total length of a parking trajectory preferably comprises the partial path lengths of all the parking maneuvers related to this parking trajectory.

Preferably, the information is displayed as visual information by means of an optical display functioning as an output device. Accordingly, the driver is provided with the information about the parking spaces on the display device and can thus gather information about the respective parking trajectories. The display device can, for example, be an LCD display or a head-up display.

In one embodiment the at least two parking spaces are shown on the display device, in particular together with the driver's own motor vehicle. This has the advantage that the driver can see on the display device the at least two parking spaces and, as the case may be, his own motor vehicle as well, and that he is moreover able to decide on the basis of the positions of the parking spaces relative to the motor vehicle in which of the parking spaces the motor vehicle is to be parked.

It proves particularly advantageous if the information about the parking spaces is visualized on the display device by means of a color code related to the parking spaces. Each parking space receives a specific color on the display device. For example, such a parking space is marked red which involves a parking process with a trajectory featuring a relatively large number of parking maneuvers and/or with a relatively long duration of the complete parking process and/or with a relatively long parking trajectory. Again, a parking space which enables parking with a trajectory featuring a relatively small number of parking maneuvers and/or with a comparatively short duration of the complete parking process and/or with a comparatively short length of the parking trajectory receives the color green. Other parking spaces can be marked orange: These may be parking spaces which enable parking with parking trajectories featuring a moderate number of parking maneuvers and/or with a moderate duration of the whole parking process and/or with a moderate length of the parking trajectory. By color coding the parking spaces the driver can be provided with the information about the parking spaces with particular reliability.

In one embodiment the driver selects one parking space for parking the motor vehicle from the at least two parking spaces himself. In this embodiment the driver assistance system receives an input effected by a user - i.e. in particular the driver - at an input device of the driver assistance system. By means of this input one parking space is selected from the at least two parking spaces into which the motor vehicle is to be parked. Such a procedure is particularly user-friendly: Aided by the input device, the driver can effortlessly decide in which parking space to park. Preferably, pushing a button or touching a touch-sensitive input field suffices in order to select a parking space and, for example, to activate an automatic parking process.

Basically, the input device can be any input device, for instance a push button, a rotary knob or a speech input device. However, it proves particularly advantageous if the driver executes the input by means of a touch-sensitive display device - particularly by means of a touch-sensitive display - by means of which the information concerning the parking spaces is visualized. This can be carried out in such a way, for example, that the driver touches one of the parking spaces displayed on the display device in order to select same parking space for parking. Preferably, there is no need for any other activity on the part of the driver, he merely has to touch the display device, and an automatic parking process can be initiated.

Preferably, the motor vehicle is steered by the driver assistance system into one of the parking spaces, namely in particular into the selected parking space, autonomously, i.e. automatically. That is to say, the driver assistance system engages with a steering device of the motor vehicle in order to steer the steerable wheels of the motor vehicle automatically in such a way that the motor vehicle is parked along a predetermined parking trajectory. Additionally, it can also be provided that the driver assistance system automatically engages with a drive chain of the motor vehicle in order to autonomously accelerate or decelerate the motor vehicle. In that case the driver merely has to enable the parking process. If necessary, he can also interrupt it. The invention also relates to a driver assistance system for a motor vehicle. The driver assistance system is configured to assist the driver of the motor vehicle in parking into a parking space. The driver assistance system comprises a sensor device for detecting a plurality of parking spaces as well as an output device for outputting information regarding at least two detected parking spaces - particularly simultaneously. The driver assistance system can determine for each of the at least two parking spaces a parking trajectory of the motor vehicle from a current position of the motor vehicle into the respective parking space and generate the information on the basis of the respective parking trajectories.

A motor vehicle according to the invention comprises a driver assistance system according to the invention.

The preferred embodiments presented with regard to the method according to the invention and the advantages thereof 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 are apparent from the claims, the figures and the description of the figures. All of the features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned in the description of the figures and/or shown in the figures alone are usable not only in the respectively specified combination, but also in other combinations or even alone.

The invention is now explained in more detail by way of individual preferred

embodiments as well as with reference to the attached drawings.

These show:

Fig. 1 in schematic illustration a motor vehicle with a driver assistance system according to an embodiment of the invention, wherein the motor vehicle is on a road along which there are a number of parking spaces (perpendicular parking spaces); and

Fig. 2 in schematic illustration a display device of the driver assistance system, wherein the parking spaces as well as the motor vehicle are displayed on the display device and information about the parking spaces is visualized by means of a color code related to the parking spaces.

