The invention relates to a method for longitudinally controlling a vehicle (1) according to a target trajectory (Tsoll) which predefines a series of target positions (Pk) to be occupied by the vehicle (1) over time (t). On the basis of an actual state (Z) of the vehicle (1), an adjusting acceleration (actrltrj) for trajectory control is ascertained, by means of which the vehicle (1) is to be accelerated in accordance with a specification of the target trajectory (Tsoll). On the basis of an actual speed (Vist) of the vehicle (1) and a predetermined maximum speed (vmax) that should not be exceeded when passing through the target trajectory (Tsoll), an adjustment acceleration (actrlv) for speed control is ascertained, by means of which adjustment acceleration the vehicle (1) should be accelerated in order to guide the vehicle at the maximum speed (vmax). According to the invention, the two adjusted accelerations (actrltrj, actrlv) are supplied to a determiner (5.3), from which a resultant adjusted acceleration (actrl) is ascertained, and the vehicle (1) is accelerated according to the resultant adjusted acceleration (actrl). The invention also relates to a device (2) for longitudinally controlling a vehicle (1).
本发明涉及一种用于根据目标轨迹(Tsoll)纵向控制车辆(1)的方法,所述目标轨迹预定一系列随时间(t)要由车辆(1)占据的目标位置(Pk)。基于车辆(1)的实际状态(Z)查明用于轨迹控制的调整加速度(actrl_trj),车辆(1)应按照目标轨迹(Tsoll)的预定借助于所述用于轨迹控制的调整加速度来加速。基于车辆(1)的实际速度(Vist)和在驶过所述目标轨迹(Tsoll)时不应被超过的预定的最高速度(vmax)查明用于速度控制的调整加速度(actrl_v),车辆(1)应借助于所述用于速度控制的调整加速度来加速,以便以最高速度(vmax)来引导车辆。将两种调整加速度(actrl_trj、actrl_v)提供给判定器(5.3),所述判定器从这两种调整加速度查明合成的调整加速度(actrl),并且车辆(1)按照所述合成的调整加速度(actrl)来加速。本发明还涉及一种用于纵向控制车辆(1)的设备(2)。
Method and apparatus for longitudinally controlling vehicle
用于纵向控制车辆的方法和设备
13.08.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Europäisches Patentamt | 2021
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