CN102310857A - The parking assisting system that is used for horizontal parking position - Google Patents

Abstract

The present invention relates to a kind of method that is used for discerning horizontal parking position (32) and is used for the auxiliary said horizontal parking position (23) of parking.For this reason, by means of the motion (38) of going of following method step analytical engine motor-car (10): the yaw angle of self-propelled vehicle (10) keeps constant section (44) to go up analyzing the motion (38) of going therein.Detection at least one seamed edge (70,72) of first object (34) of horizontal parking position (32) gauge or at least one corner angle (E1, E2), and survey to the seamed edge (70,72) of second object (36) of horizontal parking position (32) gauge or corner angle (E1, E2).

Description

The parking assisting system that is used for horizontal parking position

Technical field

The present invention relates to a kind of parking assisting system and method that is used for horizontal parking position.

Background technology

DE 10 2,008 001 648 A1 relate to a kind of driver assistance method and a kind of driver assistance device that is used to make the self-propelled vehicle motion.Said method is particularly useful for crash-avoidance under the situation of at least one first sensor system of use, said first sensor system chaufeur to self-propelled vehicle in first detection range provides first obstacle information about obstacle information.Said driver assistance system comprises at least one second sensing system; Said second sensing system provides other second obstacle informations being in second detection range of angle＞0 ° with first detection range, even obstacle no longer is arranged in said second detection range.So carry out the combination of first obstacle information and second obstacle information, make and to proofread and correct the detection error of these sensing systems and can use up-to-date obstacle information.

DE 10 2,008 002 598 A1 relate to a kind of device that is used for semi-automatically supporting car two divertical motions.Said device comprises the supportive device of the information in the highway section that is used to provide about the information of the steering position of Vehicular turn and is crossed during about vehicle '.Storage is passed through the go specified circuit of acquistion of study to determined surrounding environment in calculating unit.Said supportive device is by so design, makes can when vehicle arrives predetermined position in determined surrounding environment, use specified circuit and support chaufeur along specified circuit steering vehicle the time.

DE 10 2,008 004 633 A1 relate to a kind of method and apparatus that is used to discern and/or measure parking position.According to said method, detect the three-dimensional data of vehicle-periphery.Subsequently, with the object of the paired parking position gauge of the object classification in the vehicle-periphery with not to the object of parking position gauge.

Generally speaking, driver assistance system is used for parking vertical parking position or laterally control during the process in the parking position or through steering order or through automatic bearing circle and support chaufeur.Except that vertical parking system, also developed horizontal parking system.Yet, in the horizontal parking system in future, only provide and sail relevant parking position backward into.This to a great extent because: parking position is sailed in the support of principle of measurement " super sonic " and the visual field backward into.According to said method, in vehicle application, only cover several meters, for example 1 meter to 5 meters.Parking position is surveyed the front end sidepiece that required sensor is installed in vehicle, promptly is installed in left side and right side respectively.

Because corresponding parking position acquisition sensor is installed in the front area of vehicle; So before auxiliary parking can be provided through external system; Sensor must pass through corresponding parking position reference, because for said system, be only known in this constantly corresponding parking stall.At this, required data are the length and the degree of depth of parking position on the one hand, are the coordinate of vehicle corner angle (Fahrzeugecke) on the other hand.

Vertical parking position that chaufeur is moored forward wherein is bigger in most of situations, thereby chaufeur does not need to support.Yet, different with it ground, laterally parking position maybe be little many, no matter be should be forward or the horizontal parking position of parking backward in.In these two kinds of manipulations, promptly in parking forward and parking backward, all there is potential danger.In the major part of all vertical parking positions of rule of thumb parking backward, and according to circumstances park forward and backward in the horizontal parking position with country.At least for Europe, most of chaufeurs are parked forward in the horizontal parking position.