Fig. 1 shows a top view of a road situation. A motor vehicle 1 , which is a passenger vehicle, is on a driving surface 2, for example a road. The motor vehicle 1 contains a driver assistance system 3, which is configured to assist a driver of the motor vehicle 1 in parking. The driver assistance system 3 comprises a control device 4, a display device 5 as well as a first distance sensor 6 and a second distance sensor 7. The distance sensors 6, 7 can be ultrasonic sensors. The control device 4 receives data from the distance sensors 6, 7 and processes them. The control device 4 controls the display device 5. The display device is an LCD display or a head-up display, for instance. In the embodiment the display device 5 is also an input device. It comprises, for example, a touch-sensitive display. That is to say, the driver not only receives information on the display device 5, but is also able to perform an input using the display device 5. This input is received by the control device 4.

The first distance sensor 6 is located on a left side of the motor vehicle 1 , for example in the outer left area of the front bumper. The second distance sensor 7 is correspondingly located on the right side of the motor vehiclel , i.e. it is symmetrically arranged relative to the first distance sensor 6. The second distance sensor 7 can thus be located in the outer right area of the front bumper.

The driver assistance system 3 can also comprise a plurality of ultrasonic sensors (not shown) which can be located on the front side and on the rear side of the vehicle 1 , on the respective bumpers, for example. These sensors can also be used for capturing and scanning objects. This proves particular useful while effecting parking manoeuvres. These sensors can measure the distances between the vehicle 1 and other objects being located in the surroundings of the vehicle 1 . On the basis of said distances, the motion of the vehicle 1 can be controlled while manoeuvring into a parking space.

The driver assistance system 3 can also comprise a plurality of cameras 8, 9, 10, 1 1 , for example CMOS cameras or CCD cameras (complementary metal oxide semiconductor and charge coupled device, respectively). The cameras 8 to 1 1 can record images of a surrounding area of the motor vehicle 1 , and the control device 4 receives the image data recorded by the cameras 8 to 1 1 . As already explained, the driver assistance system 3 serves the purpose of assisting in a parking process of the motor vehicle 1 . The driver assistance system 3 - more precisely, the distance sensors 6, 7 and the cameras 8 to 1 1 - can identify potential parking spaces for parking the motor vehicle 1 . More specifically, the parking spaces can be identified alone on the basis of the data of the distance sensors 6, 7 or they can be identified alone on the basis of image data of the cameras 8 to 1 1 . It is also possible that the parking spaces are identified on the basis of a combination of both the data of the sensors 6, 7 and the image data of the cameras 8 to 1 1 . Fig. 1 shows by way of example four parking spaces 12, 13, 14, 15 on the left side of the road 2. There are also four parking spaces 16, 17, 18, 19 on the right side of the road 2. According to the embodiment, all parking spaces 12 to 19 are perpendicular parking spaces, i.e. they abut the road 2 at right angles. In other words, the parking spaces 12 to 19 are perpendicular relative to the driving surface 2. The invention, however, is not limited to perpendicular parking spaces; the driver assistance system 3 can also detect other parking spaces - for example, parallel parking spaces or diagonal parking spaces - and assist the driver in parking into these parking spaces as well.

The identification of the parking spaces 12 to 19 by the driver assistance system 3 proceeds as follows: The motor vehicle 1 passes by the parking spaces 12 to 19, i.e. along the road 2 according to the arrow 20. While the motor vehicle passes by said parking spaces, the distance sensors 6, 7 determine the distances from objects external to the motor vehicle 1 , which are on the left or right side of the motor vehicle 1 . At the same time, the cameras 8 to 1 1 record images of the surroundings of the motor vehicle 1 . Thus, the control device 4 detects both objects external to the motor vehicle 1 , i.e. other motor vehicles 21 , 22, 23, 24, 25, and demarcation lines 26 of the parking spaces 12 to 19. After the motor vehicle 1 has driven past the parking spaces 12 to 19, the positions of the parking spaces 12 to 19 and of the other motor vehicles 21 to 25 relative to the driver's own motor vehicle 1 are stored in the control device 4. The control device 4 analyzes the parking spaces 12 to 19 and compares their measurements with the measurements of the motor vehicle 1 . The measurements of the motor vehicle 1 are stored in the control device 4. It is also provided that the driver can effect an input at an input device, as a result of which one of the stored measurements of the motor vehicle 1 is altered. This proves advantageous, for instance, in situations in which, for example, a bike is transported at the rear of the motor vehicle 1 .

