Abstract: A method for operating a driver assistance system for a motor vehicle driven in an at least partially automated manner includes learning a trajectory in a learning mode for driving the vehicle in a first automated manner along the trajectory. Subsequently, the vehicle is driven in the first automated manner along the learnt trajectory in an operating mode following the learning mode. While the vehicle is being driven along the trajectory in the operating mode, at least one transition from a private area to a public area is detected. Additional data, including current traffic data related to driving the vehicle in the public area, is acquired and provided for the driver assistance system. The motor vehicle is driven along the learnt trajectory in a second automated manner in the public area using the additional data.

Abstract: A method for operating a driving assistance system of a motor vehicle includes manoeuvring the motor vehicle autonomously with a driving assistance system while a user with a mobile terminal is located outside the motor vehicle. The user performs, by the driving assistance system and during the manoeuvring, longitudinal guidance and transverse guidance of the motor vehicle. The driving assistance system is operated at a first automation level when communication between the driving assistance system and the mobile terminal is ensured. While the user activates the mobile terminal, the longitudinal guidance, and the transverse guidance in a predetermined fashion, a surrounding area of the motor vehicle is sensed, at the first automation level, by the driving assistance system, and in addition to the longitudinal guidance and the transverse guidance of the motor vehicle. The motor vehicle is then autonomously manoeuvred according to the sensed surrounding area.

Abstract: The invention relates to a method for operating a driving assistance system (2) of a motor vehicle (1), in which the motor vehicle (1) is manoeuvred autonomously by means of the driving assistance system (2) while a user (10) with a mobile terminal (11) is located outside the motor vehicle (1), wherein during the manoeuvring longitudinal guidance and transverse guidance of the motor vehicle (1) are carried out by means of the driving assistance system (2), wherein during the manoeuvring the driving assistance system (2) is operated at a first automation level if communication between the driving assistance system (2) and the mobile terminal (1) is ensured, wherein at the first automation level, in addition to the longitudinal guidance and transverse guidance of the motor vehicle (1), a surrounding area (5) of the motor vehicle (1) is sensed by means of the driving assistance system (2) and the motor vehicle (1) is manoeuvred autonomously in accordance with the sensed surrounding area (5).

Abstract: The invention relates to a method for operating a driver assistance system (10), in which a motor vehicle (1) is driven in an at least partially automated fashion, comprising: learning a trajectory (11) for driving the motor vehicle (1) in an automated fashion along the trajectory (11) in a learning mode, and driving the motor vehicle in an automated fashion along the learnt trajectory (11) in an operating mode following the learning mode, detecting at least one transition (12) from a private area (13) to a public area (14) while the motor vehicle (1) is being driven along the trajectory (11) in the operating mode, acquiring additional data relating to the driving of the motor vehicle (1) along the trajectory (11) in the public area (14), wherein the additional data comprise at least current traffic data relating to the driving of the motor vehicle (1) in the public area (14) adjoining the private area (13), and making the additional data available to the driver assistance system (10).

Abstract: The invention relates to a method for operating a parking assistance device (2) of a motor vehicle (1), comprising a) learning a parking trajectory (4) between an initial position (5) and a parked position (6) of the motor vehicle (1) by means of a computing unit (3) of the parking assistance device (2) in the case of parking which is controlled by a driver of the motor vehicle (1); b) checking whether the learnt parking trajectory (4) runs over public land (11) or over private land (12) in at least one respective section (13, 14); c) driverless parking of the motor vehicle (1) along the parking trajectory (4) exclusively in a section (14) of the checked parking trajectory (4) which runs over private land (12), in order to increase safety during a parking process which is assisted or carried out by the parking assistance device (2).

Abstract: A method for manoeuvring a motor vehicle into a parking space includes: determining a parking trajectory from a starting point to a destination point in the parking space, wherein the parking trajectory includes circular arcs, straight lines, and clothoids; manoeuvring the motor vehicle along the determined parking trajectory into the parking space; and determining an auxiliary trajectory with a plurality of sections from the starting point to the destination point. The auxiliary trajectory includes circular arcs and straight lines as the sections, a respective transition region is defined for neighbouring sections, and a clothoid is determined for the respective transition regions. The parking trajectory is determined from the auxiliary trajectory in which the respective transition regions are replaced by the clothoids.

Abstract: The invention relates to a method for operating a parking assistance device (2) of a motor vehicle (1), comprising a) learning a parking trajectory (4) between an initial position (5) and a parked position (6) of the motor vehicle (1) by means of a computing unit (3) of the parking assistance device (2) in the case of parking which is controlled by a driver of the motor vehicle (1); b) checking whether the learnt parking trajectory (4) runs over public land (11) or over private land (12) in at least one respective section (13, 14); c) driverless parking of the motor vehicle (1) along the parking trajectory (4) exclusively in a section (14) of the checked parking trajectory (4) which runs over private land (12), in order to increase safety during a parking process which is assisted or carried out by the parking assistance device (2).

