AUTOMATIC FORWARD PARKING IN PERPENDICULAR PARKING SPACES

摘要

The invention relates to a method for forward parking a motor vehicle in a perpendicular parking space, wherein the motor vehicle has environment sensors for detecting environment data and obstacles in the environment of the motor vehicle, comprising the following steps: pre-aligning the motor vehicle in front of the perpendicular parking space such that a target steering angle lies between a maximum steering angle δ_max and a minimum steering angle δ_min, iterative searching of the admissible steering angle range between the maximum steering angle δ_max and the minimum steering angle δ_min for a current steering angle δ_akt, during a forward manoeuvre of the vehicle into the perpendicular parking space, wherein the current steering angle δ_{akt, i} ensures a maximum free path length s_i,, i = 01…, n into the perpendicular parking space without the vehicle hitting obstacles, and terminating the forward manoeuvre if the end of the parking operation has been reached or a reversing manoeuvre has to be carried out owing to an obstacle.