The invention relates to a method for generating a lateral offset trajectory for an at least partially automated mobile platform, comprising the following steps: providing a target lateral offset; inverting the provided kinetic model of the mobile platform; providing at least one limit of a system variable of the kinetic model to determine a lateral offset trajectory; determining a time series of lateral offset trajectory points for the inverted kinetic model using a state variable filter and using the target lateral offset as an input signal based on at least one limit of the system variable; wherein each point of the time sequence of the lateral offset trajectory is analytically determined by means of a state variable filter; and determining a time series of values of at least one controlled variable for the mobile platform by means of the inverted kinetic model and by means of the time series of lateral offset trajectory points as input signals of the inverted kinetic model in order to generate a lateral offset trajectory.

    建议了一种用于生成针对至少部分自动化移动平台的横向偏移轨迹的方法,该方法具有下列步骤:提供目标横向偏移;使移动平台的所提供的动力学模型反演;提供所述动力学模型的系统变量的至少一个限制,以确定横向偏移轨迹;基于系统变量的至少一个限制,利用状态变量滤波器,并且利用目标横向偏移作为输入信号,针对所反演的动力学模型来确定横向偏移轨迹点的时间序列;其中借助状态变量滤波器,以分析方式确定横向偏移轨迹的时间序列的每个点;并且借助所反演的动力学模型,和借助横向偏移轨迹点的时间序列作为所反演的动力学模型的输入信号,确定针对移动平台的至少一个被控变量的值的时间序列,以生成横向偏移轨迹。


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    Title :

    Method for generating lateral offset trajectory


    Additional title:

    用于生成横向偏移轨迹的方法


    Contributors:

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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