Abstract: The invention relates to a method for determining movement information, in particular for a vehicle assistance system (20), with a first and a second surroundings sensor (22, 24), comprising the steps of determining a first key pose (16) of a first surroundings sensor (22) at a first reference time, wherein the first key pose (16) supplies a feature set of the surroundings of a position, determining a first feature set (18) with the first surroundings sensor (22) at a first reference time plus a first time difference relative to the first key pose (16), determining a second key pose (16) of a second surroundings sensor (24) at a second reference time, wherein the second key pose (16) supplies a feature set of the surroundings of a position, determining a second feature set (18) with the second surroundings sensor (24) at a second reference time plus a second time difference relative to the second key pose (16), determining a first relative change in position from the features of the first feature set (18) wit

Abstract: The invention relates to a method for generating a surroundings map (12) of a surroundings area (8) of a motor vehicle (1), in which method the surroundings area (8) is captured by way of at least one sensor, in particular ultrasound sensor (5, 6, 14, 15), on the motor vehicle, wherein capturing of the surroundings area (8) by way of the at least one sensor (5, 6, 14, 15) is performed at at least two different points in time (T1, T2), and in a manner dependent on said surroundings clearance situations detected in each case in a manner dependent on items of sensor information at the points in time (T1, T2), a decision is made as regards whether an object (11, 13) which is at least supposedly situated in the surroundings area (8) in at least one surroundings clearance situation is, upon an updating of the surroundings map (12), displayed on the then updated surroundings map (12). The invention also relates to a driver assistance system (2) and to a motor vehicle (1).

Abstract: The invention relates to a method for manoeuvring a motor vehicle (1) into a parking space in which a parking trajectory (9) from a starting point (11) to a destination point (12) in the parking space is determined, wherein the parking trajectory (9) is composed of circular arcs (13, 13?), straight lines (14, 14?) and clothoids (17), and the motor vehicle (1) is manoeuvred along the determined parking trajectory (9) into the parking space, wherein an auxiliary trajectory (10) with a plurality of sections is determined from the starting point (11) to the destination point (12), wherein the auxiliary trajectory (10) comprises circular arcs (13, 13?) and straight lines (14, 14?) as the sections, a respective transition region (16) is defined for neighbouring sections, and a clothoid (17) is determined for the respective transition regions (16), wherein the parking trajectory (9) is determined from the auxiliary trajectory (10) in which the respective transition regions (16) are replaced by the clothoids (17).

Abstract: The invention relates to a method for assessing an affiliation of a sensing point (12, 13, 19, 20) to an object in a surrounding area (7, 8) of a motor vehicle (1), in which the sensing point (12, 13, 19, 20) is sensed using a first sensor device (4) of the motor vehicle (1), and a fuzziness zone (14, 15) characterizing a positional fuzziness of the sensing point (12, 13, 19, 20) is formed around the sensing point (12, 13, 19, 20), wherein the assessment of the affiliation of the sensing point (12, 13, 19, 20) to the object takes into consideration at least one position of a further sensing point (12, 13, 19, 20) of the object, wherein an overall fuzziness zone (16) is formed on the basis of the fuzziness zone (14, 15) of the sensing point (12, 13, 19, 20), and the affiliation of the sensing point (12, 13, 19, 20) to the object is acknowledged if the sensing point (12, 13, 19, 20) and the further sensing point (12, 13, 19, 20) are situated in an area formed by the overall fuzziness zone (16).

Abstract: The invention relates to a method for identifying an object (3) in a surrounding region (4) of a motor vehicle (1) as a pedestrian (5), in which the surrounding region (4) is captured in images (B) by means of at least one vehicle-side camera (6), wherein a shadow (11) that is projected from the object (3) onto a ground (12) in the surrounding region (4) and a contrast pattern (13) that is formed on the ground (12) and depends on the shadow (11) are detected in at least one of the captured images (B) and the object (3) is identified on the basis of a comparison of the contrast pattern (13) that was formed with a predetermined contrast pattern that characterizes a pedestrian (5). The invention moreover relates to a driver assistance system (2) and a motor vehicle (1).

Abstract: A method using a parking assistance apparatus of a motor vehicle with trailer includes: producing, respectively by first and second camera units, a first image of surroundings of the vehicle on which the trailer is portrayed, and a second image of surroundings of the trailer, the first and second camera units being arranged on the vehicle and the trailer, respectively; producing a combined view of the surroundings from the first and second images, wherein an area of the first image occupied by the trailer overlays with a piece of the second image, so the trailer in the combined view has areas depicted transparently in front of surroundings in the second image; displaying the combined view with a desired travel trajectory for the trailer overlaid on the view; selecting a profile for the desired trajectory; starting a parking process in which the trailer is automatically kept on the desired trajectory.

Abstract: A method is provided for providing information about an object sensed in a surrounding area of a motor vehicle, in which the surrounding area is sensed using a sensor device of the motor vehicle. Additionally, a piece of information is provided on a communication interface in the motor vehicle. A piece of height information for the object is stored as information in a sensor-device-end control unit and this information is provided on the communication interface connected to the sensor-device-end control unit for the purpose of transmission to and further processing with a further control unit of a processing device that comprises the two control units and that is configured to create a map of the surrounding area.

Abstract: The invention relates to a method for using a driver assistance device of a motor vehicle (1) to detect a mark (7) made on a ground (6) by providing a two-dimensional image by means of an imaging sensor (3) of the driver assistance device (2); by identifying a potential mark (7?) on the basis of the two-dimensional image (11); and by performing a distance measurement by means of a distance sensor (4) of the driver assistance device and also taking a result (17) of the distance measurement as a basis for determining whether the potential mark (7?) is the mark (7) made on the ground (6) or a mark (14) on an object (13) that is on the ground (6).

Abstract: The invention relates to a method for generating a surroundings map (14) of a surrounding area (7) of a motor vehicle (1) in which an object in the surrounding area (7) is detected by means of a sensor device (9) of the motor vehicle (1), a position value (P) that describes a position of the object is determined on the basis of sensor data of the sensor device (9) by means of a control device (3) of the motor vehicle (1) and the determined position value (P) is transferred into the surroundings map (14), wherein a vector (v?) between the object and a predetermined reference point (11) of the motor vehicle (1) that forms an origin (0?) of a vehicle coordinate system (12) is determined, the determined vector (v?) is transformed from the vehicle coordinate system (12) into a global coordinate system (13) of the surroundings map (14) and the position value (P) in the surroundings map (14) is determined on the basis of the transformed vector (v).

Abstract: The invention relates to a method for identifying an object (3) in a surrounding region (4) of a motor vehicle (1) as a pedestrian (5), in which the surrounding region (4) is captured in images (B) by means of at least one vehicle-side camera (6), wherein a shadow (11) that is projected from the object (3) onto a ground (12) in the surrounding region (4) and a contrast pattern (13) that is formed on the ground (12) and depends on the shadow (11) are detected in at least one of the captured images (B) and the object (3) is identified on the basis of a comparison of the contrast pattern (13) that was formed with a predetermined contrast pattern that characterizes a pedestrian (5). The invention moreover relates to a driver assistance system (2) and a motor vehicle (1).

Abstract: The invention relates to a method for operating a parking assistance apparatus (1) of a motor vehicle (2) having an attached trailer (3), involving: a) a first image of surroundings (6) of the motor vehicle (2) on which the trailer (3) is portrayed being produced by a first camera unit (4), arranged on the motor vehicle (2), of the parking assistance apparatus (1); b) a second image of surroundings (6) of the trailer (3) being produced by a second camera unit (5), arranged on the trailer (3), of the parking assistance apparatus (1); c) a combined view (16) of the surroundings (6) being produced from the first and second images, wherein an image area (17) of the first image that is occupied by the trailer (3) has at least areas overlaid with a piece of image information from the second image, so that the trailer (3) in the combined view (16) has at least areas depicted transparently in front of the surroundings (6) portrayed in the second image, by a computation unit (7) of the parking assistance apparatus (1)

Abstract: The invention relates to a method for warning a driver of a motor vehicle (1) about the presence of an object (12) in the surroundings (7) of the motor vehicle (1) by means of a driver assistance system (2), in which a position of the object (12) is determined by means of a sensor device (9), an anticipated driving tube (14) of the motor vehicle (1) is determined, a collision distance (DTC), which describes a distance between the motor vehicle (1) and the object (12) when the motor vehicle (1) moves within the determined driving tube (14), is determined on the basis of the determined position of the object (12) and the determined driving tube (14), a minimum distance (SD) between the motor vehicle (1) and the object (12) is determined, and a warning signal is output if the value of the minimum distance (SD) undershoots a predetermined limiting value, wherein the determined value of the minimum distance is adapted as a function of the determined collision distance (DTC).

Abstract: The invention relates to a method for assessing an affiliation of a sensing point (12, 13, 19, 20) to an object in a surrounding area (7, 8) of a motor vehicle (1), in which the sensing point (12, 13, 19, 20) is sensed using a first sensor device (4) of the motor vehicle (1), and a fuzziness zone (14, 15) characterizing a positional fuzziness of the sensing point (12, 13, 19, 20) is formed around the sensing point (12, 13, 19, 20), wherein the assessment of the affiliation of the sensing point (12, 13, 19, 20) to the object takes into consideration at least one position of a further sensing point (12, 13, 19, 20) of the object, wherein an overall fuzziness zone (16) is formed on the basis of the fuzziness zone (14, 15) of the sensing point (12, 13, 19, 20), and the affiliation of the sensing point (12, 13, 19, 20) to the object is acknowledged if the sensing point (12, 13, 19, 20) and the further sensing point (12, 13, 19, 20) are situated in an area formed by the overall fuzziness zone (16).