Methods, systems, and apparatuses are provided for controlling longitudinal and/or lateral guidance of a vehicle. A trajectory planner is configured to ascertain setpoint trajectory variables for a trajectory of the vehicle. The setpoint trajectory variables include a first trajectory state and a second trajectory state. The second trajectory state corresponds to a change in the first trajectory state over time. A feed-forward controller is configured to calculate a feed-forward control variable from the setpoint trajectory variables and from a model of dynamic behavior of the vehicle. The feed-forward control variable and the first trajectory state are variables of the same type. The device is configured to use the feed-forward control variable as a basis for determining a manipulated variable for a controlled system within the scope of the longitudinal and/or lateral guidance. The manipulated variable and the feed-forward control variable are variables of the same type.
Device and Method for Controlling the Longitudinal and/or Lateral Guidance of a Vehicle
12.09.2024
Patent
Elektronische Ressource
Englisch
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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