The invention relates to a method for guiding a vehicle (10) from a starting position (22) to a destination (24). The vehicle (10) is guided along a reference trajectory (26) which comprises a sequence of reference positions (28), wherein each reference position (28) comprises a respective vehicle position and a vehicle orientation, and the reference trajectory (26) together with the reference positions (28) is specified by an assistant for driving into a parking space or driving out of a parking space. The method has the steps of detecting an obstacle (40) in the region of the reference positions (28) to be traversed in the future by the vehicle (10), determining one or more alternative positions (30, 30'), each of which lies in a freely traversable region and which are displaced laterally to the obstacle (40) relative to the reference trajectory (26), wherein the alternative positions (30, 30') are obtained by laterally displacing the reference positions (28) relative to the reference trajectory (26) and/or by adding additional positions, determining an alternative trajectory (36) which leads through the alternative positions (30, 30'), wherein the alternative trajectory (36) is determined such that the alternative trajectory is added to the reference trajectory (26) in a seamless manner and without breaks, and guiding the vehicle (10) along the alternative trajectory (36). The invention additionally relates to a computer program and to a driver assistance system, each of which is designed to carry out the method. The invention also relates to a vehicle (10) comprising such a driver assistance system.
VERFAHREN ZUM FÜHREN EINES FAHRZEUGS VON EINER STARTPOSITION ZU EINER ZIELPOSITION
METHOD FOR GUIDING A VEHICLE FROM A STARTING POSITION TO A DESTINATION
PROCÉDÉ DE CONDUITE D'UN VÉHICULE D'UNE POSITION DE DÉPART VERS UNE POSITION CIBLE
2021-05-26
Patent
Electronic Resource
German
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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