# US 2022/0032952 A1 · Control system and control method for a hybrid approach for determining a possible trajectory for a motor vehicle

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- Number: US 2022/0032952 A1
- Document ID: US20220032952A1
- Status: Published application
- Kind: A1
- Application number: 17/413,982
- Filed: 2019-12-16
- Published: 2022-02-03
- Earliest claimed: 2018-12-17
- Assignees: AZ Automotive Germany GmbH
- Applicants: AZ Automotive Germany GmbH
- Inventors: Christian Lienke; Christian Wissing; Manuel Schmidt; Andreas Homann; Torsten Bertram; Till Nattermann; Martirn Keller; Karl-Heinz Glander
- Web page: https://patentgrep.com/patent/US20220032952A1

## CPC

- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- B60W 30/12: Lane keeping
- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- B60W 60/001: {Planning or execution of driving tasks}
- B60W 60/0013: {specially adapted for occupant comfort}
- B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces}
- B60W 2050/006: {Interpolation; Extrapolation}
- B60W 2552/10: Number of lanes
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2554/801: Lateral distance
- B60W 2554/802: Longitudinal distance
- B60W 2554/804: Relative longitudinal speed
- 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 control system for use in a motor vehicle and configured to monitor a current driving situation of the motor vehicle on the basis of surrounding data of the motor vehicle acquired from at least one surrounding sensor arranged on the motor vehicle in a current driving situation is disclosed. The control system is configured to determine information relating to a current driving situation of the motor vehicle on the basis of the provided surrounding data, to determine information relating to a current driving situation of the motor vehicle and to determine a component of a future driving maneuver for the motor vehicle on the basis of the information relating to the current driving situation of the motor vehicle. Furthermore, the control system is configured to determine a multiplicity of model trajectories for the motor vehicle on the basis of the determined component of the future driving maneuver for the motor vehicle and to determine from the multiplicity of model trajectories a trajectory for the motor vehicle which the motor vehicle is to follow in the further course of its travel. The control system is also configured to update the information relating to the current driving situation of the motor vehicle and/or the supplied surrounding data and to adapt the trajectory for the motor vehicle on the basis of a target function and on the basis of the updated supplied surrounding data and/or on the basis of the updated information relating to the current driving situation of the motor vehicle.

## Claims

### Claim 1

A control system for a motor vehicle which is configured to detect lanes, road boundaries, road markings and/or further motor vehicles in a region adjacent the motor vehicle on the basis of environmental data obtained from at least one environmental sensor arranged on the motor vehicle, wherein the at least one environmental sensor is configured to provide an electronic controller of the control system with the environmental data representing the region adjacent the motor vehicle, and wherein the control system
determines information relating to a current driving situation of the motor vehicle based on the environmental data provided by the at least one environmental sensor,
determines at least one component of a future driving maneuver for the motor vehicle based on the information relating to the current driving situation of the motor vehicle,
determines a plurality of model trajectories for the motor vehicle (12) based on the determined component of the future driving maneuver for the motor vehicle (12),
determines a trajectory for the motor vehicle from the plurality of model trajectories for the motor vehicle, which trajectory is intended to be followed by the motor vehicle in a further course of travel of the motor vehicle,
updates the information relating to the current driving situation of the motor vehicle and/or the environmental data provided, and
adapts the trajectory for the motor vehicle using a target function and based on the updated environmental data provided and/or based on the updated information relating to the current driving situation of the motor vehicle.

### Claim 2 (depends on 1)

The control system as claimed in claim 1, which determines the trajectory from the plurality of model trajectories using a target function which is the same as the target function for adapting the trajectory for the motor vehicle.

### Claim 3 (depends on 1)

The control system as claimed in claim 1, wherein the information relating to the current driving situation of the motor vehicle comprises at least a lateral distance of the motor vehicle from a currently used lane, and wherein the control system determines the component of the future driving maneuver based on the lateral distance of the motor vehicle from the currently used lane as a lane-keeping or as a lane change.

### Claim 4 (depends on 3)

The control system as claimed in claim 3, wherein the information relating to the current driving situation of the motor vehicle also comprises a longitudinal distance of the motor vehicle along its currently used lane from a further motor vehicle, and wherein the control system determines a further component of the future driving maneuver based on the determined component of the future driving maneuver and/or based on the longitudinal distance of the motor vehicle from the further motor vehicle.

