Method for carrying out a parking process for a vehicle and driver assistance device
The invention relates to a method for carrying out a parking process for a vehicle ( 1 ), in which the parking process is carried out at least semi-autonomously, a parking assistance device ( 2 ) of the vehicle being able to carry out an autonomous parking process or a semi-autonomous parking process and, depending on environmental conditions of the vehicle ( 1 ), the parking assistance device ( 2 ) deciding whether a parking process is carried out autonomously or semi-autonomously.
1. A method for carrying out a parking process for a vehicle, in which the parking process is carried out at least semi-autonomously, the method comprising:
carrying out an autonomous parking process or a semi-autonomous parking process, by a parking assistance device of the vehicle, wherein
depending on environmental conditions of the vehicle, deciding, by the parking assistance device, whether the parking process is carried out autonomously or semi-autonomously,
wherein in the autonomous parking process, steering, acceleration and braking are under the control of the parking assistance device,
wherein in the semi-autonomous parking process steering, but not acceleration and braking, is under the control of the parking assistance device,
wherein a detection value which characterizes a probability of correct obstacle detection in the environment of the vehicle is taken into account for the decision,
wherein the detection value is taken into account on the basis of information from only one sensor type for sensing the environment, and wherein the only one sensor type is ultrasonic.
2. The method according to claim 1 , wherein a threshold value is stipulated for the detection value and a semi-autonomous parking process is carried out if the threshold value is exceeded.
3. The method according to claim 1 , wherein at least one obstacle is taken into account as environmental conditions during parking space measurement.
4. The method according to claim 3 , wherein obstacles adjoining a parking space are taken into account.
5. The method according to claim 1 , wherein the decision as to whether a parking process is carried out autonomously or semi-autonomously is made on the basis of information from only one sensor type for sensing the environment.
6. The method according to claim 5 , wherein only information from ultrasonic sensors of the parking assistance device is taken into account.
7. A parking assistance device for a vehicle, comprising:
a detector device for sensing an environment surrounding the vehicle; and
an evaluation unit for evaluating information from the detector device, the parking assistance device being configured to carry out an autonomous and a semi-autonomous parking process, and to decide, on the basis of detected environmental conditions of the vehicle, whether the parking process is carried out autonomously or semi-autonomously,
wherein in the autonomous parking process, steering, acceleration and braking are under the control of the parking assistance device,
wherein in the semi-autonomous parking process steering but not acceleration and braking is under the control of the parking assistance device,
wherein a detection value which characterizes a probability of correct obstacle detection in the environment of the vehicle is taken into account for the decision,
wherein the detection value is taken into account on the basis of information from only one sensor type for sensing the environment, and wherein the only one sensor type is ultrasonic.
8. A vehicle having a parking assistance device according to claim 7 .