WO2024256897A1

WO2024256897A1 - A driving-assistance method for a motor-vehicle and corresponding assisted-driving motor-vehicle

Info

Publication number: WO2024256897A1
Application number: PCT/IB2024/055008
Authority: WO
Inventors: Alessandro MANCINI; Jacopo MILONE; Giulio BORRELLO; Luca LORUSSO; Antonio ACERNESE
Original assignee: Centro Ricerche Fiat SCpA
Current assignee: Centro Ricerche Fiat SCpA
Priority date: 2023-06-13
Filing date: 2024-05-23
Publication date: 2024-12-19
Anticipated expiration: 2025-12-13

Abstract

A driving-assistance method (20) for a motor-vehicle, which can be implemented by a control unit of the motor-vehicle, comprises receiving a command for execution of an assisted or autonomous parking maneuver. The method comprises detecting (202) the occurrence (P_i) of one or more operating conditions (I_i) of the motor-vehicle and/or one or more conditions (Ii) of the environment surrounding the motor-vehicle and/or one or more driving preferences set by a user of the motor-vehicle. A respective preferred direction (Dir_i) of execution of the parking maneuver is associated to each of the operating conditions, environmental conditions and/or driving preferences (Ii). The preferred direction can be forward or reverse. The method comprises computing (202) a first score (W_F) associated to execution of the parking maneuver in the forward direction and a second score (W_R) associated to execution of the parking maneuver in the reverse direction, based on the occurred operating conditions, environmental conditions and/or driving preferences (I_i), and based on the respective preferred directions (Dir_i) of execution of the parking maneuver. The method comprises determining (204) a suggested direction (Dir_suggested) of execution of the parking maneuver based on a comparison between the first score 20 (WF) and the second score (WR).

Description

A DRIVING-ASSISTANCE METHOD FOR A MOTOR-VEHICLE AND CORRESPONDING ASSISTED-DRIVING MOTOR-VEHICLE

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TEXT OF THE DESCRIPTION

Field of the invention

The present invention generally refers to driving-assistance methods for motor-vehicles. In particular, the invention refers to a driving-assistance method that can be implemented by a control unit of a conventional (assisted driving) motor-vehicle or an autonomously driven motor-vehicle. The motor-vehicle comprises at least one sensor (for example, a video camera) configured to detect the environment surrounding the motorvehicle, and an electronic control unit configured to impart driving commands to one or more driving systems of the motor-vehicle to execute a parking maneuver based on the data provided by the sensor (for example, image data provided by the video camera).

Prior art

Known in the art, for example from documents EP 2136275 B1 and EP 3586211 B1 of the same Applicant, are driving-assistance systems for motor-vehicles based on vision systems (for example, cameras or video cameras which can be frontal, lateral, rear and/or of the wide-angle “fisheye” type to frame the surroundings of the motor-vehicle at 360°), sensory systems (for example, including radar, LiDAR, ultrasonic, and/or GPS sensors), automotive data networks, vehicle-to-vehicle (V2V) wireless communication systems, vehicle-to-infrastructure (V2I) wireless communication systems, or more generally wireless communication systems between the motor-vehicle and any other interconnected element (V2X, “ veh icle-to-everyth ing” ) .

Such driving-assistance systems comprise data processing algorithms and/or data fusion algorithms to process and/or aggregate data collected by sensors of the vehicle, for example to process image data collected by a vision system and/or distance data collected by one or more distance sensors such as ultrasonic sensors, LiDAR sensors, radar sensors. Data collected by sensors, processed and/or aggregated, are used by a vehicle control unit to assist the driver in executing recurring low-speed maneuvers, such as a parking maneuver. In certain cases, these maneuvers can be carried out in completely autonomous driving mode.

In general, these known systems can therefore implement a so-called “home zone (navigation)” function, i.e., a function supporting or assisting the driver in the execution of recurring, low-speed and possibly complex maneuvers, carried out mainly in private areas (e.g., a condominium parking area, a company car park, etc.) but also in public areas. In particular, the home zone function usually comprises an initial training phase that involves the execution of the parking maneuver, by the driver or in assisted mode, one or more times to store the data describing the geometry of the environment and the execution commands that correspond to the execution of the desired maneuver. Once the desired maneuver has been stored (i.e., the corresponding trajectory and/or the corresponding sequence of execution commands), when the motor-vehicle is again in the same environment, the maneuver to be executed can be selected (by the driver, or automatically) and replicated in assisted or autonomous driving mode.

