DE102010041902A1 - Method for carrying out a parking operation of a motor vehicle and device for controlling a parking operation of a motor vehicle - Google Patents

Abstract

The invention relates to a method for executing a parking procedure for a motor vehicle. The method relates to the steps: detecting a parking space by means of at least one side sensor which is aligned laterally to the motor vehicle; and determining a parking corridor that leads from a current position of the motor vehicle into the parking space. A distance between the vehicle and an object possibly present in the rear surroundings of the motor vehicle is detected by means of at least one rear sensor which is oriented in a rearward direction of the motor vehicle. A geometric size of the parking corridor is reduced with decreasing distance between the object and the vehicle, with increasing rate of decrease in the distance, or a combination thereof. The parking corridor thus obtained is traversed in an automatic, semi-automatic or assisted parking procedure when the parking process is carried out. The invention further relates to a device for controlling a parking process of a motor vehicle for executing the method according to the invention.

Description

State of the art

In the field of the invention, d. H. In the field of parking assistance systems, distance warning devices are known which emit warning signals when the vehicle to be parked is in close proximity to surrounding objects. The choice of Einparkwegs remains in such systems completely the driver, who can estimate the environment only on the basis of warning signals, together with the usual visual estimation by the driver.

Furthermore, parking assistance systems are known which detect the geometry of parking gaps as they pass by, in particular by lateral sensors such as ultrasonic sensors and radar sensors, and then support the parking operation according to a calculated Einparkwegs. The assistance may be graded, for example, in a first stage only warning signals, directional information or speed information can be provided, which the driver can follow, and in other stages, the system semi-automatically or automatically performs the parking operation by the system actuates the steering or In addition, also sets the driving speed.

Furthermore, from the DE 10 2005 015 354 A1 a parking assist method is known in which in addition during the scanning of the parking space and the opposite side is scanned to avoid collisions with objects that are located on the opposite side of the roadway. Similarly, in DE 103 32 961 A1 described in the context of a parking assistance procedure to detect traffic on the opposite lane to generate a warning in the event of a collision hazard.

Known parking assistance systems thus take into account only the width of the available roadway, for example, to estimate the shearing of the vehicle rear during parking, in order to avoid a collision with vehicles that are not in their own lane. As a result, the traffic situation that has to be considered when parking, but only partially taken into account, so that there are collision risks despite the known measures.

It is therefore an object of the invention to provide a method for performing a parking operation and a device for controlling a parking operation, with which a parking operation can be made safer.

Disclosure of the invention

This object is achieved by the method and apparatus according to the independent claims.

The invention enables the consideration of traffic on the same roadway to avoid in particular rear-end collisions. The invention enables parking based on automatically obtained data that takes into account a relevant component of the traffic situation that was previously disregarded. As a result of the invention, a vehicle equipped with the method or system according to the invention is significantly better integrated into the traffic flow, since the invention makes it possible to incorporate essential aspects of the surrounding traffic flow into the parking process. In particular, the invention can be easily implemented with already existing components, which need only be slightly modified, in particular by a reprogramming, so that no specific hardware components must be used. The invention can also be easily integrated into existing parking systems.

The invention provides, for dimensioning the Einparkpfads (ie the path within a Einparkkorridors) not only to detect the parking space with sensors that is located laterally of the einzuparkenden vehicle, but also the rear environment of the vehicle automatically (for example by an electronic circuit) Note that there may also be objects (ie other road users) that pose a potential collision hazard. According to the invention, objects are also taken into account which potentially represent a risk, without actually being present as an obstacle in the parking corridor at the time of detection. According to the invention, the parking process is adapted to potentially relevant objects in the rear area of the vehicle by reducing the size of a parking corridor, the more relevant an object appears in the rear area of the vehicle. The relevance of a vehicle or other object in the rear area is given by the distance or by the approach speed, ie the rate of change of the distance, or by a combination thereof. Therefore, the parking corridor is restricted or reduced the closer a motor vehicle is to the vehicle to be parked, so that an extensive parking movement of the vehicle to be parked is avoided, as a result of which other vehicles only have to perform minor maneuvers in order to pass the vehicle to be parked. Thus, the invention is not limited only to the fixed objects that form the parking space, but also takes into account the temporal evolution of moving objects that are located at the rear of the vehicle. In contrast to side objects that are already parked, usually located at the rear of the vehicle objects that move towards the vehicle to be parked, so that the objects on the rear side of the vehicle must be considered in a fundamentally different way than the lateral, already parked objects (or other fixed objects) on the side of the vehicle.

