| 摘要 |
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, including pre-aligning the motor vehicle in front of the perpendicular parking space such that a target steering angle lies between a maximum steering angleδmax and a minimum steering angleδmin, iterative searching of the admissible steering angle range between the maximum steering angleδmax and the minimum steering angleδmin for a current steering angleδakt, during a forward maneuver of the vehicle into the perpendicular parking space, wherein the current steering angleδakt,i ensures a maximum free path length si, i=01 . . . , n into the perpendicular parking space without the vehicle hitting obstacles, and terminating the forward maneuver if the end of the parking operation has been reached or a reversing maneuver has to be carried out owing to an obstacle.
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