CONTROL UNIT AND METHOD FOR AN EMERGENCY STEERING SUPPORT FUNCTION
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Abstract
A control device for a land vehicle is described. The control device is set up to control at least one actuator of the land vehicle on the basis of an avoidance trajectory calculated by the control device in order to support a driver of the land vehicle during an evasive maneuver. The control device is also set up to receive sensor signals of at least one sensor; to generate an environmental model from the received sensor signals; to determine the position of an object relative to a current position of the land vehicle in the generated environmental model; and to calculate a preliminary avoidance trajectory. In the calculation of the preliminary avoidance trajectory, the current position of the land vehicle in the generated environmental model constitutes the starting point of the preliminary avoidance trajectory. A preliminary end point of the preliminary avoidance trajectory is determined on the basis of the determined position of the object. To determine the parameters of the preliminary avoidance trajectory, at least the coordinates of the starting point and of the preliminary end point are used.
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Citations
24 Claims
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1-12. -12. (canceled)
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13. A control device for a land vehicle, wherein the control device is set up to control at least one actuator of the land vehicle on the basis of an avoidance trajectory calculated by the control device in order to support a driver of the land vehicle during an evasive maneuver, the control device also being set up
to receive sensor signals of at least one sensor; -
to generate an environmental model from the received sensor signals; to determine the position of an object relative to a current position of the driver'"'"'s own vehicle in the generated environmental model; and to calculate a preliminary avoidance trajectory, wherein the current position of the driver'"'"'s own vehicle in the environmental model constitutes the starting point of the preliminary avoidance trajectory, a preliminary end point of the preliminary avoidance trajectory being determined on the basis of the determined position of the object, and wherein at least the coordinates of the starting point and of the preliminary end point are used to determine the parameters of the preliminary avoidance trajectory, the control device also being set up to extend the preliminary avoidance trajectory by changing the coordinates of the preliminary end point in order to determine an optimized avoidance trajectory with a lesser curvature than the preliminary avoidance trajectory. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A method for calculating an avoidance trajectory for a steering support function of a land vehicle, comprising
receiving of sensor signals of at least one sensor, generating an environmental model from the received sensor signals; -
determining the position of an object relative to the current position of the driver'"'"'s own vehicle in the generated environmental model; calculating a preliminary avoidance trajectory, wherein the current position of the driver'"'"'s own vehicle in the environmental model constitutes the starting point of the preliminary avoidance trajectory; a preliminary end point of the preliminary avoidance trajectory is determined from the determined position of the object, at least the coordinates of the starting point and of the preliminary end point are used to determine the parameters of the preliminary avoidance trajectory; and determining of an optimized avoidance trajectory with a lesser curvature than the preliminary avoidance trajectory through extension of the preliminary avoidance trajectory by changing the coordinates of the preliminary end point.
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Specification