Method for determining a travel envelope along a planned travel trajectory, control device, vehicle, and computer program

A control device computer readable medium with instructions for:

• providing a travel trajectory of a vehicle, wherein the travel trajectory comprises at least one curved trajectory segment, wherein a curvature of the travel trajectory has a constant sign in the at least one curved trajectory segment;
• determining at least a first polygon, the circumference of which describes a vehicle contour at a first vehicle position on the at least one curved trajectory segment, and a second polygon, the circumference of which describes the vehicle contour at a second vehicle position on the at least one curved trajectory segment;
• establishing a pivot point of the vehicle contour, which has the greatest distance from a curved line during a movement of the vehicle from the first vehicle position to the second vehicle position;
• approximating the curved line by at least two legs of at least one triangle which encloses the curved line;
• forming at least one travel envelope segment of the at least one curved trajectory segment from two convex polygons from the first polygon, the second polygon and the at least two legs of the triangle;
• and
• determining the travel envelope from the at least one travel envelope segment.

A computer program comprising commands which prompt a control device to carry

• providing a travel trajectory of a vehicle, wherein the travel trajectory comprises at least one curved trajectory segment, wherein a curvature of the travel trajectory has a constant sign in the at least one curved trajectory segment;
• determining at least a first polygon, the circumference of which describes a vehicle contour at a first vehicle position on the at least one curved trajectory segment and a second polygon, the circumference of which describes the vehicle contour at a second vehicle position on the at least one curved trajectory segment;
• establishing a pivot point of the vehicle contour, which has the greatest distance from a curved line during a movement of the vehicle from the first vehicle position to the second vehicle position;
• approximating the curved line by at least two legs of at least one triangle which encloses the curved line;
• forming at least one travel envelope segment of the at least one curved trajectory segment from two convex polygons from the first polygon, the second polygon and the at least two legs of the triangle;
• and
• determining the travel envelope from the at least one travel envelope segment.