Control unit and method for determining a trajectory for a reversing assistance system

A method for determining a reference trajectory for a reversing assistance system of a vehicle, wherein the method comprises the steps of:

• determining and storing first reference data in regard to a first forward travel of the vehicle, wherein the first reference data include a first reference trajectory of the vehicle for the first forward travel from an initial position to a first end position;
• detecting that the vehicle begins a new, second forward travel at an intermediate position situated between the initial position and the first end position on the first reference trajectory;
• determining second reference data in regard to the second forward travel of the vehicle, wherein the second reference data include a second reference trajectory of the vehicle for the second forward travel starting from the intermediate position and ending at a second end position, wherein the second end position is different from the first end position;
• and
• linking the second reference data for the second reference trajectory for the second forward travel starting from the intermediate position and ending at the second end position to the first reference data for the first reference trajectory for the first forward travel from the initial position to the intermediate position in order to provide a coherent reference trajectory for an assisted reverse travel from the second end position to the initial position.

A control unit for a driver assistance system of a vehicle having automated transverse guidance and/or automated longitudinal guidance, comprising:

• a control unit configured to:
• determine and store first reference data in regard to a first reference travel of the vehicle;
• wherein the first reference data include a first reference trajectory of the vehicle for the first reference travel from an initial position to a first end position;
• detect that the vehicle begins a new, second reference travel at an intermediate position situated between the initial position and the first end position on the first reference trajectory;
• determine second reference data in regard to the second reference travel of the vehicle;
• wherein the second reference data include a second reference trajectory of the vehicle for the second reference travel starting from the intermediate position and ending at a second end position, wherein the second end position is different from the first end position;
• and
• link the second reference data for the second reference trajectory for the second reference travel starting from the intermediate position and ending at the second end position to the first reference data for the first reference trajectory for the first reference travel from the initial position to the intermediate position in order to provide a coherent reference trajectory for an assisted renewed travel from the second end position to the initial position.

A method for determining a reference trajectory for a driver assistance system of a vehicle having automated transverse guidance and/or longitudinal guidance, wherein the method comprises the steps of:

• determining and storing first reference data in regard to a first reference travel of the vehicle;
• wherein the first reference data include a first reference trajectory of the vehicle for the first reference travel from an initial position to a first end position;
• detecting that the vehicle begins a new, second reference travel at an intermediate position situated between the initial position and the first end position on the reference trajectory;
• determining second reference data in regard to the second reference travel of the vehicle;
• wherein the second reference data include a second reference trajectory of the vehicle for the second reference travel starting from the intermediate position and ending at a second end position, wherein the second end position is different from the first end position;
• and
• linking the second reference data for the second reference trajectory for the second reference travel starting from the intermediate position and ending at the second end position to the first reference data for the first reference trajectory for the first reference travel from the initial position to the intermediate position in order to provide a coherent reference trajectory for an assisted renewed travel from the second end position to the initial position.