The invention relates to a method for setting a planned trajectory for a vehicle (100), in particular a vehicle (100) for highly automated driving. The method comprises a generation step of generating a plurality of different limit data sets (125) by using at least one driving dynamics characteristic value (107) of the vehicle (100) and an estimated value (123) of a coefficient of friction between the vehicle (100) and the road in order to implement the planned trajectory (109). Each limit data set (125) comprises a limit value for a kinematic driving state of the vehicle (100). The method further comprises a calculation step of calculating a planned trajectory (109) on the basis of the current trajectory control data (103, 105) and on the basis of a limit data set (127) selected from a plurality of generated limit data sets (125), a limit data set (127) which can be used to implement the planned trajectory (109) and has a lowest limit value being selected (640) from the plurality of generated limit data sets (125), the limit data set (127) having the lowest limit value being selected (640) from the plurality of generated limit data sets (125), and the limit data set (127) having the lowest limit value being selected (640) from the plurality of generated limit data sets (125). The trajectory control data (103, 105) comprises current environmental data (103) from an environmental sensor (102) of the vehicle (100) and/or current position data (105) from a position sensor (104) of the vehicle (100). The method further comprises a step of setting a planned trajectory (109).
本发明涉及一种为车辆(100)、特别是用于高度自动化驾驶的车辆(100)设置规划轨迹的方法。该方法具有生成步骤,通过使用车辆(100)的至少一个行驶动力学特征值(107)和车辆(100)与道路之间的摩擦系数的估计值(123)生成多个不同的限制数据组(125),以便用于实现规划轨迹(109)。每个限制数据组(125)包括用于车辆(100)的运动学行驶状态的极限值。该方法还具有计算步骤,根据当前的轨迹控制数据(103、105)并且根据从多个生成的限制数据组(125)中选取的限制数据组(127)来计算规划轨迹(109),其中,从多个生成的限制数据组(125)中选取(640)能够用来实现规划轨迹(109)的具有最低极限值的限制数据组(127),其中,轨迹控制数据(103、105)包括来自车辆(100)的环境传感器(102)的当前的环境数据(103)和/或来自车辆(100)的位置传感器(104)的当前的位置数据(105)。该方法还包括设置规划轨迹(109)的步骤。
Method and device for setting planned trajectory for vehicle
用于为车辆设置规划轨迹的方法及装置
2023-04-25
Patent
Electronic Resource
Chinese
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 |
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