The system that surveys horizontal parking position is typically provided with the parking position search routine, and said parking position search routine is surveyed idle, unappropriated parking position at vehicle when row's vehicle crosses (Vorbeifahrt) from the side.Activate parking guidance subsequently.After said system found suitable parking position, chaufeur activated parking system now, said parking system suggestion parking through guiding.

Only can detect the front outline of vehicle at the parking position searching period, be merely 4 meters to 5 meters because measure the visual range of the system of parking position.In addition, existence cannot be measured the problem of the vehicle ' s contour of side, because ultrasonic reflections is fallen (wegreflektieren).Because said system restriction should at first be confirmed enough parking position directed (Parkl ü ckenausrichtung) accurately.

Summary of the invention

Propose according to the present invention; During searching for suitable parking position; Especially during search can detect the horizontal parking position of front outline of vehicle therein, confirm two to parking position between the object of parking position gauge perpendicular to cross directed initial orientation from the side.Yet the initial orientation perpendicular to cross orientation from the side of parking position depends on the motion of going that chaufeur is confirmed individually.Especially have following possibility: when existence was positioned at the horizontal parking position on right side, chaufeur was turned left, so that arrive favourable parking place.Yet if initial orientation and the reality of confirming differs greatly, its root possibly be the riding manipulation of the divertical motion of chaufeur, can also come enough not proofread and correct exactly these errors by the method for measuring once more.For this reason, propose, driving behavior is considered in the confirming of parking position orientation together, because it is directed only just can to guarantee to reach the parking position that meets reality thus according to the present invention.Make full use of according to the present invention: the chaufeur in the horizontal parking position of wanting to park is straight-line motion within a certain period of time all the time.This means that in this time period the yaw angle change curve keeps constant, that is to say, obtain constant yaw angle scope, wherein, with °/s is that the rate of yaw change curve of unit keeps constant.This means, chaufeur during the time period that does not exist yaw angle to change straight-line motion and therefore draw parking position perpendicular to the initial orientation that crosses direction from the side.

At the parking position searching period, especially during the horizontal parking position of search, store the motion of going on some rice.After identifying corresponding parking position sight, now can be based on the orientation that (Passage) calculates parking position of passing through of the constant yaw angle scope of institute's canned data.

If arrived said horizontal parking position and carried out goal orientation, that is to say, carried out orientation about parking position, then survey seamed edge and corner angle to the object of said horizontal parking position gauge according to the solution that proposes according to the present invention.Under the situation in the horizontal parking position of parking forward (this especially in Europe be standard park sight), the chaufeur of self-propelled vehicle is supported.Groundwork is basically according to following steps:

At first do not having system's support, do not having under the auxiliary situation of parking system to receive the beginning of the process of parking or park of chaufeur control by chaufeur.Parking system identification is to first corner angle and the second vehicle seamed edge of the object of parking position gauge.Discern thus corresponding to the riding manipulation in the horizontal parking stall of parking forward.After identifying said riding manipulation, provide support to the chaufeur of said vehicle,---accept said support---in case in view of the above parking system or driver assistance system taken over the control of vehicle and turned to.At first; Can carry out the deflection angle restriction; Thereby the vehicle corner angle that prevent the left front with to the collision of the object of parking position gauge and export halt instruction where necessary, make the correction of the circuit that can carry out route planning or calculate, perhaps carry out the control of actv. bearing circle; And can the gear shift requirement be proposed to chaufeur, so that successfully accomplish the process of parking.

The chaufeur of self-propelled vehicle oneself parking forward when beginning in the parking position of at a time parking during, measure whole surrounding environments of horizontal parking position through being arranged on a plurality of ultrasonic transduters on the self-propelled vehicle.At this, relate in particular to the side sensor that is arranged in the fender region with (Seitensensor) and be installed in the front end sensors (Frontsensor) of vehicle front, wherein, can relate to four or more a plurality of ultrasonic transduter.

