The invention relates to a method for checking whether a target movement trajectory is suitable for the movement trajectory control of a vehicle (1), said target movement trajectory containing route information relating to the course of a route to be traveled and dynamic information relating to the dynamics that can be used to traveled through the route, according to the invention, the gradient ([lambda]), the lateral gradient ([eta]) and the coefficient of friction ([mu] max) of the road along the target movement trajectory are determined and/or estimated using sensors and/or from map data, calculating a horizontal target tire force, a target traction force on each wheel of the vehicle (1) from the route information and the dynamic information of the target movement trajectory and from the determined gradient (lambda) and lateral inclination (eta) on the basis of a model formula of the vehicle (1); the target traction power and the target steering power are target values required to traverse a target motion trajectory, and wherein the target motion trajectory is evaluated to be suitable for motion trajectory control under the following conditions: the target traction force and the target traction power are lower than a predetermined traction force characteristic curve or a traction power characteristic curve, and the target traction power and the target steering power are lower than a predetermined traction force characteristic curve or a predetermined traction power characteristic curve; -the target steering power is lower than a predetermined steering system power limit, and-the horizontal target tire force on each wheel is within a friction coefficient limit determined by the friction coefficient ([mu] max), where the target movement trajectory is otherwise evaluated as improper.

    本发明涉及一种用于检查目标运动轨迹是否适用于车辆(1)运动轨迹控制的方法,其中,该目标运动轨迹包含关于待驶经路线走向的路线信息和关于能被用以驶经该路线的动态的动态信息,其中,沿目标运动轨迹的道路的坡度(λ)、横向倾斜度(η)和摩擦系数(μmax)是使用传感器和/或从地图数据中被确定和/或估算的,其中,基于车辆(1)的模型公式从所述目标运动轨迹的路线信息和动态信息中且从所确定的坡度(λ)和横向倾斜度(η)中计算在车辆(1)的各个车轮上的水平目标轮胎力、目标牵引力、目标牵引功率以及目标转向功率的驶经目标运动轨迹所需要的目标值,其中,在以下条件下,该目标运动轨迹被评估为适用于运动轨迹控制:‑所述目标牵引力和目标牵引功率低于预定的牵引力特性曲线或牵引功率特性曲线,‑该目标转向功率低于预定的转向系统功率极限,并且‑在每个车轮上的水平目标轮胎力在由该摩擦系数(μmax)确定的摩擦系数极限内,其中,否则该目标运动轨迹被评估为不合适。


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    Title :

    Method for checking whether target motion trajectory is suitable for vehicle motion trajectory control


    Additional title:

    用于检查目标运动轨迹是否适于车辆运动轨迹控制的方法


    Contributors:

    Publication date :

    2023-03-07


    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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