| 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 dmax and a minimum steering angle dmin, iterative searching of the admissible steering angle range between the maximum steering angle dmax and the minimum steering angle dmin for a current steering angle dakt, during a forward manoeuvre of the vehicle into the perpendicular parking space, wherein the current steering angle dakt, 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 manoeuvre if the end of the parking operation has been reached or a reversing manoeuvre has to be carried out owing to an obstacle. |
