Parking assistance system for automated pulling-out of a longitudinal parking space with a reversing move as the last pulling-out move

1. A parking assistance system for a motor vehicle for automated pulling-out using at least automated lateral guiding out of a longitudinal parking space, comprising:

an electronic control unit comprising a processor to execute one or more software programs configured to cause the electronic control unit to:

control the vehicle to perform a plurality of pulling-out moves of an automated pulling-out process, wherein the plurality of pulling-out moves comprises an automatic forward move,

before transferring control of the vehicle to a driver, control the vehicle to automatically perform a linear reversing move towards the longitudinal parking space, wherein the linear reversing move is carried out immediately following the automatic forward move as the last move of the automated pulling-out process based on a determination, made during or immediately after the forward move and prior to the linear reversing move, that the vehicle will, subsequent to the linear reversing move, be able to leave the parking space continuously in a manual forward move carried out by the driver while maintaining a distance criterion, and

transfer control of the vehicle to the driver.

2. The parking assistance system according to claim 1 , wherein the one or more software programs are further configured to cause the electronic control unit to:

determine, during the automatic forward move carried out automatically before the automatic linear reversing move, that the vehicle will subsequently be able to leave the parking space continuously in the forward move carried out manually by the driver while maintaining a distance criterion.

3. The parking assistance system according to claim 1 , wherein the one or more software programs are further configured to cause the electronic control unit to:

determine, before the linear reversing move is carried out automatically, that the vehicle will subsequently be able to leave the parking space continuously in the forward move carried out manually by the driver while maintaining the distance criterion and with a full steering lock in the direction of the pulling-out side.

4. The parking assistance system according to claim 1 , wherein the one or more software programs are further configured to cause the electronic control unit to:

determine, after the linear reversing move is carried out automatically, that the vehicle will not be able to leave the parking space continuously in a forward move carried out manually by the driver while maintaining a distance criterion; and

based on the determination, carry out a second reversing move automatically having a specific steering angle against the pulling-out side instead of carrying out the linear reversing move a second time.

5. The parking assistance system according to claim 4 ,

wherein the one or more software programs are further configured to cause the electronic control unit to:

determine, after the linear reversing move is carried out automatically, that the vehicle will not be able to leave the parking space continuously in the forward move carried out manually by the driver while maintaining the distance criterion; and

determine, after the second reversing move carried out using the specific steering angle against the pulling-out side, that the vehicle will be able to leave in the forward move carried out manually by the driver while maintaining the distance criterion, and

wherein the last move of the automated pulling-out process further comprises:

the second reversing move having the specific steering angle against the pulling-out side as the last move of the automated pulling-out process automatically; and

the transfer of the control of the vehicle to the driver.

6. The parking assistance system according to claim 1 , wherein the one or more software programs are further configured to cause the electronic control unit to:

steer, while the vehicle is at a standstill, in the direction of the pulling-out side with full steering lock upon completion of a second reversing move having a specific steering angle against the pulling-out side.

7. The parking assistance system according to claim 1 , wherein the parking assistance system is a parking assistance system for automated pulling out using automated lateral and longitudinal guiding.

8. The parking assistance system according to claim 1 , wherein the one or more software programs are further configured to cause the electronic control unit to:

before the transfer of control to the driver, to always carry out the linear reversing move or a second reversing move automatically as the last move of the automated pulling-out process, and

then to transfer control to the driver.

9. The parking assistance system according to claim 1 , wherein the one or more software programs are further configured to cause the electronic control unit to:

determine, before the linear reversing move is carried out automatically, that upon completion of a forward move carried out automatically, the vehicle can leave the parking space continuously in a forward move carried out manually by the driver while maintaining a distance criterion; and

carry out the linear reversing move automatically based on the determination.

10. A parking assistance system for a motor vehicle for automated pulling-out using at least automated lateral guiding out of a longitudinal parking space, comprising:

an electronic control unit comprising a processor to execute one or more software programs configured to cause the electronic control unit to:

control the vehicle to perform a plurality of pulling-out moves of an automated pulling-out process, wherein the plurality of pulling-out moves comprises an automatic forward move,

before transferring control of the vehicle to a driver, control the vehicle to always automatically carry out a linear reversing move towards the longitudinal parking space, wherein the linear reversing move is carried out immediately following the automatic forward move as the last move of the automated pulling-out process to position the vehicle deeper into the longitudinal parking space, based on a determination, made during or immediately after the forward move and prior to the linear reversing move, that the vehicle will, subsequent to the linear reversing move, be able to leave the parking space continuously in a manual forward move carried out by the driver while maintaining a distance criterion, and

transfer control of the vehicle to the driver.

11. A method for automated pulling out using at least automated lateral guiding out of a longitudinal parking space via a motor vehicle, comprising:

performing a plurality of pulling-out moves of an automated pulling-out process, wherein the plurality of pulling-out moves comprises an automatic forward move;

before transferring control of the vehicle to a driver, controlling the vehicle to automatically perform a linear reversing move towards the longitudinal parking space, wherein the linear reversing move is carried out immediately following the automatic forward move as the last move of the automated pulling-out process, based on a determination, made during or immediately after the forward move and prior to the linear reversing move, that the vehicle will, subsequent to the linear reversing move, be able to leave the parking space continuously in a manual forward move carried out by the driver while maintaining a distance criterion; and

transferring control of the vehicle to the driver.

12. The method according to claim 11 , wherein the vehicle is controlled to automatically perform the linear reversing move as the last move of the automated pulling-out process in each case before transferring control of the vehicle to the driver.

13. The parking assistance system according to claim 1 , wherein the last move of the automated pulling-out process positions the vehicle deeper into the longitudinal parking space.

14. The method according to claim 11 , wherein the last move of the automated pulling-out process positions the vehicle deeper into the longitudinal parking space.

15. The parking assistance system according to claim 1 , wherein the one or more software programs are further configured to cause the electronic control unit to:

determine, upon completion of the forward move carried out automatically, that the vehicle will subsequently be able to leave the parking space continuously in the forward move carried out manually by the driver while maintaining a distance criterion.

16. The parking assistance system according to claim 1 , wherein the one or more software programs are further configured to cause the electronic control unit to:

during the linear reversing move, moving the vehicle rearward until reaching or falling below a predetermined threshold distance to a curb.