Method for operating a vehicle based on one or more setpoint trajectories

• US 9,862,383 B2
• Filed: 12/02/2014
• Issued: 01/09/2018
• Est. Priority Date: 01/16/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Grinenval, Charlotte
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Testardi, David
• Application Number:
  US15/111,474
• Publication Number:
  US 20160355185A1
• Time in Patent Office: 1,134 Days
• CPC Class Codes: B60W 2050/065 by reducing the computational load on the digital processor of the control computer
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/17 with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
• CPC Class Codes: B60W 30/18018 Start-stop drive, e.g. in a traffic jam
• CPC Class Codes: B60W 30/18145 Cornering

Abstract

A method for operating a vehicle, whereby a first setpoint trajectory is ascertained at a first point in time, based on which a setpoint trajectory of the vehicle is controlled, wherein, at a second point in time which is subsequent to the first point in time, it is checked whether or not the actual trajectory of the vehicle can continue to be controlled based on the first setpoint trajectory, and if yes, the actual trajectory of the vehicle continues to be controlled based on the first setpoint trajectory, while if no, a second setpoint trajectory is ascertained based on which the actual trajectory of the vehicle is controlled. A driver assistance system and a computer program product are also provided.

Claims

1. A method for operating a vehicle, comprising:

ascertaining, at a first point in time, a first setpoint trajectory, and controlling an actual trajectory of the vehicle based on the first setpoint trajectory;

determining, at a second point in time subsequent to the first point in time, a remaining setpoint trajectory which corresponds to the first setpoint trajectory minus a section of the first setpoint trajectory already used for controlling the actual trajectory at the second point, a driving corridor being established at the second point in time, the driving corridor having a predetermined length, the first setpoint trajectory being described with the aid of an analytical function, so that the remaining setpoint trajectory is extended based on the analytical function up to a lengthwise end of the driving corridor;

checking, at the second point in time, whether or not the extended remaining setpoint trajectory of the vehicle is completely within the driving corridor; and

continuing to control the actual trajectory of the vehicle based on the extended remaining setpoint trajectory based on results of the checking step.

2. The method as recited in claim 1, wherein the remaining setpoint trajectory is a trajectory from a position of the vehicle at or after the second point in time.

3. The method as recited in claim 1, wherein the control of the actual trajectory includes at least one of a longitudinal control of a vehicle movement, and a lateral control of the vehicle movement.

4. The method as recited in claim 3, wherein to control an actual distance between the vehicle and a preceding vehicle to a setpoint distance between the vehicle and the preceding vehicle, the first setpoint trajectory is used for longitudinal control of the vehicle movement depending on a deviation of the actual distance from the setpoint distance.

5. A computer program product having program code stored on a non-transitory machine-readable storage medium, the program code for operating a vehicle, the program code, when executed by a processing device, causing the processing device to perform:

ascertaining, at a first point in time, a first setpoint trajectory, and controlling an actual trajectory of the vehicle based on the first setpoint trajectory;

determining, at a second point in time subsequent to the first point in time, a remaining setpoint trajectory which corresponds to the first setpoint trajectory minus a section of the first setpoint trajectory already used for controlling the actual trajectory at the second point, a driving corridor being established at the second point in time, the driving corridor having a predetermined length, the first setpoint trajectory being described with the aid of an analytical function, so that the first remaining setpoint trajectory is extended based on the analytical function up to a lengthwise end of the driving corridor;

checking, at the second point in time, whether or not the extended remaining setpoint trajectory of the vehicle is completely within the driving corridor;

continuing to control the actual trajectory of the vehicle based on the extended remaining setpoint trajectory if the extended remaining trajectory is completely within the driving corridor; and

ascertaining a second setpoint trajectory and controlling the actual trajectory of the vehicle based on the second setpoint trajectory if the extended remaining trajectory is not completely within the driving corridor.

6. A driver assistance system for a vehicle, comprising:

a processing device configured to;

ascertain, at a first point in time, a first setpoint trajectory, and control an actual trajectory of the vehicle based on the first setpoint trajectory;

determine, at a second point in time subsequent to the first point in time, a remaining setpoint trajectory which corresponds to the first setpoint trajectory minus a section of the first setpoint trajectory already used for controlling the actual trajectory at the second point, a driving corridor being established at the second point in time, the driving corridor having a predetermined length, the first setpoint trajectory being described with the aid of an analytical function, so that the first remaining setpoint trajectory is extended based on the analytical function up to a lengthwise end of the driving corridor;

check, at the second point in time, whether or not the extended remaining trajectory of the vehicle is completely within the driving corridor;

continue to control the actual trajectory of the vehicle based on the extended remaining setpoint trajectory if the extended remaining setpoint trajectory is completely within the driving corridor; and

ascertain a second setpoint trajectory and control the actual trajectory of the vehicle based on the second setpoint trajectory if the extended remaining setpoint trajectory is not completely within the driving corridor.

7. The driver assistance system as recited in claim 6, wherein the driver assistance system is a traffic-jam assistance system.