For this purpose, a software function implemented in a vehicle control unit can comprise a first part of data collection from the sensors of the motorvehicle, a second part of perception of the environment implemented through localization and mapping algorithms (“Simultaneous Localization and Mapping” - SLAM), a third part of management of the home zone function, and a fourth part of trajectory and path planning to follow for the execution of the maneuver.

A home zone function can find application in various scenarios. For example, it can be useful to execute a parking maneuver more safely or quickly in a private parking area, where the maneuver can comprise a single movement in forward or reverse direction, or multiple subsequent movements that alternate movements in the forward direction and reverse direction. In addition, the home zone function can also comprise the management of unexpected obstacles located along the movement path. The home zone function can also be applied in underground parking areas. Optionally, the home zone function can also be performed remotely, assuming for example that the user is outside the motor-vehicle and can activate the automatic parking mode via the remote control of the motor- vehicle or via a mobile terminal.

As mentioned, the home zone function comprises a training phase that involves the execution of the maneuver by the driver so that the motorvehicle can store the relevant data, necessary for subsequent assisted or automatic execution. Usually, during the training phase, the driver executes the maneuver in a certain direction (i.e., in forward or reverse direction) depending on his/her preferences, obstacles present, etc. Some home zone systems allow the motor-vehicle to replicate the maneuver, during the subsequent assisted or automatic execution, in the same direction recorded by the user (therefore repeating execution commands equal or similar to those recorded), or in the opposite direction to the one recorded by the user (i.e., computing a new trajectory and the respective execution commands, to ensure that the vehicle executes the parking maneuver in the reverse direction even if it was recorded in the forward direction, or vice versa: see for example the document Guantao Xuan, Yuanyuan Shao, “Reversedriving Trajectory Planning and Simulation of Joint Robot”, IFAC- PapersOnLine, vol. 51 , no. 17, 2018, pages 384-388, doi: 10.1016/j. ifacol.2018.08.191 ). Alternatively, it is possible that the driver himself/herself memorizes the same maneuver by executing it both in forward and reverse direction. Therefore, in general the vehicle can store maneuver data which allows it to subsequently execute, in assisted or automatic mode, a certain maneuver both in forward and reverse direction.

In order to fully exploit the vehicle’s ability to execute a parking maneuver in the forward or reverse direction in an assisted or automatic manner (even independently of how this was recorded by the user), it may be useful for the home zone function to be designed to advise the driver, at the moment of assisted or automatic execution of the parking maneuver, in which direction to park the motor-vehicle.

Object of the invention

The object of the present invention is to provide a driving-assistance method for a motor-vehicle that, upon request of the execution of a stored parking maneuver in assisted or automatic driving mode (home zone function), detects one or more conditions and, depending on the detected conditions, determines whether it is more convenient (i.e., useful, comfortable for the driver or other occupants) to park the motor-vehicle in forward or reverse direction.

In particular, the method according to the invention allows the detection of vehicle operating parameters, environmental parameters and/or user preferences to determine whether the motor-vehicle should be parked in forward or reverse direction.

Summary of the invention

In at least one embodiment, the subject of the invention is a drivingassistance method for a motor-vehicle. The method comprises receiving a command for execution of an assisted or autonomous parking maneuver. The method comprises detecting the occurrence of one or more operating conditions of the motor-vehicle and/or one or more conditions of the environment surrounding the motor-vehicle and/or one or more driving preferences set by a user of the motor-vehicle. A respective preferred direction of execution of the parking maneuver is associated to each of the operating conditions, environmental conditions and/or driving preferences. The preferred direction can be forward or reverse. The method comprises computing, based on the occurred operating conditions, environmental conditions and/or driving preferences and based on the respective preferred directions of execution of the parking maneuver, a first score associated to execution of the parking maneuver in the forward direction and a second score associated to the execution of the parking maneuver in the reverse direction. The method comprises determining a suggested direction of execution of the parking maneuver based on a comparison between the first score and the second score.

As will appear in greater detail in the description that follows, the basic idea of the present invention is to suggest the direction of execution of a parking maneuver so that the vehicle is parked in forward or reverse direction in the way that is most convenient (useful, advantageous) for the occupants of the vehicle itself, depending on some surrounding conditions detected when the user requests assisted or automatic execution of the parking maneuver.