The inventive method for carrying out a parking operation of a motor vehicle therefore provides first to detect a parking space by means of at least one side sensor. According to a variant, the method can only assist in this case by issuing warning or orientation signals for the driver which serve as orientation for the driver, without the method intervening in the operation of the vehicle. In alternative variants, the execution of the parking operation can also provide that in the driving operation by a machine (which implements the invention) is intervened, for example by the parking corridor is traveled by mechanical intervention in the steering of the vehicle, which corresponds to a semi-automatic support, or wherein, in an automatic parking aid, also the driving speed is controlled by a machine.

According to the invention, a parking corridor is further determined which leads from the current position of the motor vehicle into the parking space. The Einparkkorridor can be provided in particular by an optimal Einparkpfad and the area which sweeps over the motor vehicle when driving off the Einparkpfads. The Einparkkorridor may further comprise an additional allowable lateral deviation, especially if the steering is not performed by a machine, but the method only gives orientation signals to a driver who has to implement them.

By means of at least one return sensor, which is aligned in the rearward direction of the motor vehicle, a distance between the vehicle and an object possibly present in the rearward environment of the motor vehicle is detected.

Preferably, the distance is detected repeatedly, in particular to detect the rate of reduction of the distance (ie the relative speed between the vehicle and the vehicle parked), wherein a specific embodiment provides that the rate of reduction of the distance is detected by a direct speed measurement, for example by means of the Doppler effect, which acts on the pulses of a pulse echo method (for distance determination). Based on the distance measurement or the speed measurement, the relevance of the vehicle is detected. The higher the relevance, the more the parking corridor is limited in size. The relevance results from distance, speed, or a combination thereof, where the relevance (eg realized by a relevance value) increases, the smaller the distance, and the relevance also increases, the greater the speed, i. H. the reduction rate of the distance is. Therefore, the size of the parking corridor is reduced with decreasing distance between the object and the vehicle, with increasing decreasing rate of the distance (with increasing relative speed between detected object and parked vehicle) or a combination thereof.

For example, the combination (i.e., the overall relevance) may be based on addition or multiplication of relevance quantities, where a relevance size increases with decreasing distance and another relevance quantity increases along with the speed. So z. B. detects a high overall relevance, despite a large distance between the object and the vehicle when the object is driving at high speed on the parking vehicle. In the same way results in a high overall relevance (and thus a greater reduction in the size of the Einparkkorridors), although a low speed between the vehicle and object is detected, but the vehicle has a high relevance due to a small distance. The use of a relevance value as an intermediate quantity in the calculation of the parking corridor is optional, so that both the distance and reduction rate (i.e., speed) individually or, preferably, in combination, enter into the geometric size of the parking corridor.

After calculation of the parking corridor or after modification of its size, the parking operation is carried out by driving the parking corridor in accordance with the automatic, semi-automatic or assisting parking method. In automatic and semi-automatic parking method at least the steering and optionally also the driving speed is controlled by a machine, the driver engages only in special operating conditions (for example, required emergency stop) in the parking. In semiautomatic Einparkverfahren the driving speed is controlled by the driver by pressing an accelerator pedal or a brake pedal and assisted Einparkverfahren only a desired direction, such as a target impact strength and target steering direction of the steering is displayed, which is implemented by the driver. These display signals are provided by the invention Provided method according to the invention generated parking corridor.

