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Method and device for determining a transversal controller parameterization for transversal control of a vehicle

  • US 9,090,279 B2
  • Filed: 09/21/2011
  • Issued: 07/28/2015
  • Est. Priority Date: 10/26/2010
  • Status: Active Grant
First Claim
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1. A method for determining a transversal controller parameterization for transversal control of a vehicle on a route segment to be instantaneously traveled on by the vehicle, the method comprising:

  • determining, with a controller, the transversal controller parameterization based on a piece of information about a curvature of the route segment to be instantaneously traveled on, by performing the following;

    providing, with the controller, a plurality of curviness ratings which represent different curvature states of a possible course of a road, each curviness rating including a parameter which is related to a curvature state corresponding to the curviness rating;

    ascertaining, with the controller, a curvature of the route segment to be instantaneously traveled on;

    selecting, with the controller, an instantaneous curviness rating from the plurality of curviness ratings based on the curvature;

    providing, with the controller, the parameter of the instantaneous curviness rating as the transversal controller parameterization for the transversal control of the vehicle; and

    ascertaining an instantaneous driving velocity of the vehicle, the transversal controller parameterization furthermore being determined based on the instantaneous driving velocity;

    wherein the plurality of curviness ratings includes a plurality of parameters related to different velocities of the vehicle, andwherein a curvature characteristic includes information about radii and/or lengths of the curves included in the route segment instantaneously to be traveled, and wherein at least three curviness categories are provided, which represent different curviness states relating to the curviness of a possible road characteristic.

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