In at least one embodiment, the subject of the invention is a motorvehicle comprising at least one sensor configured to detect one or more operating conditions of the motor-vehicle and/or one or more conditions of the environment surrounding the motor-vehicle, one or more driving systems of the motor-vehicle, and an electronic control unit coupled to the at least one sensor and to the driving systems of the motor-vehicle. The electronic control unit is configured to carry out a method according to one or more embodiments.

Detailed description of the invention

Further features and advantages of the invention will emerge from the following description with reference to the attached drawings, provided purely by way of non-limiting example, in which:

- Figure 1 illustrates a block diagram of an automotive assisted- or autonomous-driving system; and

- Figure 2 is a block diagram showing a method for determining the direction of execution of a parking maneuver, according to one or more embodiments.

In the figures attached herein, corresponding parts are indicated with the same reference numbers.

As mentioned, one or more embodiments can be applied in the field of autonomous- or assisted-driving vehicles equipped with at least one sensor (e.g., optical, radar or ultrasound), wherein the movement trajectory of the vehicle and/or its environmental location capability are controlled by an electronic control unit of the vehicle according to the data provided by the sensor, in particular during the execution of a home zone function.

In the remainder of this detailed description, reference will be made mainly to a video camera as a sensor with which the vehicle can be equipped, and to the processing of the image data provided by the video camera. Nonetheless, one or more embodiments of the present invention can be applied to vehicles equipped with additional or different sensors than a video camera, such as for example a LiDAR sensor sensitive to radiation having a certain wavelength (e.g., infrared), or even radar or ultrasonic sensors.

Figure 1 illustrates a block diagram of an automotive assisted- or autonomous-driving system, indicated as a whole with the number 1 , designed to allow a motor-vehicle, indicated with the reference number 2, to execute assisted or autonomous (for example, semi-autonomous) driving maneuvers. As illustrated in Figure 1 , the automotive assisted- or autonomous-driving system 1 comprises:

- automotive on-board systems 3 (in particular, driving systems of the motor-vehicle 2) comprising, for example, a propulsion system, a braking system, a steering system, an infotainment system, and a sensory system suitable for detecting quantities relating to the motor-vehicle 2 such as for example wheel angle, steering wheel angle, yaw, longitudinal and lateral acceleration, position, etc.;

- an automotive user interface 4 (HMI - Human Machine Interface) through which the occupants of the motor-vehicle 2 can interact with the automotive assisted-driving system 1 ;

- at least one sensor 5 configured to detect data indicative of the environment surrounding the motor-vehicle, such as for example a camera or video camera, a LiDAR, radar or ultrasound sensor, and the like; and

- an electronic control unit (ECU) 6 operationally connected to the automotive on-board systems 3, to the automotive user interface 4 and to the sensor 5 via an automotive on-board communication network 7, for example CAN, FlexRay or others.

The invention described here is applicable in the case in which the motor-vehicle 2 is configured to execute one or more complex, recurring and low-speed maneuvers in assisted- or autonomous-driving mode, as described in document EP 3586211 B1 cited previously, in particular parking maneuvers (i.e., the case in which the vehicle is configured to implement a home zone functionality). In such cases, the control unit 6 of the motor-vehicle 2 is configured to identify which maneuvers are complex, recurring and at low speed; to locate the vehicle 2 within the environment where these recurring maneuvers are executed; and to repeat these maneuvers in assisted- or autonomous-driving mode. In particular, the localization of the motor-vehicle 2 in the environment (which can be a private or otherwise controlled area) can be carried out using SLAM (“Simultaneous Localization And Mapping”) type algorithms known per se, which allow the vehicle to create and store a virtual representation of the environment, i.e., a sort of map of an area that may not be covered by digital road maps. The ability to replicate the parking maneuver in any direction (forwards or backwards), even independently of the direction recorded by the user during the training phase, can be useful in various scenarios.

For example, in a first application scenario the driver could have recorded the parking maneuver in the reverse direction, so that the vehicle is parked towards the maneuver area in front of the parking spot, because in this way the exit maneuver from the parking spot is faster and/or easier to execute. However, when the user returns home and needs to remove objects from the rear trunk (e.g., shopping bags), it may be more advantageous for the vehicle to be parked in the forward direction, so that the rear trunk is facing the maneuver area (rather than the wall) and is easier to access. Therefore, the method according to some embodiments can detect the presence of objects in the rear trunk, and suggest the execution of the maneuver in the forward direction.

