Patent ID: 9193387
Filing Date: 2015-11-24
Classification: B62D,G08G

Abstract:
1. A method for forward parking of a motor vehicle in a perpendicular parking space, the motor vehicle having environment sensors for determining environment data and obstacles in an environment of the motor vehicle, comprising: prealigning the motor vehicle in front of the parking space in such a manner that a setpoint steering angle δ iteratively searching, using the controller, a permissible steering angle range between the maximum steering angle δ terminating that forward maneuvering movement having the current steering angle if the end of the parking operation has been reached or a reverse maneuvering movement must be carried out to avoid hitting an obstacle, wherein the vehicle alignment with respect to the perpendicular parking space is determined by determining distances between detected lateral obstacles that are within a predefined distance value and by placing a regression line through each of the left-hand and right-hand obstacle points, wherein a distance between the left-hand and right-hand obstacle points is less than the predetermined distance value, and wherein each of the regression lines forms an angle relative to the vehicle longitudinal axis and a mean value of those relative angles forms a measure of the alignment of the motor vehicle with respect to the perpendicular parking space, and wherein the measure of the alignment is used to detect the positioning of the motor vehicle in the parking space with respect to the forward maneuvering movement and, for the reverse maneuvering movement, is used to determine a favorable starting position for the next forward maneuvering movement, wherein, a first iteration i=0 of the iterative search is carried out by scanning a predefined curvature range with a predefined curvature iteration size to determine an ideal curvature estimated value which corresponds to the current steering angle, and the forward maneuvering movement of the motor vehicle is carried out along the ideal curvature estimated value of the first iteration, wherein the curvature estimated value of the first iteration corresponds to the maximum free path length, wherein the maximum free path length is a vehicle movement path length that provides the maximum distance traveled without the vehicle hitting an obstacle.