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US 10,474,150 B2Granted
Method for automatic movement controlling of a vehicle
AssigneeRobert Bosch GmbH
InventorsThomas Brettschneider, Charlotte Grinenval, Nils Hagenlocher
Life of this patent
Estimating the term…
Abstract
In a method for automatic movement controlling of a vehicle, at least one trajectory is determined on the basis of environmental and driving state data, and driving state quantities are subsequently calculated for an upcoming time period, using a mathematical vehicle model, taking the trajectory as a basis.
Claims13
A method for the automatic movement controlling of a vehicle, comprising:
- performing, during actual driving of the vehicle, the following steps (a) through (f):
- (a) obtaining, from a navigation system of the vehicle and/or an environmental sensor system of the vehicle, environmental data of the vehicle;
- (b) obtaining, from a vehicle-internal sensor system of the vehicle, driving state data, the driving state data being kinematic quantities relating to a detected current position of the vehicle and/or a detected current speed of the vehicle and/or a detected current acceleration of the vehicle;
- (c) determining at least one trajectory based on the environmental data and the driving state data;
- (d) after the determining, calculating driving state quantities for an upcoming time period using a mathematical vehicle model, taking the determined trajectory as a basis;
- (e) evaluating the determined trajectory based on the calculated driving state quantities of the upcoming time period;
- and
- (f) based on the evaluating, controlling at least one vehicle component of the vehicle based on:
- (i) the calculated driving state quantities of the upcoming time period and/or (ii) a modified trajectory;
- wherein the vehicle component of the vehicle includes at least one actuator that influences a driving state of the vehicle.
7 more elements
A control device for automatic movement controlling of a vehicle, the control device configured to:
- perform, during actual driving of the vehicle, the following (a) through (f):
- (a) obtain, from a navigation system of the vehicle and/or an environmental system of the vehicle, environmental data of the vehicle;
- (b) obtain, from a vehicle-internal sensor system of the vehicle, driving state data, the driving state data being kinematic quantities relating to a detected current position of the vehicle and/or a detected current speed of the vehicle and/or a detected current acceleration of the vehicle;
- (c) determine at least one trajectory based on the environmental data and the driving state data;
- (d) after the determination, calculate driving state quantities for an upcoming time period using a mathematical vehicle model, taking the determined trajectory as a basis;
- (e) evaluate the determined trajectory based on the calculated driving state quantities of the upcoming time period;
- and
- (f) based on the evaluation, control at least one vehicle component of the vehicle based on:
- (i) the calculated driving state quantities of the upcoming time period and/or (ii) a modified trajectory;
- wherein the vehicle component of the vehicle includes at least one actuator that influences a driving state of the vehicle.
7 more elements
A driver assistance system in a vehicle, comprising:
- a control device for automatic movement controlling of a vehicle, the control device configured to perform, during actual driving of the vehicle, the following (a) through (f):
- (a) obtain, from a navigation system of the vehicle and/or an environmental system of the vehicle, environmental data of the vehicle, (b) obtain, from a vehicle-internal sensor system of the vehicle, driving state data, the driving state data being kinematic quantities relating to a detected current position of the vehicle and/or a detected current speed of the vehicle and/or a detected current acceleration of the vehicle, (c) determine at least one trajectory based on the environmental data and the driving state data, (d) after the determination, calculate driving state quantities for an upcoming time period using a mathematical vehicle model, taking the determined trajectory as a basis, (e) evaluate the determined trajectory based on the calculated driving state quantities of the upcoming time period, and (f) based on the evaluation, control at least on vehicle component of the vehicle based on:
- (i) the calculated driving state quantities of the upcoming time period and/or (ii) a modified trajectory;
- wherein the vehicle component of the vehicle includes at least one actuator that influences a driving state of the vehicle.
1 more element
A vehicle having a driver assistance system, the driver assistance system comprising:
- a control device for automatic movement controlling of a vehicle, the control device configured to perform, during actual driving of the vehicle, the following (a) through (f):
- (a) obtain, from a navigation system of the vehicle and/or an environmental system of the vehicle, environmental data of the vehicle, (b) obtain, from a vehicle-internal sensor system of the vehicle, driving state data, the driving state data being kinematic quantities relating to a detected current position of the vehicle and/or a detected current speed of the vehicle and/or a detected current acceleration of the vehicle, (c) determine at least one trajectory based on the environmental data and the driving state data, (d) after the determination, calculate driving state quantities for an upcoming time period using a mathematical vehicle model, taking the determined trajectory as a basis, (e) evaluate the determined trajectory based on the calculated driving state quantities of the upcoming time period, and (f) based on the evaluation, control at least on vehicle component of the vehicle based on:
- (i) the calculated driving state quantities of the upcoming time period and/or (ii) a modified trajectory, wherein the vehicle component of the vehicle includes at least one actuator that influences a driving state of the vehicle.
Dependencies are inferred from the claim text.