The control device 4 establishes that all of the parking spaces 12 to 19 are suitable for parking, whereas another parking space 27 situated between the other motor vehicle 24 and the parking space 18 is unsuitable. Then the computing device 4 calculates for each suitable parking space 12 to 19 a parking trajectory of the motor vehicle 1 from the current position into the respective parking space 12 to 19. Thus, the computing device 4 determines for each parking space 12 to 19 the necessary parking trajectory along which the motor vehicle 1 can be parked into the respective parking space 12 to 19. By way of example, Fig. 1 shows merely a trajectory 28 for parking space 14. However, the trajectories for all of the parking spaces 12 to 19 are calculated in analogy.

For each parking trajectory, i.e. for each parking space 12 to 19, the computing device determines: a number of parking maneuvers related to the respective trajectory 28 - i.e. the number of necessary direction changes;

a duration of the complete parking process along the respective trajectory 28; and a total path length of the respective trajectory 28, taking into consideration all the parking maneuvers related to the trajectory 28.

Taking into account the above-mentioned parameters, the control device 4 classifies the parking spaces 12 to 19 on the basis of the respective parking trajectories 28. Unlike in the prior art, the parking spaces 12 to 19 are not classified on the basis of the characteristics of the parking spaces, but on the basis of the characteristics of the respective trajectories 28, i.e. also taking into account the current position of the motor vehicle 1 relative to the parking spaces 12 to 19. It can, for instance, be differentiated between parking spaces 12 to 19, which enable effortless and/or fast parking, parking spaces 12 to 19, which enable parking with a moderate degree of difficulty and/or with a moderate duration of the parking process, and parking spaces 12 to 19, which involve parking with a high degree of difficulty and/or with a comparatively long duration of the parking process. Thus, a parking space 12 to 19 can be classified as: a parking space which enables effortless and/or quick parking - if the number of parking maneuvers of the related trajectory is below a predetermined first threshold value and/or the duration of the complete parking process is below a

predetermined first threshold value and/or the length of the related trajectory is below a predetermined first treshold value;

a parking space which enables parking with a moderate degree of difficulty and/or with a moderate duration of the parking process - if the number of the parking maneuvers of the related parking trajectory is between the first threshold value and a second threshold value and/or the duration of the complete parking process is between the first threshold value and a second threshold value and/or the length of the related trajectory is between the first threshold value and a second threshold value; and

a parking space which involves parking with a high degree of difficulty and/or with a long duration of the parking process - if the number of parking maneuvers of the related parking trajectory exceeds the second threshold value and/or the duration of the complete parking process exceeds the second threshold value and/or if the length of the related trajectory exceeds the second threshold value.

Information about the suitable parking spaces 12 to 19 is visualized on the display device 5. This information indicates which parking spaces 12 to 19 enable quick and/or effortless parking, which parking spaces 12 to 19 enable parking with a moderate degree of difficulty and/or with a moderate duration of the parking process, and which parking spaces 12 to 19 involve parking with a high degree of difficulty and/or a long duration of the parking process. Fig. 2 shows an exemplary display 29 as might be visualized on the display device 5. The display device 5 shows the driver's own motor vehicle 1 ', which is on the road 2'. Also to be seen are the parking spaces 12' to 19' as well as the other motor vehicles 21 ' to 25'. The display device 5 shows yet other motor vehicles, as well as a further area of the road 2', which are not shown in Fig. 1 . It should be noted that in Fig. 2 the other motor vehicles 21 ' to 25' are visualised only in way of example. On the display device 5, the vehicles 21 ' to 25' can be visualised by their edges closest to the road 2. Additionally, a standard car model or layout drawing (like in Fig. 2) can be fitted on these edges. In this case, the cars on the display device 5 would all have the same shape and the same colour. This means that the vehicles 21 ' to 25' represented on the display device 5 (Fig. 2) doesn't have to be identical to the real ones (Fig. 1 ).

The motor vehicle 1 ' and its surroundings, i.e. the parking spaces 12' to 19' as well as the other motor vehicles 21 ' to 25', are displayed on the display device 5 true to scale. The surroundings of the motor vehicle 1 ', i.e. the parking spaces 12' to 19' and the other motor vehicles 21 ' and 25', are shown on the same scale as the driver's own motor vehicle 1 '. The information about the parking spaces 12' to 19' is visualized on the display device 5 by means of a color code for the displayed parking spaces 12' to 19'. Specifically, the parking spaces 12' to 19', which enable effortless and/or quick parking, are visualized on the display device 5 in green (cross hatch in Fig. 2). The parking spaces 12' to 19', which enable parking with a moderate degree of difficulty and/or with a moderate duration of the parking process, are displayed in orange (lines in Fig.2), see parking spaces 13', 17', and 18'. Again, the parking spaces 12' to 19', which involve parking with a high degree of difficulty and/or with a long duration of the parking process, are marked red (without hatching in Fig. 2), see parking space 12' in this embodiment.

