Driver assistance system for an at least partially automatically driving motor vehicle, motor vehicle and method for controlling a vehicle dynamics

A motor vehicle with a driver assistance system, comprising:

• at least one environmental sensor, which is configured to detect at least one area of an environment of the motor vehicle;
• a processor, which is configured to determine a target trajectory to be traveled by the motor vehicle depending on the detected at least one area of the environment;
• and
• a drive dynamics control system with a control device, which is configured to adjust an actual trajectory of the motor vehicle to the target trajectory determined by the processor;
• wherein the processor is configured to determine at least one free area value, which at least one free value indicates at least a criticality of a current driving situation depending on the detected at least one area of the environment and to transfer it to the control device;
• wherein the control device is configured to adjust at least one parameter influencing a vehicle control depending on the transferred free area value and to adjust the actual trajectory to the target trajectory according to the adjusted at least one control parameter;
• wherein the at least one parameter influencing the control determines at least how fast a deviation of the actual trajectory of the motor vehicle from the target trajectory is corrected, so that in a critical driving situation, as represented by the at least one free area value, the deviation of the actual trajectory from the target trajectory is corrected fast, while in an uncritical situation, the deviation of the actual trajectory from the target trajectory is corrected slowly.

A method for controlling drive dynamics of an at least partially automatically driving motor vehicle, comprising:

• detecting at least one area of an environment of the motor vehicle;
• determining a target trajectory to be traveled by the motor vehicle depending on the detected at least one area of the environment;
• and
• adjusting an actual trajectory to the determined target trajectory by a control device;
• determining at least one free area value, which at least one free value indicates at least a criticality of a current driving situation depending on the detected at least one area of the environment transferring the at least one free area value to the control device;
• adjusting at least one parameter of the control device influencing the control depending on the transferred free area value and adjusting, by the control device, the actual trajectory to the target trajectory according to the adjusted at least one parameter influencing the control;
• wherein the at least one parameter influencing the control determines at least how fast a deviation of the actual trajectory of the motor vehicle from the target trajectory is corrected, so that in a critical driving situation, as represented by the at least one free area value, the deviation of the actual trajectory from the target trajectory is corrected fast, while in an uncritical situation, the deviation of the actual trajectory from the target trajectory is corrected slowly.