Method for executing an at least semi-autonomous parking process of a vehicle and parking assistance system for a vehicle

A parking assistance system for executing an at least semi-autonomous parking process of a vehicle, comprising:

• an ultra-sonic sensor for sensing ambient conditions of the vehicle as the vehicle travels past a potential parking space, wherein the ambient conditions comprise at least one obstacle which is external to the parking space, does not directly bound the parking space, and is detected as being near the vehicle;
• and
• a control and evaluation unit for determining one parking path at least as a function of the at least one obstacle, of the parking space, and at least one of:
• a lock angle of a steering wheel of the vehicle, a length of the vehicle, a width of the vehicle, a height of the vehicle, and a ground clearance of the vehicle,
• wherein a first manoeuvre is executed with an autonomous steering intervention, by the parking assistance system, onto a steering device of the vehicle is determined in terms of a corresponding profile as a function of the at least one obstacle, and
• wherein a second manoeuvre is executed with the autonomous steering intervention by the parking assistance system, onto the steering device of the vehicle is determined in terms of a corresponding profile as a function of the at least one obstacle and the first manoeuvre.

A method for executing an at least semi-autonomous parking process of a vehicle using a parking assistance system, the method comprising:

• sensing ambient conditions of the vehicle as the vehicle travels past a potential parking space using and ultra-sonic sensor;
• and
• determining one parking path without human input from a driver, using a control and evaluation unit, as a function of the ambient conditions, of the parking space, and at least one of:
• a lock angle of a steering wheel of the vehicle, a length of the vehicle, a width of the vehicle, a height of the vehicle, and a ground clearance of the vehicle,
• wherein the ambient conditions comprise at least one obstacle which is external to the parking space and does not directly bound the parking space, and
• wherein the at least one obstacle is detected as near to the vehicle and is taken into account in the determination of the parking path using the control and evaluation unit,
• wherein a first manoeuvre is executed with an autonomous steering intervention determined using the control and evaluation unit in terms of a corresponding profile as a function of the obstacle, and
• wherein a second manoeuvre is executed with the autonomous steering intervention determined using the control and evaluation unit in terms of a corresponding profile as a function of the obstacle and the first manoeuvre.