Granted Patent B2

US 12,735,025 · App. 18/837,627 · Granted Sep 15, 2026

Inventors: Izden Sarihan (Munich, DE); Anton Uhlig (Munich, DE)

Assignee: Bayerische Motoren Werke Aktiengesellschaft

B60W30/06B60W50/14B60W2554/80

Abstract

Claims (40)

1 . A vehicle guidance system for the at least partially automated parking of a motor vehicle in a transverse parking space delimited by an initial object and an end object, the vehicle guidance system comprising:

one or more sensors configured to sense the transverse parking space, the initial object, and the end object; and

a control device configured to:

determine a length of the transverse parking space between the initial object and the end object,

select one of: the initial object and the end object, as a reference for a forward-transverse parking maneuver, wherein the selection is based on the determined length, and

align the motor vehicle relative to the selected one of: the initial object and the end object, in order to execute the forward-transverse parking maneuver.

2 . The vehicle guidance system of claim 1 , wherein the control device is further configured to, for the forward-transverse parking maneuver:

compare the determined length with a length threshold value,

align the motor vehicle relative to the end object when the length is greater than the length threshold value, and

align the motor vehicle relative to the initial object when the length is smaller than the length threshold value.

3 . The vehicle guidance system of claim 1 , wherein the control unit is further configured to:

determine from the determined length, whether the motor vehicle is aligned selectively either relative to the initial object or relative to the end object depending on a parking direction during the at least partially automated parking of the motor vehicle in the transverse parking space.

4 . The vehicle guidance system of claim 1 , wherein the control unit is further configured to:

compare the determined length with a first length threshold value and with a second length threshold value, wherein the second length threshold value is greater than the first length threshold value; and

effect a parking direction and/or an alignment of the motor vehicle relative to the initial object or relative to the end object for the parking maneuver into the transverse parking space depending on the comparison.

5 . The vehicle guidance system of claim 4 , wherein the control unit is further configured to:

selectively align the motor vehicle either relative to the initial object or relative to the end object depending on the parking direction during the at least partially automated parking of the motor vehicle in the transverse parking space when it is determined that the length is greater than the first length threshold value and smaller than the second length threshold value.

6 . The vehicle guidance system of claim 4 , wherein the control unit is further configured to:

position the motor vehicle centrally in the transverse parking space between the initial object and the end object, during the at least partially automated parking of the motor vehicle in the transverse parking space, irrespective of the parking direction when it is determined that the length is smaller than the first length threshold value.

7 . The vehicle guidance system of claim 4 , wherein the control unit is configured to:

align the motor vehicle relative to the end object during the at least partially automated parking of the motor vehicle in the transverse parking space irrespective of the parking direction when it is determined that the length is greater than the second length threshold value.

8 . The vehicle guidance system of claim 1 ,

wherein the one or more sensors are further configured to: capture surroundings data in relation to the surroundings of the vehicle while the motor vehicle travels along a direction of travel past the initial object of the transverse parking space along the transverse parking space in the direction toward the end object, and

wherein the control unit is further configured to:

detect the transverse parking space from the surroundings data, and

determine the length of the transverse parking space along the direction of travel from the surroundings data.

9 . The vehicle guidance system of claim 1 , wherein the control unit is further configured to:

determine a user input of a user of the motor vehicle a user interface; and

determine a parking direction for the at least partially automated parking of the motor vehicle in the transverse parking space on the basis of the user input.

10 . The vehicle guidance system of claim 1 , wherein the control unit is further configured to:

position the motor vehicle in the transverse parking space at a predefined lateral distance alongside the initial object, and/or align the motor vehicle in the transverse parking space depending on an alignment of the initial object, so as to:

align the motor vehicle relative to the initial object for the parking maneuver into the transverse parking space, or position the motor vehicle in the transverse parking space at a predefined lateral distance alongside the end object, and/or

align the motor vehicle in the transverse parking space depending on an alignment of the end object, so as to align the motor vehicle relative to the end object for the parking maneuver into the transverse parking space.

11 . The vehicle guidance system of claim 1 , wherein the control unit is further configured to:

disregard a position and/or alignment of the end object during the at least partially automated parking of the motor vehicle in the transverse parking space when the motor vehicle is aligned relative to the initial object for the parking maneuver into the transverse parking space, and

disregard a position and/or alignment of the initial object during the at least partially automated parking of the motor vehicle in the transverse parking space when the motor vehicle is aligned relative to the end object for the parking maneuver into the transverse parking space.

12 . A method for the at least partially automated parking of a motor vehicle in a transverse parking space that is delimited by an initial object and an end object, the method comprising:

determining a length of the transverse parking space between the initial object and the end object;

selecting one of: the initial object and the end object, as a reference for a forward-transverse parking maneuver, wherein the selection is based on the determined length; and

aligning the motor vehicle relative to the selected one of: the initial object and the end object, in order to execute the forward-transverse parking maneuver into the transverse parking space.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (66)