If laterally parking position is by the object that almost is arranged in parallel---the vehicle gauge of for example parking, then can survey each side and the corner angle thereof of said object through the side sensor.Sensor receives from the moment to the direct echo of the seamed edge of the object of parking position gauge and rises from the side, can enough calculate orientation exactly.If still there are not these signals, then provide first estimating window that is used for these signals.When the process of parking begins; Location roughly is based on the intersection echo between the neighboring sensors; That is to say, side sensor on the vehicle both sides and the intersection echo between the front end sensors, and from the direct echo of the ultrasonic transduter of side sensor especially.

Before the data that system analysis is seen at last, at first carry out the identification of riding manipulation " in the horizontal parking position of parking forward ".This can carry out based on the Motion Recognition of going on the one hand, at the said actual riding manipulation of Motion Recognition period analysis that goes, for example about bearing circle changing features process, velocity characteristic change procedure and super sonic alarm distance changing features process.

Can come further to improve and improve said method through the cartographic analysis based on GPS, its mode is to derive about the knowledge of current location with the probability of occurrence of horizontal/vertical parking position.Based on the parking position sight that identifies, analyze the x rice that is crossed of " figure " that set up by ultrasonic signal now, for example 3 meters to 5 meters.Therefore according to corner angle and seamed edge, can calculate the parking position width now and calculate two vehicle or enough essential target locations of the midpoint between the object the parking position gauge.Should carry out orientation, make vehicle rear and two about equally the lateral distance of the object of horizontal parking position gauge or vehicle about object point.

Activated in this regard after the driver assistance system, carried out the current rotating inspection that turns to now.If saidly turn to revolution to cause and collision, then must change the said revolution that turns to the object of parking position gauge.Corresponding instruction is provided or applied moment on bearing circle to chaufeur for this reason; So that provide feedback that should the whichaway steering wheel rotation and intervene steering hardware where necessary automatically to chaufeur, support by the alarm and the prompting of the specific sense of hearing, vision or sense of touch alternatively.

If chaufeur is not followed in the process of initially parking the instruction of the riding manipulation that finishes at first to be initiated by him, other process backward and process forward can be provided then to the chaufeur of vehicle.These processes can be from the route that calculates or based on the adjustment to target parameter.

Through the solution that proposes according to the present invention, also can under the situation that does not have kerb, discern the orientation of vertical parking position more steadily.Lack the reference that kerb means the angular orientation that lacks parking position, because lack the R point that is used for parallel orientation.At present, for this situation, perhaps the displacement based on the R point of confirming defines orientation, perhaps analyzes different edge object and orientation thereof.Though the characteristic of the search indicative that replaces can not take place and regional getting in touch in the strong correlation of the driving behavior in the zone of definition before the existence with it in the situation of at first mentioning through the solution that proposes according to the present invention.In second kind of situation of above-described aligning object, the object of the relatively poor traffic participant of for example parking is aimed on possible errors ground, only can difficultly discern the object space of short object in addition with super sonic.

Description of drawings

Followingly the present invention is described in more detail according to accompanying drawing.

Accompanying drawing illustrates:

Fig. 1: the front outline of the vehicle of parking through the detecting test of vehicle that crosses from the side,

Fig. 2: yaw angle change curve that on the highway section of having crossed of vehicle, writes down and rate of yaw change curve,

Fig. 3: the constant section of yaw angle of vehicle ' motion and vehicle ' motion,

Fig. 4: through the turning vehicle of horizontal parking position, and the constant section of yaw angle of vehicle ' motion,

Fig. 5: have the vehicle of front end sensors and side sensor and the diagrammatic sketch of cooresponding detection range,

Fig. 6: the manipulation of parking in vertical parking position of parking, and

Fig. 7: along the route of the parking different phase of parking and handling in the detected horizontal parking position of parking.

The specific embodiment

Following describe the detection of horizontal parking position and park according to accompanying drawing one park in the process (Einparkzug) in the horizontal parking position that at first detects.