### Claim 5 (depends on 1)

The control system as claimed in claim 1, which determines the information relating to the current driving situation of the motor vehicle based on the provided environmental data in the form of discrete sampling values.

### Claim 6 (depends on 5)

The control system as claimed in claim 5, wherein the control system determines a plurality or all of the discrete sampling values as nodes, and creates a connected graph from the determined nodes.

### Claim 7 (depends on 6)

The control system as claimed in claim 6, wherein the control system selects the nodes as stopping points for the trajectory, and calculates the trajectory for the motor vehicle by a spline-based interpolation between the selected stopping points.

### Claim 8 (depends on 1)

The control system as claimed in claim 1, wherein the control system determines the updated information and/or the updated environmental data in the form of continuous values.

### Claim 9 (depends on 8)

The control system of claim 8, wherein the control system combines the updated information and/or the updated environmental data in the form of continuous values with the information relating to the current driving situation of the motor vehicle in the form of discrete sampling values in order to adapt the trajectory for the motor vehicle.

### Claim 10 (depends on 9)

The control system as claimed in claim 9, wherein the combination of the information relating to the current driving situation of the motor vehicle in the form of discrete sampling values with the updated information and/or with the updated environmental data in the form of continuous values at least comprises the control system initializing and/or reinitializing the adaptation of the trajectory for the motor vehicle using the target function.

### Claim 11

A control method for a motor vehicle, that detects lanes, road boundaries, road markings and/or further motor vehicles in a region adjacent the motor vehicle based on environmental data obtained from at least one environmental sensor arranged on the motor vehicle, wherein the control method comprises the steps of:
determining information relating to a current driving situation of the motor vehicle based on the environmental data provided,
determining at least one component of a future driving maneuver for the motor vehicle based on the information relating to the current driving situation of the motor vehicle,
determining a plurality of model trajectories for the motor vehicle based on the determined component of the future driving maneuver for the motor vehicle,
determining a trajectory for the motor vehicle from the plurality of model trajectories for the motor vehicle, which trajectory is intended to be followed by the motor vehicle in a further course of its journey,
updating the information relating to the current driving situation of the motor vehicle and/or the environmental data provided, and
adapting the trajectory for the motor vehicle using a target function and based on the updated environmental data provided and/or based on the updated information relating to the current driving situation of the motor vehicle.

### Claim 12

(canceled)

### Claim 13 (depends on 11)

The control method of claim 11, wherein the updated environmental data is provided in the form of continuous values.

### Claim 14 (depends on 13)

The control method of claim 13, wherein the continuous values are in the form of quasi-continuous values and wherein the method further comprises assigning a measurement of time to each of the values and organizing the quasi-values according to the measurement of time.

### Claim 15 (depends on 11)

The control method of claim 11, wherein information related to the current driving situation of the motor vehicle is collected in the form of discrete sampling values.

### Claim 16 (depends on 15)

The control method of claim 15, wherein the discrete sampling values are determined as nodes and the nodes are used to determine a connected graph.

### Claim 17 (depends on 11)

The control method of claim 11, wherein determining information relating to the current driving situation of the motor vehicle further comprises determining the lateral distance of the longitudinal axis of the motor vehicle from a lane marking.

### Claim 18 (depends on 11)

The control method of claim 11, wherein determining information relating to the current driving situation of the motor vehicle further comprises determining the longitudinal distance and/or relative speed between the motor vehicle and a further motor vehicle.

### Claim 19 (depends on 11)

The control method of claim 11, wherein the determining at least one component of a future driving maneuver for the motor vehicle involves lane-keeping and/or braking.

### Claim 20 (depends on 1)

The control system of claim 1, wherein the at least one environmental sensor comprises a plurality of environmental sensors, a first environmental sensor facing forward in the direction of travel of the motor vehicle, a second environmental sensor facing forward in the direction of travel of the motor vehicle, and a third environmental sensor on one of the side or rear of the motor vehicle.

### Claim 21 (depends on 20)

The control system of claim 20, wherein the first environmental sensor is positioned in one of a front fender, front light or a front radiator grille of the motor vehicle.