The invention relates to determining a trajectory of a first vehicle (1) taking into account a driving behavior of a second vehicle (18), the second vehicle (18) traveling in front of the first vehicle (1). In this case, the processor unit (3) is provided for accessing speed data of the second vehicle (18), the speed data having been generated by a sensor of the first vehicle (1). Furthermore, the processor unit is arranged to establish a driving behavior pattern of the second vehicle (18) on the basis of the speed data, and to predict a future driving behavior of the second vehicle (18) on the basis of the driving behavior pattern of the second vehicle (18). Furthermore, the processor unit is arranged to determine a trajectory of the first vehicle (1) by executing an MPC algorithm comprising a longitudinal dynamics model of the first vehicle and a cost function to be minimized, thereby minimizing the cost function, a prediction of a future driving behavior of the second vehicle (18) is taken into account as an assistance condition when determining the trajectory.
本发明涉及在考虑第二交通工具(18)的行驶行为的情况下确定第一交通工具(1)的轨迹,其中,第二交通工具(18)在第一交通工具(1)前方行驶。在此,处理器单元(3)被设置成用于访问第二交通工具(18)的速度数据,其中,速度数据已由第一交通工具(1)的传感器生成。此外,处理器单元被设置成用以基于速度数据建立所述第二交通工具(18)的行驶行为模式,并且基于第二交通工具(18)的行驶行为模式预知第二交通工具(18)的未来行驶行为。此外,处理器单元被设置成用于通过执行包含第一交通工具的纵向动力学模型和待最小化的成本函数的MPC算法来确定第一交通工具(1)的轨迹,从而使成本函数最小化,其中,在确定轨迹时将对第二交通工具(18)的未来行驶行为的预知考虑为辅助条件。
Determining trajectory of first vehicle taking into account driving behavior of second vehicle
在考虑第二交通工具的行驶行为的情况下确定第一交通工具的轨迹
2022-06-07
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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