According to a further exemplary application scenario, the driver may have recorded the parking maneuver in the forward direction because the parking maneuver is easier to execute in this way (e.g., the driver does not feel sufficiently confident in executing the maneuver in the reverse direction). However, the space around the vehicle may be very narrow, so in general it would be preferable for the vehicle to be parked in the reverse direction, so that it is easier for the driver to move away from the vehicle once it is parked. Therefore, the method according to some embodiments can detect the size of the space available for parking, and suggest executing the maneuver in the reverse direction if the space is limited.

In general, therefore, the method according to the invention evaluates one or more boundary conditions (e.g., via one or more vehicle sensors) which can be useful for determining the most advantageous parking direction, and suggests it to the user. By way of a non-limiting example, the boundary conditions h, h,..., In (in general, with i = 1 ,..., n) evaluated by the method can comprise one or more of the following conditions:

- h: vehicle mass distributed between the front axle and the rear axle in a manner indicative of the fact that the rear trunk is loaded;

- h: presence of objects in the rear trunk detected in another way (e.g., by dedicated sensors in the trunk compartment, such as a video camera);

- H: vehicle mass distributed between the front axle and the rear axle in a manner indicative of the fact that the rear trunk is empty;

- k: absence of objects in the rear trunk detected in another way (e.g., by dedicated sensors in the trunk compartment, such as a video camera);

- I5: lateral space around the parked vehicle above a certain threshold;

- h: lateral space around the parked vehicle below a certain threshold;

- I7: presence of a baby car seat mounted on the front passenger seat;

- h: presence of a baby car seat mounted on the rear seats;

- h: further condition that can be associated to a preferred parking direction (e.g., historical series of the last places where the motor-vehicle passed by and/or was parked); and

- I10: further condition that can be associated to a preferred parking direction (e.g., preferences set by the user).

It will be noted that the conditions I1,..., I10 above are purely exemplary, and that additional or different conditions could be considered in various embodiments. For example, in the case of an electric or plug-in hybrid vehicle equipped with a charging socket on one side of the vehicle (right or left), the parking direction could be chosen so that the charging socket door faces the side where the charging column is located. For example, if the vehicle is equipped with a charging socket on the right side, parking in the forward direction will be suggested if the charging column is positioned on the right of the parking spot, and parking in the reverse direction will be suggested if the charging column is positioned on the left.

Each of these boundary conditions is associated to a respective flag Din (i = 1 , ..., n) which can take on two values, indicative of the fact that the respective condition prefers parking to be executed in the forward direction (Dir value = F, “forward”) or in the reverse direction (Dir value = R, “reverse”). The values of these flags can be stored in a memory of the control unit 6 of the motor-vehicle 2. For example, the conditions h and I2 can be associated to the value Din = Dir2 = F, since if the rear trunk is loaded, parking in the forward direction is preferable because it makes access to the rear trunk easier; on the contrary, the value Dirs = Dir4 = R can be associated to the conditions H and I4, because if the rear trunk is empty it is preferable to facilitate the driver to get out by parking in the reverse direction. Similarly, the value Dirs = F can be associated to the condition I5, since if the lateral space is large, there is no need to park in reverse direction to facilitate the driver or passenger getting out; for the opposite reason, the value Dire = R can be associated to the condition h. Similarly, the value Dir? = R can be associated to the condition I7, since if a baby car seat is mounted on the front seat, it is more convenient to park in the reverse direction to facilitate access to the front seat; for similar reasons, the value Dirs = F can be associated to the condition h. Respective values Dirg and Dino, which depend on the specific condition monitored and/or preference set by the user, can be associated to the further conditions I9 and I10. For example, if condition I9 indicates that the vehicle recently passed by and/or was parked at a supermarket, it is presumable that the rear trunk is loaded with shopping, and therefore the value Dirg = F can be associated to the condition I9 for facilitating the access to the rear trunk. Again by way of example, if condition ho is set manually by the user who prefers that the motor-vehicle is generally parked in reverse direction to facilitate exiting the car park, the value Dino = R can be associated to the condition ho.