According to one embodiment, the rear sensor is designed as a camera (for example as a video camera which emits an image signal), wherein the distance is detected by image acquisition. For optical distance detection, the perspective of the detected object is used to derive the distance therefrom. For this purpose, a visual feature of the object, such as the vehicle outline, a license plate or a pair of headlights (or a pair of exterior mirrors) is detected. Since the real size of these visual features can be estimated within limits, the distance can be estimated from the captured image and the visual feature presented therein. For example, a vehicle outline, a license plate or a headlight pair (or even the wheel distance between the front wheels) can be detected and compared to common sizes of the relevant visual characteristics. Further, the visual feature may be detected as an image object, with its image size, for example, measured by a number of pixels or by the ratio of the size of the image object to the total field of view of the camera, related. In particular, two successive images can be compared with each other, wherein an increase in the size of the corresponding image features for calculating the reduction rate of the distance, d. H. Speed at which the detected object is approaching the parking vehicle. In particular, known object detection methods can be used to select from the entire captured camera image at least one visual feature whose size (ie width of the vehicle outline, license plate width, headlight headlamp spacing, or headlamp beam spot) used for distance detection can be. In particular, distinctive visual features may be detected by image capture, such as the exterior mirrors, to infer the proximity of the vehicle having the exterior mirrors based on the width of the exterior mirror pair (i.e., the distance between the exterior mirrors). In particular, when the reduction rate of the distance d. H. the speed is detected, the same visual features are detected in staggered images, and by the increasing in size with time (relative to the time period between the image recordings), the relative speed between the approaching vehicle and parked vehicle can be detected. A further embodiment, which can be used for this purpose alternatively or in combination with it, provides that the distance is detected by means of a pulse echo method. For this purpose, the rear sensor is designed as an ultrasonic distance sensor or as a radar distance sensor. For this purpose, for example radar distance sensors are used which have a preferably piezoelectric transducer (or a general acoustic transducer), which is excited to emit an ultrasonic pulse, and further detects the originating from the environment echo thereto. Similarly, the radar distance sensor may be formed as an antenna, which is similarly excited to emit an electromagnetic pulse, preferably a microwave pulse, and which receives the echo returned by the environment. In both variants, the time interval between emission of the pulse and reception of the echo is detected by a calculation unit and converted into a distance. The associated calculation unit can be provided to the sensor or in a central calculation unit.

A further embodiment provides that the side sensor as well as an ultrasonic or a radar distance sensor is used, which operates in the same way as the above-described feedback sensors, which use the Pulsechoverfahren.

The at least one rear sensor and the at least one side sensor are attached to the vehicle and oriented away from the vehicle, d. H. from the vehicle in the usual direction of travel to the rear and to the side. The sensors are mounted in the body, for example inside the bumper. In the case of a return sensor, which is designed as a camera, this is preferably arranged within the passenger compartment, for example at an upper end of the rear window, and captures images through the rear window. If the rear sensor is designed as a camera with automatic focus, the distance to the rear object (to the following vehicle) can be detected on the basis of the setting of the automatic focus, wherein the set depth of field corresponds to the distance to be detected.

It is further provided that the size of the parking corridor is a standard area, in the form of a target area, which is swept by the vehicle during the parking process. During the execution of the parking process, it is repeatedly (or continuously) checked whether the current location of the vehicle is within the parking corridor. The current location of the motor vehicle can be detected by detecting the relative movement between vehicle and ground (for example, covered distance or at a given steering wheel angle), can also be detected by a sensor-based orientation of the vehicle relative to the environment or by a GPS method, preferably this Procedures are combined with each other.

