# US 2016/0355185 A1 · Method for operating a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0355185 A1 - Document ID: US20160355185A1 - Status: Published application - Kind: A1 - Application number: 15/111,474 - Filed: 2014-12-02 - Published: 2016-12-08 - Earliest claimed: 2014-01-16 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Charlotte Grinenval - Web page: https://patentgrep.com/patent/US20160355185A1 ## CPC - B60W 30/17: with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - B60W 30/18018: {Start-stop drive, e.g. in a traffic jam} - B60W 30/18145: {Cornering} - B60W 2050/065: {by reducing the computational load on the digital processor of the control computer} - B60W 2554/4041: Position - B60W 2554/801: Lateral distance - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## 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 ### Claim at position 1 1-9. (canceled) ### Claim 10 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; checking, at a second point in time subsequent to the first point in time, whether or not the actual trajectory of the vehicle can continue to be controlled based on the first setpoint trajectory; continuing to control the actual trajectory of the vehicle based on the first setpoint trajectory if the actual trajectory can continue to be controlled based on the first setpoint trajectory; and ascertaining a second setpoint trajectory and controlling the actual trajectory of the vehicle based on the second setpoint trajectory if the actual trajectory cannot continue to be controlled based on the first setpoint trajectory. ### Claim 11 (depends on 10) The method as recited in claim 10, wherein a remaining setpoint trajectory is determined which corresponds to the first setpoint trajectory minus a section of the first setpoint trajectory already used at the second point in time for controlling the actual trajectory, a driving corridor being established at the second point in time, it being checked whether the remaining setpoint trajectory is completely within the driving corridor, and if so, the actual trajectory of the vehicle being controlled based on the remaining setpoint trajectory, and if not, the actual trajectory of the vehicle being controlled based on the second setpoint trajectory. ### Claim 12 (depends on 11) The method as recited in claim 11, wherein the remaining setpoint trajectory is linked to a position of the vehicle at or after the second point in time. ### Claim 13 (depends on 11) The method as recited in claim 11, wherein the driving corridor has 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, it being checked whether or not the extended first remaining setpoint trajectory is completely within the driving corridor, and if so, the actual trajectory of the vehicle being controlled based on the extended remaining setpoint trajectory, and if not, the actual trajectory of the vehicle being controlled based on the second setpoint trajectory. ### Claim 14 (depends on 10) The method as recited in claim 10, 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. ### Claim 15 (depends on 14) The method as recited in claim 14, wherein in the case of a further vehicle preceding the vehicle, and in the case of a longitudinal control of the vehicle movement, in order to control an actual distance to a setpoint distance between the vehicle and the further vehicle, the first setpoint trajectory is able to be used for the further control of the actual trajectory if a deviation of the actual distance from the setpoint distance is less than a predetermined deviation threshold value. ### Claim 16 A computer program product having program code stored on a 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; checking, at a second point in time subsequent to the first point in time, whether or not the actual trajectory of the vehicle can continue to be controlled based on the first setpoint trajectory; continuing to control the actual trajectory of the vehicle based on the first setpoint trajectory if the actual trajectory can continue to be controlled based on the first setpoint trajectory; and ascertaining a second setpoint trajectory and controlling the actual trajectory of the vehicle based on the second setpoint trajectory if the actual trajectory cannot continue to be controlled based on the first setpoint trajectory. ### Claim 17 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; check, at a second point in time subsequent to the first point in time, whether or not the actual trajectory of the vehicle can continue to be controlled based on the first setpoint trajectory; continue to control the actual trajectory of the vehicle based on the first setpoint trajectory if the actual trajectory can continue to be controlled based on the first setpoint trajectory; and ascertain a second setpoint trajectory and controlling the actual trajectory of the vehicle based on the second setpoint trajectory if the actual trajectory cannot continue to be controlled based on the first setpoint trajectory. ### Claim 18 (depends on 17) The driver assistance system as recited in claim 17, wherein the driver assistance system is realized as a traffic jam assistance system.