In some embodiments, each of the conditions can be evaluated in the same way as the others, i.e., by attributing the same weight to the various conditions in the choice of executing the maneuver in forward or reverse direction. Optionally, in other embodiments, a respective importance value or weight Ri (i = 1 , ..., n), which indicates the weight that this condition has in determining the most appropriate parking direction in the current situation (e.g., on a scale of 0 to 1 ), can be associated to each of the conditions . The weights Ri can be stored in a memory of the control unit 6 of the motor-vehicle 2. The weights Ri can be predetermined, for example, by carrying out clinical tests or surveys among users which allow quantifying the advantage deriving from executing the parking maneuver in the proper direction in each of the conditions identified by parameters . Additionally or alternatively, the weights Ri can be set according to user preferences, and/or updated based on the feedback provided by the user after each assisted or automatic execution of the parking maneuver, as further detailed below. For example, a high weight can be associated to the parameters relating to the presence of the baby car seat, a lower weight can be associated to the parameters relating to the presence of objects in the trunk, an even lower weight can be associated to the parameters relating to the space available for parking, an even lower weight can be associated to the parameters relating to the history of the places where the motor-vehicle passed by or was parked, and a minimum weight can be associated to the parameters indicative of the user’s preferences.

Therefore, in various embodiments the control unit 6 of the motorvehicle 2 can store data as in the example of Table I reported at the end of the description, where each boundary condition is associated to a respective direction flag Din and possibly a respective weight Ri. When the assisted or automatic execution of the parking maneuver is required, the control unit 6 of the motor-vehicle 2 evaluates whether each of the conditions is satisfied or not (e.g., via vehicle sensors) and, based on the direction flags Din (and possibly of the weights Rj), determines a preferred direction of execution of the parking maneuver.

More in detail, figure 2 illustrates the steps of a method 20 for determining the suggested direction for the execution of a stored parking maneuver. The method can be carried out, for example, by the control unit 6 of the motor-vehicle 2.

In step 202, the method comprises receiving a set of variables Pi, P2, ... , Pn (in general, Pi with i = 1 ,..., n) that indicate whether the respective conditions are verified or not. For example, the variables Pi can be binary variables that take a value of 0 when the respective condition is not met and a value of 1 when the respective condition is met. The variables Pi can be provided by one or more sensors of the vehicle. For example, referring here to the conditions I1,..., I10 previously discussed as an example, if the trunk of the motor-vehicle is loaded, the variables Pi and P3 are set to 1 and 0 respectively by a sensor of the vehicle mass distribution of the vehicle, and the variables P2 and P4 are set to 1 and 0 respectively by a dedicated sensor in the trunk. The other variables Pi are set according to the detections made by other sensors. Depending on the values of the variables Pi, the flags Din and possibly the respective weights Rj, a score WF associated to execution of the maneuver in the forward direction, and a score WR associated to execution of the maneuver in the reverse direction are determined.

By way of example, step 202 can provide for the execution of the following operations. In a first step, the sum Rtot of all the weights Rj associated to all the conditions evaluated by the algorithm implemented by the method is calculated, according to the following equation:

In a second step, a partial score Wi associated to each condition is calculated, according to the following equation:

In a third step, the score WF of the maneuver in the forward direction is calculated by adding all the partial scores Wi associated to the conditions h that “prefer” the forward direction parking, i.e. , the conditions whose flag Din has the value F. Similarly, the score WR of the maneuver in the reverse direction is calculated by adding all the partial scores W associated to the conditions that “prefer” the reverse direction parking, i.e., the conditions whose flag Din has the value R. This operation can be summarized by the following pseudo-code algorithm:

W_F = W_R = 0 for i = 1 :n if Din = F

W_F = W_F + W. else

W_R = W_R + W

Therefore, at the end of step 202, the method 20 calculates a score WF associated to the maneuver in the forward direction and a score WR associated to the maneuver in the reverse direction.

