Method for the autonomous parking of a motor vehicle in a parking space with specification of a speed profile, driver assistance system and motor vehicle

摘要

The invention relates to a method for autonomous parking of a motor vehicle (1) in a parking space in which the parking space is detected, a trajectory (9) for parking the motor vehicle (1) is determined in the parking space, a course of a steering angle for moving the Motor vehicle (1) along the trajectory (9) based on the trajectory (9) is determined, a speed profile (15) for moving the motor vehicle (1) along the trajectory (9) in dependence on the course of the steering angle is determined and the motor vehicle (1) is parked autonomously in the parking space as a function of the speed profile (15), the trajectory (9) being divided into a plurality of sections (11, 12, 13) as a function of the course of the steering angle and for determining the speed profile (15 ) for each of the sections (11, 12, 13) is given a maximum speed (V1, V2, V4) and for respective transitions (16) between successive ones n sections (11, 12, 13) a speed change (17) between the maximum speeds (V1, V2, V4) of the adjacent sections (11, 12, 13) is given.