From according to can seeing the diagrammatic sketch of Fig. 1, self-propelled vehicle 10 is through horizontal parking position 32.From according to finding out the diagrammatic sketch of Fig. 1, self-propelled vehicle 10 comprisesside sensor 26, especially thefirst side sensor 28 and the second side sensor 30.Thedetection range 48 on the first side sensor, 28 inswept self-propelled vehiclees, 10 right sides of side sensor 26.From according to can seeing the diagrammatic sketch of Fig. 1, laterallyparking position 32 is byfirst vehicle 34 and second vehicle, 36 gauges.Fig. 1 also illustrates, andfirst vehicle 34 comprises front end sensors 16.With the super sonic ofReference numeral 50 expressions through reflection, said super sonic is for example launched by thefirst side sensor 28 ofside sensor 26.

In second travel situations; Thefirst side sensor 28 of self-propelled vehicle 10 is launched ultrasonic signal in itsdetection range 48, said ultrasonic signal is deflected to through theultrasonic beam 50 of reflection and no longer is reflected back toward thefirst side sensor 28 of launching said ultrasonic signal at 52 places, compartment of second vehicle 36.Fig. 1 illustrates, and cannot detect tofirst vehicle 34 ofhorizontal parking position 32 gauges or to the side vehicle ' s contour ofsecond vehicle 36 ofhorizontal parking position 32 gauges.

Fig. 2 is illustrated in the yaw angle (Gierwinkel) drawn on the highway section of being crossed or the change curve of rate of yaw (Gierrate).Fig. 2 illustrates, and yawangle change curve 40 or rate ofyaw change curve 42 have a plurality of sections on the highway section of being crossed.With °/s is that change curve or the change curve (angle on the highway section of being crossed) of yaw angle of the rate of yaw of unit comprisessection 44, yaw angle is constant in said section 44.Laterallyparking position 32 is---as seen in fig. 1---usually perpendicular to the track.Laterallyparking position 32 perpendicular to cross from the side directed initial orientation can be for example at two to theobject 34 ofhorizontal parking position 32 gauges, confirm between 36.Yet because the motion of going of self-propelled vehicle 10 be unknown and chaufeur possibly for example dial bearing circle (as shown in Fig. 3) left thereby---have more favourable parking place, so this processing mode has been hidden high risk.If the initial orientation of confirming with reality---the actual position that ishorizontal parking position 32 differs greatly, then can also no longer enough be proofreaied and correct said error by means of the method for measuring once more exactly, thereby the process of parking that unnecessarily need add.For this reason, therefore the solution that proposes according to the present invention is considered driving behavior in the selection of the initial identification that horizontal parking position is directed together.Only through such mode just guaranteedhorizontal parking position 32 especially perpendicular to cross directed suitable orientation from the side.

The solution utilization that proposes according to the present invention: the straight-line motion on certain hour all the time cross said horizontal parking position from the side during of the chaufeur in the horizontal parking position of wanting to park.This means during the said section in the highway section of being crossed 38 (referring to diagrammatic sketch) that yawangle change curve 42 remains unchanged inzone 44 according to Fig. 2.

At the parking position searching period, store the motion of going on several meters all the time.After identifying corresponding sight withhorizontal parking position 32, now can be based on canned data according to the constant portion that finds therein---the orientation of saidhorizontal parking position 32 is calculated in thezone 44 that promptly has constant yaw angle.From according to seeing the diagrammatic sketch of Fig. 3, be similar to the diagrammatic sketch among Fig. 1, laterallyparking position 32 is byfirst vehicle 34 or second vehicle, 36 gauges.Self-propelledvehicle 10 is crossing direction throughhorizontal parking position 32 from the side during running section 38.The runningsection 38 that self-propelled vehicle 10 is crossed is included in the section withconstant yaw angle 44 shown in Fig. 3, that is to say strict straight-line travelling.Park directed 46---aboutsection 44 with constant yaw angle---accurately perpendicular to said section 44.In diagrammatic sketch according to Fig. 3, be shown in broken lines from the skew in straight-line travelling highway section, therefore said skew has non-constant yaw angle, because in order to turn left or to need divertical motion for to the right travel direction changes.