In an automatic or semi-automatic parking method, the motor vehicle is directed toward the parking corridor by an automatic steering wheel position, if it is detected that the motor vehicle leaves the intended parking corridor or if it is expected that the parking corridor will be left at the current steering wheel position. In a supported Einparkverfahren another reaction of the system is provided, ie not changing the steering wheel position, but it is a warning or a direction indication or both delivered when the motor vehicle leaves the parking corridor or is foreseeable that the motor vehicle at a current steering wheel position Einparkkorridor will leave.

According to the parking corridor is reduced or increased in size according to the detected distance and / or the detected speed. The change in the size of the parking corridor can be provided by changing the width, by changing the length or changing a curve radius, which reflects the Einparkweg the Einparkkorridors. In particular, the length of the parking corridor is shortened when a smaller distance or a higher speed is detected, so that during or after detection of the parking space, the vehicle travels a smaller distance when a smaller distance or a higher speed (or both) is detected. As a result, the required recoil path, shortened as the first section of the Einparkkorridors, so that the entire parking corridor is shortened. In subsequent cars, which are already close to the parking space and thus close to the motor vehicle, therefore, the parking can be performed faster because only a shorter distance is covered.

A further embodiment provides that the size of the parking corridor is set to a predefined size at a distance which is above a maximum distance threshold value or at a relative speed between the following vehicle and parking motor vehicle which is below a maximum speed threshold value. The maximum distance threshold value and the minimum speed threshold value form the limit beyond which the method according to the invention additionally reduces the parking corridor. The quantity below the minimum distance threshold value depends on the distance according to a function, the function being at least piecewise monotonically decreasing or strictly monotonically decreasing, preferably continuous, or the function being designed as a staircase function, whereby the size is reduced stepwise by discrete interval widths, the smaller the distance is. The result is a finite number of discrete, constant and successive decreasing magnitude values that determine the size of the parking corridor. Also, between reduction rate of the distance (i.e., speed) and size of the parking corridor is a function that corresponds to the function described above except for the slope direction. Between relative speed between the motor vehicle and the following vehicle and the size of Einparkkorridors there is a relationship that is formed as at least piecewise monotonically decreasing function or strictly monotonically decreasing function, preferably continuously, the size according to an ascending stair function depends on the corresponding speed values and this staircase function corresponds to the reverse slope direction of the staircase function described above.

According to a further embodiment, minimum distance threshold values or maximum speed threshold values are provided, beyond which the parking method is automatically terminated or a warning signal is output, depending on the type of parking method. Therefore, if a following vehicle is too dense or too fast behind the vehicle to be parked, the parking operation is aborted because a parking movement involves too high collision risks, in particular by the small distance of the following vehicle, which is an obstacle within the Einparkkorridors. In the case of the speed that is above the maximum speed threshold, the parking process is aborted, otherwise the subsequent vehicle would have to perform an excessive braking and thus there is a risk of rear-end collision.

In particular, it is provided that, in the case of an inventively reduced geometric size of the parking corridor, which falls short of a current required size, the parking process is aborted or a warning is output or the support of the parking process is terminated. The currently required size results from the actual position of the vehicle to the parking space, so that, for example, the demolition is made if the Einparkkorridor has been shortened so far that the current location of the vehicle (at least partially) is outside the Einparkkorridors.

The invention is further realized by a device for controlling a parking operation of a motor vehicle, which is suitable for carrying out the method according to the invention. As a control here the intervention in the steering and / or the intervention in the control of the vehicle speed by an automatic machine is called as well as the operation of the steering and accelerator pedal or brake pedal by a driver, the warning signals generated according to the invention or Orientation signals are displayed. The device according to the invention comprises the above-described at least one side sensor and the at least one rear sensor. The at least one side sensor may be provided by a sensor arrangement having at least two sensors, wherein in each case one of the sensors is arranged at the rear of the vehicle and at the front end of the vehicle. Further, at least two return sensors are preferably provided, which are to be arranged at both ends of the rear bumper.