As explained above, the display device 5 is not only configured to display the motor vehicle 1 ' and the surroundings of the motor vehicle 1 ' as well as the information concerning the parking spaces 12' to 19', but is also configured to serve as an input device. Accordingly, it comprises a touch-sensitive display 30, which can be touched by the driver. The control device 4 then detects the place on the touch-sensitive display 30, which is touched by the driver. Specifically, with the help of the touch-sensitive display 30 the driver can select one of the parking spaces 12' to 19' by touching one of the parking spaces 12' to 19' shown on the display. Thus, he can select one of the parking spaces 12' to 19' and at the same time initiate, i.e. enable the parking process. The control device 4 then receives an input which the driver executes at the touch-sensitive display 30 and by which one of the parking spaces 12' to 19' is selected. The control device 4 then starts the parking process and steers the motor vehicle 1 into the selected parking space 12' to 19', namely along the related parking trajectory 28. This can proceed in such a way, for example, that the control device 4 engages with a drive chain 31 of the motor vehicle 1 as well as with a steering device 32 of the motor vehicle 1 and activates them automatically. Independently of the driver, the motor vehicle 1 is thus steered into the selected parking space 12' to 19', i.e. autonomously by the control device 4. The driver can interrupt the parking process any time, for example aided by the touch- sensitive display 30.

During the parking process the display 29 on the display device 5 can be altered continuously. This can proceed true to scale. For example, the display 29 can be generated on the basis of the image data received by the cameras 8 to 1 1 .

Claims

1 . A method for assisting a driver of a motor vehicle (1 ) in parking into a parking

space (12 to 19), with the aid of a driver assistance system (3), according to which a plurality of parking spaces (12 to 19) are detected by means of a sensor device (6 to 1 1 ) of the driver assistance system (3), and for at least two detected parking spaces (12 to 19) information is output by means of an output device (5) of the driver assistance system (3),

characterized in that

for each of the at least two parking spaces (12 to 19) a parking trajectory (28) of the motor vehicle (1 ) from a current position of the motor vehicle (1 ) into the respective parking space (12 to 19) is determined by the driver assistance system (3) and the information is generated on the basis of the respective parking trajectories (28).

2. The method according to claim 1 ,

characterized in that

the information indicates a degree of difficulty and/or a duration of the complete parking process.

3. The method according to claim 1 or 2,

characterized in that

the information is generated considering a number of parking maneuvers related to the respective parking trajectory (28).

4. The method according to one of the preceding claims,

characterized in that

the information concerning the parking spaces (12 to 19) is generated considering a duration of the complete parking process along the respective parking trajectory (28).

5. The method according to one of the preceding claims,

characterized in that

the information concerning the parking spaces (12 to 19) is generated considering a path length of the respective parking trajectory (28).

6. The method according to one of the preceding claims,

characterized in that

by means of an optical display device (5) as an output device (5) the information concerning the parking spaces (12 to 19) is displayed simultaneously as visual information.

7. The method according to claim 6,

characterized in that

on the display device (5) the at least two parking spaces (12' to 19') are displayed, in particular together with the motor vehicle (1 ).

8. The method according to claim 7 or 8,

characterized in that

the information concerning the parking spaces (12 to 19) is visualized by means of a color code of the parking spaces (12' to 19').

9. The method according to one of the preceding claims,

characterized in that

the driver assistance system (3) receives an input executed by a user at an input device (5) of the driver assistance system (3) and by which a parking space (12 to 19) is selected from the at least two parking spaces (12 to 19) in which the motor vehicle (1 ) is parked with the aid of the driver assistance system (3).

10. The method according to claim 9,

characterized in that

the input is executed by means of a touch-sensitive display device (5), by means of which the information is visualized.

1 1 . The method according to one of the preceding claims,

characterized in that

the motor vehicle (1 ) is steered autonomously into one of the parking spaces (12 to 19) by the driver assistance system (3).

12. A driver assistance system (3) for a motor vehicle (1 ), for assisting a driver of the motor vehicle (1 ) in parking into a parking space (12 to 19), comprising:

- a sensor device (6 to 1 1 ) for detecting a plurality of parking spaces (12 to 19), and

- an output device (5) for outputting information regarding at least two detected parking spaces (12 to 19),

characterized in that

the driver assistance system (3) is configured to determine for each of the at least two parking spaces (12 to 19) a parking trajectory (28) of the motor vehicle (1 ) from a current position of the motor vehicle (1 ) into the respective parking space (12 to 19) and to generate the information on the basis of the respective parking trajectories (28).

13. A motor vehicle (1 ) with a driver assistance system (3) according to claim 12.