From according to can finding out the diagrammatic sketch of Fig. 4, the vehicle that self-propelled vehicle 10 crosses right bend and parks perpendicular to the travel direction of self-propelledvehicle 10 through a row subsequently.Betweenfirst vehicle 34 andsecond vehicle 36, there is horizontal parking position 32.As from according to can learning the diagrammatic sketch of Fig. 4, said self-propelled vehicle passes through the zone withconstant yaw angle 44 that combines Fig. 3 to identify after right bend finishes, that is to say, the part that does not wherein turn to deflection (Lenkausschlag) of themotion 38 of going.Therefore cross direction what thehorizontal parking position 32 that when the side is crossed, detects was substantially perpendicular to vehicle from the side.In the section withconstant yaw angle 44, confirm park directed 46 owing to there is strict straight-line travelling accurately perpendicular to the section and thesection 44 of runningsection 38, in the said section of runningsection 38 and saidsection 44, have constant yaw angle.

Realized being substantially perpendicular to the detection of thedirection 46 of parking of the travel direction of self-propelled vehicle 10 through the solution that proposes according to the present invention, during thesection 44 of themotion 38 of going of self-propelled vehicle 10, surveyhorizontal parking position 32; Wherein, in saidsection 44 yaw angle keep constant or with °/s is that the rate of yaw of unit is 0.The solution that proposes according to the present invention has been considered the individual driving behavior of the chaufeur of self-propelled vehicle 10.

Fig. 5 illustrates the diagrammatic sketch that has one group of front end sensors and have the self-propelled vehicle 10 of side sensor.From according to learning the diagrammatic sketch of Fig. 5, comprise that thefront end sensors 16 offirst sensor 18,second sensor 20, the3rd sensor 22 and four-sensor is arranged in the front area of self-propelled vehicle 10.The detection range ofsensor 18 to 24 is about self-propelled vehicle 10 directed forward basically.In addition, according to the diagrammatic sketch among Fig. 5, self-propelled vehicle 10 comprises theside sensor 26 that is arranged in the mudwing, i.e. thefirst side sensor 28 andsecond sensor 30.

From according to seeing the diagrammatic sketch of Fig. 6, the self-propelled vehicle 10 that has at the sensor of lateral side regions shown in Fig. 5, mulch-laying machine motor-car 10 or front area is moved in vertical parking position 54.Verticallyparking position 54 haswidth 58 and length 56.Verticallyparking position 54 is byfirst vehicle 34 and second vehicle, 36 gauges.

From according to seeing the diagrammatic sketch of Fig. 7, how to follow the solution that proposes according to the present invention and after detecting horizontal parking position, park in the said horizontal parking position.Diagrammatic sketch according to Fig. 7 illustrates; Can be in a process after detectinghorizontal parking position 32 along theroute 60 of initially the parking process of parking; Wherein, saidhorizontal parking position 32 is by being first object offirst vehicle 34 in this case and being the second object gauge of second vehicle in the situation thus.As combining Fig. 5 to describe, self-propelled vehicle 10 comprises thefront end sensors 16 withfront end sensors 18,20,22 and 24 and has thefirst side sensor 28 and theside sensor 26 of second sensor 30.It is right that thefirst side sensor 28 constitutes a sensor with thefirst sensor 18 offront end sensors 16, and that the four-sensor 24 ofsecond sensor 30 andfront end sensors 16 constitutes on self-propelled vehiclees 10 left sides another is right.The auxiliary situation lower edge of self-propelled vehicle in thehorizontal parking position 32 of accepting the to parkroute 60 of parking is parked in the parking position 32.The solution that proposes according to the present invention surveyhorizontal parking position 32,corner angle 70 or 72 and corner angle E1, E2 after initiate suitable steering wheel angle and limit or gear shift.Get into the support that parking forward in thehorizontal parking position 32 handled thus, as for example for the chaufeur in Europe.