In particular, the device comprises a computing device which is connected to the sensors and which is set up to determine the position of the motor vehicle relative to the lateral parking space. Furthermore, the calculation device is able to determine from the data of the return sensor the distance between the vehicle and an optionally present following vehicle. The calculation device receives these data as input and is set up to calculate the parking corridor from these. In order to carry out the invention, the calculation includes the distance or the reduction phase of the distance (and thus the speed detected by the return sensors). The calculation provided by the computing device is restricted in its geometric size according to the relationship described above according to the detected distance and / or the speed (= reduction rate of the distance) and the parking corridor.

In order to comply with the parking corridor, the device comprises a steering actuator, which engages in the steering of the vehicle and which is connected to the calculation device for driving. Similarly, an accelerator pedal can be actuated by the calculation device by an accelerator pedal actuator is connected to the computing device. The latter features are provided in devices intended for automatic or semi-automatic parking procedures. For devices according to the invention, which provide an assisting parking method, the device comprises a warning signal display or a direction indication display, on the basis of which the driver can orient himself in order to implement the signal represented there. The control according to the invention in this case comprises the display, but not the action of the driver. In particular, the driver is not seen as an actuator as part of the invention, but only the display is to be regarded as an output device of a device according to the invention.

An embodiment of the device according to the invention provides, as described above, the return sensor as a camera and, as an alternative, as an ultrasonic or radar distance sensor. The features described above also apply to the embodiment of the device according to the invention.

Furthermore, the device comprises a spatial position determination device which is set up to detect the current position of the vehicle. The spatial position determination device can detect the current position of the vehicle relative to the parking gap, for example, using the side sensor, wherein the spatial position determination device in this case comprises the side sensor. Furthermore, the spatial position determination device can be provided to determine a vehicle movement relative to the ground, in which case the spatial position determination device comprises a distance encoder and / or an angle transmitter which is set up to determine the current steering angle. Angular encoders, which detect the rotation of the wheel, are particularly suitable as distance sensors. Furthermore, the spatial position determination device can comprise an absolute position determination device, for example a satellite-based system such as a GPS system or another positioning system, for example a mobile radio-based positioning system (based on the protocols GSM, UMTS, GPRS and / or EDGE). The spatial position determination device may also comprise these devices in combination, wherein the spatial position determination device is further configured to match the individual data of the different components. The spatial position determination device, together with the calculation device, is provided to determine the relative position of the motor vehicle to be parked to the detected parking gap, and is further configured to provide the current position of the motor vehicle relative to the determined parking corridor. On the basis of a comparison that can be carried out by the spatial position determining device or the computing device, the device according to the invention determines to what extent the steering angle is to be changed, for which purpose either the steering actuator is actuated or a direction indicator (or a warning) can be displayed by corresponding display devices as part of the device according to the invention is.

Furthermore, the device according to the invention may comprise an emergency stop unit which, at a distance below the minimum distance threshold value or a reduction rate above the maximum speed threshold value, brakes the vehicle and / or switches off the drive of the motor vehicle. For this purpose, the emergency stop unit comprises, for example, a breaker mechanism or a brake actuator, which is connected to the engine control or to the braking device of the motor vehicle.

In particular, the invention is provided by a device according to the invention which does not comprise the at least one side sensor and the at least one rear sensor itself, but only has a connection to which the sensors can be connected. Such a device can be connected to existing sensor systems of a motor vehicle and realized in the same way the invention as the described device according to the invention, which also includes the sensors themselves.

Brief description of the drawings

Embodiments of the invention are illustrated in the figures and are explained in more detail in the following description.

Show it:

1 a traffic situation, on the basis of an embodiment of the method according to the invention is explained; and

2a , b Traffic situations for explaining a variant of the distance detection, as used in the invention.

Embodiments of the invention

The 1 shows a traffic situation when a vehicle 10 Perform a supported or automatic parking operation in a parking space. First, the vehicle drives at the parking space 20 over to the sensors 30a , b to scan the side edge of the road while passing by. In the 1 represents a situation after detecting the parking space 20 in which the vehicle is already a distance 40 happened. In the situation shown, the question arises as to whether the parking space is backwards in accordance with a parking corridor 50 to start or not.

