The invention relates to a method for the automated guidance of a vehicle (1) along a predetermined target trajectory which is characterized by geometric trajectory variables, comprising at least the following steps: ascertaining an actual deviation of the vehicle (1) from the target trajectory; generating a control variable depending on the ascertained actual deviation in such a way that the vehicle (1) approaches the target trajectory depending on the generated control variable during automated actuation, ascertaining whether there is an undesired driving state at a current point in time and/or a future point in time when the vehicle (1) approaches the target trajectory depending on the generated control variable, determining an undesired driving state from a predetermined target trajectory in dependence on the geometric trajectory variable; and-if it is confirmed that there is an undesired driving state at the current point in time and/or at the future point in time,-automatically actuating the vehicle as a function of the generated stability variable, and/or-adjusting the target trajectory.
本发明涉及一种沿预定的目标轨迹自动化引导车辆(1)的方法,目标轨迹通过几何学轨迹参量表征出,方法至少具有如下步骤:‑获知车辆(1)与目标轨迹的实际偏差;‑依赖于获知的实际偏差生成调节参量,使得车辆(1)在自动化驱控时依赖于所生成的调节参量接近目标轨迹,‑获知当车辆(1)依赖于所生成的调节参量接近目标轨迹时在当前时间点和/或未来时间点是否存在不期望的行驶状态,其中,依赖于几何学轨迹参量从预定的目标轨迹获知不期望的行驶状态;和‑当确认在当前时间点和/或未来时间点存在不期望的行驶状态时,‑依赖于所生成的稳定性参量自动化驱控车辆,和/或‑调整目标轨迹。
METHOD FOR AUTOMATED GUIDING OF A VEHICLE, TRAVEL CONTROL
自动化引导车辆的方法、行驶控制单元和车辆
2023-04-28
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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