Follow the solution that proposes according to the present invention, at first under the situation of the support that does not have driver assistance system, receive parking of chaufeur control or begin to get into the manipulation of parking in thehorizontal parking position 32 that detects by chaufeur.Driver assistance system is at first discerned the first vehicle corner angle E1 offirst vehicle 34 and is discerned the second vehicleseamed edge 72 tosecond vehicle 36 ofhorizontal parking position 32 gauges subsequently.Driver assistance system is discerned riding manipulation " in thehorizontal parking position 32 of parking forward " by the existence of said state.

Subsequently, provide support to the chaufeur of self-propelledvehicle 10, said chaufeur can be refused or also can accept said support.

Accept the situation of inquiry for the chaufeur of self-propelledvehicle 10, driver assistance system is taken over alongparking route 60 guided vehicles, as shown in Fig. 7.Travel direction dish angle limits at first, thus avoid reliably and collision the vehicle corner angle E2 of the left front ofsecond vehicle 36 ofhorizontal parking position 32 gauges.Subsequently; Give the chaufeur halt instruction and the planning of theroute 16 of parking or recomputate or actv. bearing circle control and gear shift requirement; So that can in a process, successfully finish the process of parking, that is to say, in thehorizontal parking position 32 of successfully parking.

Chaufeur oneself getting into parking ofhorizontal parking position 32 when handling beginning in a certain moment is parkedhorizontal parking position 32 during, allultrasonic transduters 18,20,22,24 or 28 and 30 are measured the surrounding environment of horizontal parking position 32.Therefore, generation is by " ultrasonogram " of the surrounding environment of thehorizontal parking position 32 ofobject 34 and 36 gauges.

Because twoobjects 34 and 36 almost parallel layout, can through sensor to 18,28 or 24,30 and cooresponding detection range survey therespective side 70 or 72 and corner angle E1 and E2 ofobject 34 and 32.Side sensor 28 or 30 from the both sides of self-propelled vehicle 10 receives the moment from the direct echo of theseamed edge 70 ofobject 34,36 or 72, can enough calculate orientation exactly.Before this, carry out directed first at second object, 36 places and estimate (referring to the estimation region among Fig. 7 82), here illustrate at the vehicle region place of the seamed edge E2 ofvehicle 36.

During parking, produce ultrasonogram, as shown in Figure 7.At this, location roughly is based onadjacent sensor 18,28 or 24, intersection echo or the direct echo ofside sensor 28 and 30 between 30.

During parking along theroute 60 of parking, there aredifferent place 62,64,66,68 and same ultrasonic transduter, be thefirst sensor 18 offront end sensors 16 in this case.From according to can learning the diagrammatic sketch of Fig. 7, arrive thesedifferent places 62,64,66 and at 68 o'clock, emission or reflection are about first object, the i.e. different super sonics offirst vehicle 34.

Based on the sight that identifies, promptly laterallyparking position 32 is analyzed along last several meters of the ultrasonogram of theroute 60 of parking for example 5 meters now about crossing direction (referring to the diagrammatic sketch according to Fig. 1 to Fig. 4) from the side, especially having the orientation of thesection 44 of constant yaw angle.According to the corner angle E1 and firstseamed edge 70; Can calculate the width ofhorizontal parking position 32 now, and correspondingly calculate the enough accurate target of the midpoint position between---beingfirst vehicle 34 andsecond vehicle 36 in this case---at two objects tohorizontal parking position 32 gauges.In case detect firstseamed edge 70; Can additionally confirm the orientation of relative object point; Wherein, try hard to make the afterbody of self-propelled vehicle 10 and the distance of boundary---promptly with the distance of secondseamed edge 72 of firstseamed edge 70 offirst vehicle 34 andsecond vehicle 36 about equally.

Accepted after driver assistance system takes over control having activated driver assistance system and chaufeur, checked the current revolution (Lenkeinschlag) that turns to now, thereby can get rid of the collision withsecond vehicle 36.