According to the invention, first by means of a vehicle-based feedback sensor 60 with a sensor area 62 that is different from the vehicle 10 extends in the rearward direction, the rear environment of the vehicle 10 detected. In 1 is the sensor area for clarity 62 not shown with its entire range, only detection direction and angle are shown.

By means of the return sensor 60 is the backward traffic on the roadway 70 recorded on which the vehicle 10 located. Becomes an object 80 This is determined before the parking space, but within a certain proximity to the vehicle 10 is the parking corridor 50 adapted to it by adding the length of the parking corridor 50 , measured along the roadway 70 , is shortened and already on the spot 90 ends. Consequently, the vehicle is lying 10 already outside the reduced (shortened) parking corridor 50 , whereupon the parking process is aborted (or a warning is issued).

At greater distance of the object 80 from the parking space 20 (and thus with increasing distance from the vehicle 10 ) becomes the parking corridor 50 shortened to a lesser extent. If, for example, the object is not provided at the location indicated by the dashed rectangle, but clearly further to the left, then the parking corridor is provided 50 longer and extends to place 92 which is farther from the parking space than the location 90 , Thus, there is greater distance of the object 80 a longer allowable recoil path for the vehicle than at a shorter distance of the object 80 , The recoil path can then be the route 40 correspond. The parking process is thus approved / supported or executed in this case.

If no object from sensor 60 becomes the parking corridor 50 provided unchanged.

The back sensor 60 thus detects a distance to a rear object 80 , and also detects if there is any object at all 80 located in the rear environment. If the return sensor 60 no object is detected, the parking corridor 50 not changed in size, so the procedure is only executed when an object 60 (as far as it is within a minimum distance).

The 2a and b show those of the sensor 60 detected backward environment, as is the situation of 1 equivalent. The sensor is designed as an electronic camera and recorded in the 2a and b two parked vehicles and an intermediate parking space 120 , The sensor also detects an object 180 which is a subsequent vehicle. The following vehicle is in 2a farther away than in 2 B

From comparison of 2a and 2 B It can be seen that due to the vanishing point perspective of the camera, the different distances are displayed as different display sizes. According to the invention, at least one feature of the representation of the object 180 used to derive the distance from its size. For example, the wheels, the exterior mirrors, the license plate or the overall outline are recorded as individual objects as a visual feature. Then measure this feature, ie the distance of the wheels, the mirrors, the width of the license plate or the overall outline determined. From a relationship between the displayed size of the object and its distance, which is determined by the optical properties of the camera is, the distance of the object is determined. For example, the object is 180 in the 2 B around the distance 190 closer to the parking space than in 2a , This shorter distance is reflected again in the distance 200 between the exterior mirrors that are in 2 B more than twice as big as in 2a , The larger the detected optical feature is represented by the camera, the smaller the distance between the object 180 and vehicle.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102005015354 A1 [0003]
• DE 10332961 A1 [0003]

Claims (10)