In step 204, the method comprises setting the value of a variable Dir_Suggested to the value F (to indicate that the suggested direction of execution of the parking maneuver is the forward direction) or to the value R (to indicate that the suggested direction of execution of the parking maneuver is the reverse direction) depending on the values of the scores WF and WR. For example, if WF is higher than WR then the variable Dirsuggested is set to the value F, while if WR is higher than WF then the variable Dirsuggested is set to the value R. Optionally, if WF and WR are equal, then the variable Dirsuggested is set to the value F or R in accordance with the direction in which the user recorded the maneuver during the training phase of the home zone function (i.e., in the event that the method 20 does not determine a particular preference for the execution at forward or reverse direction based on the relevant boundary conditions at that moment, the suggested execution direction Dirsuggested corresponds to the one recorded by the user Dir_recorded). This operation can be summarized by the following pseudo-code algorithm: if W_F > W_R

Dirsuggested ⁼ F elseif WR > WF

Dirsuggested ⁼ R else

Dirsuggested ⁼ Dirrecorded

As mentioned, optionally the weights Ri associated to the conditions can be updated based on the feedback provided by the user after the assisted or automatic execution of the parking maneuver. In particular, if the user accepts the suggestion provided by the vehicle at the end of step 204 (i.e., if he or she accepts the execution of the parking maneuver in the direction indicated by the variable Dirsuggested), the weights Ri associated to the conditions which contributed to the selection of the suggested execution direction (i.e., conditions whose flag Din is equal to the flag Dirsuggested and whose presence variable Pi indicates that the respective condition is verified, i.e., Pi is different from zero) are incremented by a certain amount (e.g., a coefficient k). If, on the other hand, the user does not accept the suggestion provided by the motor-vehicle at the end of step 204 (i.e., if he or she forces the execution of the parking maneuver in the opposite direction to that indicated by the variable Dirsuggested), the weights Ri associated to the conditions which contributed to the selection of the suggested execution direction are decremented by a certain amount (e.g., a coefficient d, which can be equal to k or different from k). This operation can be summarized by the following algorithm: if Dirsuggested is accepted for i = 1 :n if DiCj ⁼ DiCsuggested & Pi 0 Ri = Ri + k else for i = 1 :n if Din ⁼ DiTsuggested & Pi 0

Ri = Ri - d

The invention described here is advantageous in that it allows to suggest the direction of execution of a parking maneuver so that the motor- vehicle is parked in forward or reverse direction in the way that is most comfortable (useful, advantageous) for the occupants of the motor-vehicle itself.

Of course, notwithstanding the principle of the invention, the construction details and the embodiments may vary widely with respect to what has been described and illustrated purely by way of example, without thereby departing from the scope of the present invention, as defined in the attached claims.

Table

Claims

1. A driving-assistance method (20) for a motor-vehicle (2), comprising:

- receiving a command for execution of an assisted or autonomous parking maneuver;

- detecting (202) the occurrence (Pi) of one or more operating conditions (h) of the motor-vehicle and/or one or more conditions (h) of the environment surrounding the motor-vehicle and/or one or more driving preferences set by a user of the motor-vehicle, wherein a respective preferred direction (Din) of execution of said parking maneuver is associated to each of said operating conditions, environmental conditions and/or driving preferences (h), said preferred direction being a forward or reverse direction;

- computing (202) a first score (WF) associated to execution of the parking maneuver in the forward direction and a second score (WR) associated to execution of the parking maneuver in the reverse direction based on said occurred operating conditions, environmental conditions and/or driving preferences (h), and based on the respective preferred directions (Din) of execution of the parking maneuver; and

- determining (204) a suggested direction (Dir_Suggested) of execution of said parking maneuver based on a comparison between said first score (WF) and said second score (WR).

2. The method (20) of claim 1 , wherein the step of computing (202) said first score (WF) and said second score (WR) comprises:

- increasing said first score (WF) for each of said operating conditions, environmental conditions and/or driving preferences (h) that occurred (Pi) to which a forward preferred direction (Din) of execution of the parking maneuver is associated; and

- increasing said second score (WR) for each of said operating conditions, environmental conditions and/or driving preferences (h) that occurred (Pi) to which a reverse preferred direction (Din) of execution of the parking maneuver is associated.

3. The method (20) of claim 2, wherein a respective weight (Ri) is associated to each of said operating conditions, environmental conditions and/or driving preferences (h), and wherein the step of computing (202) said first score (WF) and said second score (WR) comprises:

- for each of said occurred (Pi) operating conditions, environmental conditions and/or driving preferences (h) to which a forward preferred direction (Din) of execution of the parking maneuver is associated, increasing said first score (WF) by an amount proportional to the respective weight (Ri); and

- for each of said occurred (Pi) operating conditions, environmental conditions and/or driving preferences (h) to which a reverse preferred direction (Din) of execution of the parking maneuver is associated, increasing said second score (WR) by an amount proportional to the respective weight (Ri).