At first to chaufeur instruction is provided and on bearing circle applied moment so that give the feedback that chaufeur should the whichaway steering wheel rotation.Be input in the steering hardware to automation thus, said input where necessary can be by specific audible alarm, visual alarm or haptic alerts support.

If do not find the actv. solution to finish the riding manipulation of originally initiating during beginning by chaufeur; That is to say; Along in thehorizontal parking position 32 that detects of parking forward in the process of initially parking ofroute 60 of parking; Then can another process or another process forward backward be provided, these processes or from the route that calculates or based on adjusting to target parameter to chaufeur.

Claims (14)

1. be used for discerning horizontal parking position (32) so that the method for the said horizontal parking position (32) of parking through the motion (38) of going of analytical engine motor-car (10), said method has following method step:

A) analyze the said motion (38) of going and whether have such motion (38) section (44) that goes: the yaw angle of said self-propelled vehicle (10) keeps constant during these go motion (38) section (44),

B) survey at least one seamed edge (70,72) of first object (34) of said horizontal parking position (32) gauge or at least one corner angle (E1, E2), and

C) survey at least one seamed edge (70,72) of second object (36) of said horizontal parking position (32) gauge or at least one corner angle (E1, E2).

2. method according to claim 1 is characterized in that, according to method step a) confirm said horizontal parking position (32) perpendicular to the directed initial orientation of crossing of said self-propelled vehicle (10) from the side.

3. method according to claim 1 is characterized in that, according to method step a), and the last several meters motion (38) of going of storage parking position searching period.

4. according to each described method in the above claim, it is characterized in that according to method step a), in the said section (44) of the said motion of going, the variation of rate of yaw is [°/s]=0.

5. according to each described method in the above claim, it is characterized in that, from existing according to method step b) inferred conditions go out to handle " the horizontal parking position of parking forward ".

6. according to the described method of last claim, it is characterized in that, provide support to the chaufeur of said self-propelled vehicle (10).

7. according to preceding two described methods of claim, it is characterized in that, trigger the deflection angle restriction.

8. according to each described method in the first three items claim, it is characterized in that, provide halt instruction that planning or the control of actv. bearing circle and/or the gear shift requirement of the route of parking (60) perhaps are provided to the chaufeur of said self-propelled vehicle to said chaufeur.

9. according to each described method in the above claim; It is characterized in that; Under the situation that independently begins said manipulation " in the horizontal parking position of parking forward " by said chaufeur, measure the surrounding environment of said horizontal parking position (32) through group of ultrasonic sensors (16,26).

10. according to each described method in the above claim, it is characterized in that, through ultrasonic transduter to (18,28; 24,30) or the group of forming by front end sensors (16) and side sensor (26) perhaps only survey at least one and said corner angle in the said seamed edge (70,72) (E1, at least one in E2) through side sensor (26).

11. according to the described method of last claim, it is characterized in that, the location of said self-propelled vehicle (10) based on adjacent ultrasonic transduter to (18,28; The direct echo of intersection echo 24,26) or said side sensor (26).

12. according to the described method of last claim; It is characterized in that; According to the ultrasonogram of the surrounding environment of said horizontal parking position (32) try to achieve said seamed edge (70,72) or said corner angle (E1, E2) and calculate the boundary of horizontal parking position width (58); Wherein, former, set up said ultrasonogram between moving period along going of carrying out of the said route of parking (32).

13. according to each described method in the above claim; It is characterized in that; After one that detects in the said seamed edge (70,72), confirm the orientation of said self-propelled vehicle (10) with respect to object point; The for example mathematic(al) mean of all directions of side or seamed edge (70,72) or the angular relationship of mathematics.

14. according to each described method in the above claim, it is characterized in that, on the bearing circle of said self-propelled vehicle (10), be applied to the moment that hinders on the steering direction and/or with the oppositely directed moment of the divertical motion of said self-propelled vehicle.

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