In modern motor vehicles, systems for assisting a parking process, in brief parking assistance systems, are often used. Conventionally, in this case, surroundings of a vehicle are checked for the presence of a suitable parking space by sensor-based measurement while passing a parking space, and the vehicle is parked in a selected parking space using the parking assistance system according to a decision by the driver. There are parking assistance systems that can carry out the entire parking process automatically. With autonomously driven vehicles, automatic parking assistance systems are also occurring more frequently.
Typically, in an observation phase, a parking assistance system of a vehicle determines a suitable parking space in which the vehicle fits with the dimensions thereof, wherein adjacent regions are included within a determination that are sufficient for boarding and exiting and loading, and that guarantee a safety distance from other vehicles. If a suitable parking space is found, in a calculation phase, a trajectory is calculated in which a steering angle and vehicle speeds within defined sub segments of the path to be traversed are incorporated. Depending on the prevailing dimensions of the vehicle and the parking space, the trajectory can be divided into sub segments in which the vehicle may move back and forth multiple times. Furthermore, correction movements can be incorporated into the trajectory. In a parking phase, the parking assistance system starts a movement of the vehicle that is controlled according to the calculated trajectory into the parking space. Conventional parking assistance systems operate during this phase according to the open-loop principle (open control loop), with which, once calculated, the trajectory is not changed when movement of the vehicle has been started. If a vehicle bounding the parking space moves during the parking process, the parking process cannot be dynamically adjusted to the changed parking space. The object of the present disclosure is to improve conventional methods based on the use of parking assistance systems.