PROCÉDÉ DESTINÉ AU MOINS AU STATIONNEMENT SEMI-AUTOMATIQUE D'UN VÉHICULE AUTOMOBILE DANS UNE PLACE DE STATIONNEMENT, SYSTÈME D'ASSISTANCE AU CONDUCTEUR ET VÉHICULE AUTOMOBILE

摘要

The invention relates to a method for at least semi-autonomous parking of a motor vehicle (10) in a parking space (12a, 12b), said motor vehicle (10) has two rear wheels (20a) steerable by a rear axle steering (22a), starting from a starting position (A) of the motor vehicle (10) a Einpark trajectory (16) is determined, which comprises at least a first portion (28), which comprises the starting position (A), and a second portion (30) adjoining the first portion (28) , In this case, a first intermediate position (B1) of the motor vehicle (10) on the parking trajectory (16) is determined, which defines an end of the first section (28) of the parking trajectory (16) and a beginning of the second section (30), wherein furthermore a desired Steering angle of the rear wheels (20a) for the first intermediate position (B1) is determined and the rear axle steering (22a) adjusts a steering angle at the rear wheels (20a) during parking before reaching the first intermediate position (B1) to the desired steering angle.