4. The method (20) of claim 3, wherein said weights (Ri) associated to said operating conditions, environmental conditions and/or driving preferences (h) are settable by the user.

5. The method (20) of claim 3 or claim 4, comprising:

- detecting whether the user accepts or declines the execution of the parking maneuver in the suggested direction (Dir_Suggested);

- if the user accepts the execution of the parking maneuver in the suggested direction (Dir_Suggested), increasing the values of the weights (Ri) associated to said occurred (Pi) operating conditions, environmental conditions and/or driving preferences (h) whose respective preferred direction (Din) of execution of the parking maneuver is the same as the suggested direction (Dir_Suggested); and

- if the user declines the execution of the parking maneuver in the suggested direction (Dir_Suggested), decreasing the values of the weights (Ri) associated to said occurred (Pi) operating conditions, environmental conditions and/or driving preferences (h) whose respective preferred direction (Din) of execution of the parking maneuver is the same as the suggested direction (Dir_Suggested).

6. The method (20) of any of the previous claims, wherein the step of determining (204) said suggested direction (Dir_Suggested) comprises:

- suggesting (204) the execution of the parking maneuver in the forward direction if said first score (WF) is higher than said second score (W_R);

- suggesting (204) the execution of the parking maneuver in the reverse direction if said first score (WF) is lower than said second score (WR); and

- suggesting (204) the execution of the parking maneuver in a direction previously stored by the user if said first score (WF) is equal to said second score (WR).

7. The method (20) of any of the previous claims, wherein:

- said one or more operating conditions (h) of the motor-vehicle comprise the mass distribution of the motor-vehicle between a front axle of the motor-vehicle and a rear axle of the motor-vehicle, and/or the presence of objects in the trunk of the motor-vehicle, and/or the presence of a baby car seat on the front passenger seat or on the rear seats of the motorvehicle, and/or a historical series of places where the motor-vehicle passed by and/or was parked recently; and/or

- said one or more conditions (h) of the environment surrounding the motor-vehicle comprise the size of a parking spot inside which it is intended to park the motor-vehicle, and/or the presence of an electric charging column at a side of said parking spot; and/or

- said one or more driving preferences set by a user of the motorvehicle comprise a preferred direction of execution of a stored parking maneuver.

8. The method (20) of claim 7, wherein:

- a forward preferred direction (Din) of execution of the parking maneuver is associated to an operating condition (h) of the motor-vehicle where the mass distribution of the motor-vehicle between front axle and rear axle indicates that the rear trunk of the motor-vehicle is loaded;

- a forward preferred direction (Dir2) of execution of the parking maneuver is associated to an operating condition (h) of the motor-vehicle where objects are present in the rear trunk of the motor-vehicle;

- a reverse preferred direction (Dirs) of execution of the parking maneuver is associated to an operating condition (I3) of the motor-vehicle where the mass distribution of the motor-vehicle between front axle and rear axle indicates that the rear trunk of the motor-vehicle is empty;

- a reverse preferred direction (Dir4) of execution of the parking maneuver is associated to an operating condition (I4) of the motor-vehicle where no objects are present in the rear trunk of the motor-vehicle; - a reverse preferred direction (Dir?) of execution of the parking maneuver is associated to an operating condition (I?) of the motor-vehicle where a baby car seat is present on the front passenger seat of the motorvehicle;

- a forward preferred direction (Dirs) of execution of the parking maneuver is associated to an operating condition (h) of the motor-vehicle where a baby car seat is present on the rear seats of the motor-vehicle;

- a forward preferred direction (Dirs) of execution of the parking maneuver is associated to a condition (I5) of the environment surrounding the motor-vehicle where the size of said parking spot is bigger than a threshold;

- a reverse preferred direction (Dire) of execution of the parking maneuver is associated to a condition (h) of the environment surrounding the motor-vehicle where the size of said parking spot is smaller than said threshold.

9. A motor-vehicle (2) comprising:

- at least one sensor (5) configured to detect one or more operating conditions (h) of the motor-vehicle and/or one or more conditions (h) of the environment surrounding the motor-vehicle;

- one or more driving systems (3) of the motor-vehicle; and

- an electronic control unit (6) coupled (7) to said at least one sensor (5) and to said one or more driving systems (3) of the motor-vehicle, wherein said electronic control unit (6) is configured to carry out the method of any of the previous claims.