Method for carrying out a parking operation of a motor vehicle, comprising the steps of: detecting a parking space by means of at least one side sensor ( 30a , b), which is aligned laterally to the motor vehicle; and determining a parking corridor ( 50 ), which from a current position of the motor vehicle in the parking space ( 20 ), wherein by means of at least one feedback sensor ( 60 ), which is aligned in a rearward direction of the motor vehicle, a distance between the vehicle ( 10 ) and an object possibly present in the rearward environment of the motor vehicle ( 80 ) is detected; a geometric size of the parking corridor ( 50 ) is reduced with decreasing distance between the object and the vehicle, with increasing decreasing rate of the distance or a combination thereof; and the parking corridor is run during the execution of the parking operation in an automatic, semi-automatic or assisted parking method. Method according to claim 1, wherein the distance is determined by image acquisition by means of a camera ( 60 ), which forms the return sensor, is detected by recognizing a visual feature, in particular a vehicle outline, a license plate or a pair of headlights, the distance being provided on the basis of its size, wherein a decreasing distance is provided as the size of a visual feature increases, or wherein the distance from at least one ultrasonic or radar distance sensor, which forms the return sensor, which is aligned in the rear environment, is detected by means of a pulse echo method. Method according to claim 1 or 2, wherein the parking space ( 20 ) is detected with at least one ultrasonic or radar distance sensor as a side sensor, which on the motor vehicle ( 10 ) is attached and is aligned laterally to this. Method according to one of the preceding claims, wherein the size of the parking corridor ( 50 ) is a standard area, during the execution of the parking operation is repeatedly checked whether the current location of the motor vehicle is within the Einparkkorridors, and in an automatic or semi-automatic parking method by automatic steering wheel position, the motor vehicle is directed to Einparkkorridor when the motor vehicle leaves the Einparkkorridor, and a warning is given in a supported parking method, preferably including a direction indication when the motor vehicle leaves the parking corridor. Method according to one of the preceding claims, wherein the parking corridor with a smaller size of the Einparkkorridors with a smaller radius of curvature, a smaller width or a smaller length ( 90 . 92 ) is provided, as with a larger size. Method according to one of the preceding claims, wherein the size of the Einparkkorridors at a distance above a Maximalabstandsschwellwert or at a reduction rate of the distance below a minimum speed value is set to a predefined size, and between distance and size below the Maximalabstandsschwellwerts or over the Mindestgeschwindigkeitsschwellwert an at least piecemeal monotonically decreasing or strictly monotonically decreasing relationship, preferably a continuous relationship, or the size of the parking corridor in a staircase function depends on the distance assigning distance values to a finite number of discrete, constant and successively decreasing magnitude values. Method according to one of the preceding claims, wherein at a distance below a minimum distance threshold corresponding to an object proximity at which the object can not be passed at maximum steering of the motor vehicle, or at a reduction rate above a maximum speed threshold, the parking method is automatically canceled if the automatic or semi-automatic parking method is used, and a warning signal is output, which represents a blocked Einparkweg when the assisted parking method is used. Device for controlling a parking process of a motor vehicle, comprising: at least one side sensor ( 30a , b), which is provided for lateral attachment to the motor vehicle, at least one return sensor ( 60 ), which is adapted to be mounted on the motor vehicle in the rearward direction, and a computing device, which is connected to the at least one side sensor and the at least one rear sensor and is adapted to determine from data of the side sensor, the position of a side parking space, from data of the return sensor, a distance between the vehicle and a present in the rear environment of the motor vehicle object ( 80 ) and the location of the parking space provides a parking corridor for the vehicle ( 10 ), wherein the calculation device is further set up to include the distance in the calculation of the parking corridor, and calculates the parking corridor with a geometric size, the smaller the distance between the object and the vehicle ( 10 ), is provided at a higher reduction rate of the distance or a combination thereof smaller than at a greater distance or a lower reduction rate, and wherein the calculation device has a Steering actuator according to the parking corridor ( 50 ) or the calculation device activates a warning signal display according to the current position of the vehicle relative to the parking corridor ( 50 ). The device according to claim 8, wherein the rear sensor is designed as a camera and the calculation device comprises an image acquisition unit that is set up to determine a visual feature, in particular a vehicle outline, a license plate or a headlight pair in an image signal supplied by the camera, the size of the visual Detect feature, and deliver a distance value that decreases with increasing size, or wherein the rear sensor is designed as an ultrasonic or radar distance sensor. Apparatus according to claim 8 or 9, further comprising a spatial position determining device comprising at least the at least one side sensor, a vehicle motion sensor, for example, a distance sensor, an absolute position determination device or a combination, and which is adapted to provide the position of the vehicle relative to the Einparkkorridor ,

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