Patent ID: 8521366

Claim:
A method for automated assisted parking of a controlled vehicle into a parking space with the aid of a parking-assistance device which guides the vehicle along at least one parking trajectory, the method comprising: guiding the vehicle along a first segment of the parking trajectory up to an intermediate point which is determined in such a way that the vehicle is subsequently able to be guided into the parking space from the intermediate point irrespective of whether the parking space is a parallel parking space or a diagonal parking space; subsequently identifying the parking space as one of a parallel parking space or a diagonal parking space; guiding the vehicle along a second segment of the parking trajectory following the first segment, wherein the second segment of the parking trajectory is selected depending upon whether the identified parking space is a parallel parking space or a diagonal parking space; wherein the controlled vehicle has at least one detecting unit which identifies whether the parking space is a parallel parking space or a diagonal parking space; wherein the parking space is bounded by objects, and wherein the parking space is identified as one of a parallel parking space or a diagonal parking space by detecting at least one of the objects bounding the parking space with the aid of the at least one detecting unit; wherein the detecting unit determines a distance between the controlled vehicle and the at least one detected object; and wherein in the case the detecting unit detects the distance between the controlled vehicle and the at least one detected object remaining essentially constant over the second segment of the parking trajectory, the parking space is identified as a diagonal parking space, and the second segment of the parking trajectory is implemented essentially as straight back-up.