Motor vehicle control device and method for determining avoidance trajectories for a collision-free avoidance manoeuvre of multiple motor vehicles

Abstract

The invention relates to a method for determining avoidance trajectories (13) for a collision-free avoidance manoeuvre (12) of motor vehicles (1, 2, 3), wherein trajectory data (8) describing a collection (10) of possible driving trajectories (11) is received from at least one trajectory generator (5) for each motor vehicle (1, 2, 3), and a respective avoidance trajectory (13) is determined for each motor vehicle (1, 2, 3) based on its collection (10) of possible driving trajectories (10). This is to be carried out in real time. According to the invention, for each motor vehicle (1, 2, 3), thedriving trajectories (11) of its collection (10) are divided into groups (15), and each group (15) is represented by a single respective group trajectory (16), and in at least one combination step, each of the group trajectories (16) of each motor vehicle (1, 2, 3) is selected and a resulting driving manoeuvre is checked on the basis of the selected group trajectories (16) as to whether the driving manoeuvre fulfils a predetermined optimisation criterion (14), and the avoidance trajectories (13) are determined based on the group trajectories (16) of a combination step with a fulfilled optimisation criterion (14).

Description

technical field [0001] The invention relates to a method for determining avoidance trajectories for collision-free evasive maneuvers (or avoidance maneuvers, ie Ausweichmanöver) of several motor vehicles. For each motor vehicle a set of trajectories available to the motor vehicle in the event of an evasive detour is determined and then for each motor vehicle an avoidance trajectory is determined with the aid of its set of possible trajectories, so that all The combination of the determined avoidance trajectories of the motor vehicle results in a collision-free avoidance maneuver. The invention also includes a control device with which the method according to the invention can be carried out, and a motor vehicle which has a control device according to the invention. Background technique [0002] A method of the type described is known, for example, from DE 10 2012 005 272 A1. In this case, when a possible imminent collision of two motor vehicles is detected, the motor vehic...

AI Technical Summary

Problems solved by technology

As a result, valuable operational possibilities can be overlooked, which can lead to collision-free solutions (Auflösung) or cause even less damage, that is, the optimal result of avoiding the detour

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