US 12,485,879 B2
Method for the at least partially automated parking of a motor vehicle, driver assistance system, and motor vehicle
Simone Paula, Rain (DE); Alejandra Castro Pena, Ingolstadt (DE); Alexander Hülsermann, Mühlheim an der Ruhr (DE); Philipp Kretschmann, Manching (DE); and Michael Lübcke, Gaimersheim (DE)
Assigned to Audi AG, Ingolstadt (DE); and Cariad SE, Wolfsburg (DE)
Appl. No. 18/262,554
Filed by AUDI AG, Ingolstadt (DE); and CARIAD SE, Wolfsburg (DE)
PCT Filed Feb. 22, 2022, PCT No. PCT/EP2022/054324
§ 371(c)(1), (2) Date Jul. 21, 2023,
PCT Pub. No. WO2022/180005, PCT Pub. Date Sep. 1, 2022.
Claims priority of application No. 10 2021 104 290.9 (DE), filed on Feb. 23, 2021.
Prior Publication US 2024/0075921 A1, Mar. 7, 2024
Int. Cl. B60W 30/06 (2006.01); B60W 50/14 (2020.01); G01C 21/36 (2006.01)
CPC B60W 30/06 (2013.01) [B60W 50/14 (2013.01); G01C 21/3676 (2013.01); B60W 2420/403 (2013.01); B60W 2556/40 (2020.02)] 13 Claims
OG exemplary drawing
 
1. A method for at least partially automated parking of a motor vehicle, comprising:
providing and saving a trajectory from a start point to an end point;
in response to determining that the motor vehicle is in predetermined vicinity to the provided trajectory, driving the motor vehicle along the trajectory up to the end point in at least partially automated manner;
displaying the trajectory on a display device;
displaying an overview map of an environment around the trajectory;
representing the trajectory in the overview map,
wherein the overview map comprises multiple different display regions, which correspond to respective environment regions of the environment around the trajectory, wherein, as soon as image data relating to the respective environment regions is captured by at least one camera of the motor vehicle, at least a part of the respective captured image data is saved as a current image data part allocated to the respective concerned environment regions, and at the point of time of a display of the overview map, all of the current image data parts saved up to the point of time are displayed in the display regions of the overview map corresponding to the respective environment regions, and
wherein, based on data from a capturing device of the motor vehicle, an object that has been captured by the capturing device in a certain environment region of the environment regions is classified as a first one of drivable and non-drivable;
transferring the overview map from the motor vehicle to a device external to the motor vehicle by wireless communication;
receiving a corrected overview map of the environment around the trajectory from the device external to the motor vehicle by wireless communication,
wherein, in the corrected overview map of the environment around the trajectory, the object that has been captured by the capturing device in the certain environment region of the environment regions is classified as a second one of drivable and non-drivable that is different from the first one of drivable and non-drivable; and
displaying the corrected overview map of the environment around the trajectory.