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US 10,240,933 B2Granted
Method for guiding a vehicle and a driver assistance system
AssigneeRobert Bosch GmbH
InventorsCharlotte Grinenval, Ulf Wilhelm, Wolfgang Schroeder, Michael Knoop, Tobias Rentschler
Life of this patent
Estimating the term…
Abstract
A method for guiding a vehicle, at least one parameter of the surroundings of the vehicle being detected by at least one sensor; a travel corridor being ascertained based on the parameter; a trajectory being ascertained as a function of at least one other parameter within the travel corridor; and the guidance of the vehicle being adapted as a function of the ascertained trajectory.
Claims28
A method, which directs a vehicle's movement, the method comprising:
- detecting at least one surroundings parameter by at least one sensor;
- ascertaining a travel corridor based at least on the surroundings parameter, wherein the travel corridor identifies a safe vehicle travel space, the travel corridor having boundaries that are different than and non-overlapping with roadway markings disposed on a road on which the vehicle is traveling, wherein the travel corridor has a length along the road in a direction of travel that represents a trajectory over which the vehicle is to travel, wherein the travel corridor is limited by a setpoint distance to a preceding vehicle;
- detecting at least one vehicle parameter, which defines a current operating condition of the vehicle, wherein the at least one vehicle parameter is at least one of:
- a current operating parameter of an engine of the vehicle,
- a current operating parameter of a brake of the vehicle, or
- a current operating parameter of a steering of the vehicle;
- determining a current availability of an actuating reserve of an actuator of the vehicle;
- setting the vehicle's trajectory within the travel corridor as a function of the detected at least one vehicle parameter, wherein the trajectory defines the vehicle's movement through the travel corridor, wherein the setting is performed based on the actuating reserve of the actuator being currently available and indicating that the actuator retains further actuating potential to increase a function of the actuator;
- and
- controlling the vehicle's movement based at least on the set trajectory at least by changing the at least one vehicle parameter.
7 more elements
A driver assistance system, comprising:
- a first processing unit, which adapts a vehicle's movement, by performing the following:
- receiving at least one surroundings parameter from at least one sensor;
- ascertaining a travel corridor based at least on the surroundings parameter, wherein the travel corridor identifies a safe vehicle travel space, the travel corridor having boundaries that are different than and non-overlapping with roadway markings disposed on a road on which the vehicle is traveling, wherein the travel corridor has a length along the road in a direction of travel that represents a trajectory over which the vehicle is to travel, wherein the travel corridor is limited by a setpoint distance to a preceding vehicle;
- a second processing unit, which adapts variables of a vehicle's movement, by performing the following:
- receiving at least one vehicle parameter from another sensor, wherein the at least vehicle parameter defines a current operating condition of the vehicle, wherein the at least one vehicle parameter is at least one of:
- a current operating parameter of an engine of the vehicle,
- a current operating parameter of a brake of the vehicle, or
- a current operating parameter of a steering of the vehicle;
- determining a current availability of an actuating reserve of an actuator of the vehicle;
- setting the vehicle's trajectory within the travel corridor as a function of the detected at least one vehicle parameter, wherein the trajectory defines the vehicle's movement through the travel corridor, wherein the setting is performed based on the actuating reserve of the actuator being currently available and indicating that the actuator retains further actuating potential to increase a function of the actuator;
- and
- controlling the vehicle's movement based at least on the set trajectory at least by changing the at least one vehicle parameter.
9 more elements
Dependencies are inferred from the claim text.