The present invention generally relates to closed-loop control methods, a computer program product and an open-loop control device (28) for a motor vehicle (24). The closed-loop control method is configured for the cooperative vehicle lateral guidance of a motor vehicle (24) with respect to a reference trajectory by means of an overall closed control loop (12) of a vehicle closed-loop control unit (26). The overall closed control loop (12) comprises at least one first closed-loop control module (18) and one second closed-loop control module (20). The first closed-loop control module (18) has a dynamic open-loop pilot controller (14) having a virtual closed control loop (22) which is configured to take into account a steering wheel state based on a manual steering input for influencing the vehicle lateral guidance. The second closed-loop control module (20) has a non-linear adaptive model-predictive closed-loop controller which is configured to compensate for at least one unknown estimated disturbance state based on at least one disturbance variable which causes a deviation of the vehicle lateral guidance from the reference trajectory.


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    Title :

    COOPERATIVE VEHICLE LATERAL GUIDANCE CLOSED-LOOP CONTROL, COMPUTER PROGRAM PRODUCT AND OPEN-LOOP CONTROL DEVICE FOR A MOTOR VEHICLE


    Contributors:

    Publication date :

    2025-01-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge