Method and device for controlling automatic lateral guidance of vehicle

Abstract

A device for controlling automatic lateral guidance of a vehicle is described. The device is configured to determine a manual steering angle of a vehicle steering system, which is caused during manual lateral guidance of the vehicle, and to determine a maximum adjustable steering angle caused by a vehicle steering actuator in the context of automatic lateral guidance of the vehicle on the basis of the determined manual steering angle.

Description

Technical Field

[0001] The present invention relates to a method and a corresponding device which are designed to effect particularly reliable and / or precise automatic lateral guidance of a (motor) vehicle, in particular in conjunction with a recorded reference trajectory. Background Art

[0002] The vehicle may be equipped with an assistance system configured to record and store the vehicle's travel path, in particular a reference trajectory, during a departure trip (typically a first trip). For example, trajectory data related to the vehicle's travel trajectory while parking and / or maneuvering in a parking space may be recorded and stored. The first trip may be manually initiated by the driver.

[0003] The stored trajectory data related to the reference trajectory of the first run can be used to assist the vehicle user, in particular the driver, in the corresponding return run (typically the corresponding second run). The vehicle can at least automatically perform lateral guidance in the corresponding return run (typically the second run). Summary of the Invention

[0004] The present document addresses the technical task of improving the transverse guidance quality of a vehicle, in particular when traveling along a previously recorded reference trajectory.

[0005] This task is solved by each independent claim. Advantageous embodiments are particularly described in the dependent claims. It should be noted that the additional features of an independent claim, even if they do not include the features of the independent claim or are combined with only some of the features of the independent claim, can constitute an independent invention independent of the entire feature combination of the independent claim. Such an invention can serve as the subject of an independent claim, a divisional application, or a subsequent application. The same applies to technical teachings described in the specification, which can constitute inventions independent of the features of the independent claim.

[0006] According to one aspect, a device for controlling the automatic lateral guidance of a (motorized) vehicle is described. To achieve the automatic lateral guidance, the vehicle includes a (possibly electric) steering actuator configured to operate the vehicle's steering system. The vehicle may have front-wheel steering and / or rear-wheel steering. The features described herein apply to both the front-wheel steering and / or the rear-wheel steering.

[0007] The vehicle may include a memory unit in which a maximum adjustable steering angle is stored. The stored maximum adjustable steering angle may indicate the maximum steering angle that the steering actuator may cause within the scope of automatic transverse guidance. The maximum adjustable steering angle may be stored separately for the front-wheel steering and / or for the rear-wheel steering.

[0008] The memory unit may store a standard steering angle that is maximally adjustable by the steering actuator. This standard steering angle may, for example, be stored as standard in the vehicle's memory unit during vehicle manufacture. Alternatively or additionally, the standard steering angle may be identical for multiple different vehicles of the same vehicle type and / or vehicle model.

[0009] Therefore, when the vehicle is delivered, a maximum adjustable standard steering angle is stored in the memory unit. This standard steering angle can be used for the automatic lateral guidance of the vehicle. In particular, trajectory planning for the automatic lateral guidance can be performed assuming that the steering (front and / or rear wheels) have the stored maximum adjustable standard steering angle as the maximum possible steering angle. Therefore, the driving trajectory determined for the automatic lateral guidance typically does not include a steering angle that exceeds the stored maximum adjustable standard steering angle.

[0010] The standard steering angle is typically specified for a specific vehicle type or model. A relatively conservative, i.e., smaller, standard steering angle is typically stored in the storage unit to account for manufacturing and / or installation tolerances of the vehicle's steering system. This ensures that all vehicles of a specific vehicle type and / or model can reliably implement automatic lateral guidance. On the other hand, this means that the actual maximum adjustable steering angle of a specific vehicle may be greater (in magnitude) than the standard steering angle. This represents a limitation on the automatic lateral guidance of a specific vehicle.

[0011] The device is configured to determine a manual steering angle of a vehicle's steering system that occurs during manual lateral guidance of the vehicle. In particular, the maximum manual steering angle that occurs during travel with manual lateral guidance can be determined. For example, the (maximum) manual steering angle can be determined based on sensor data from a vehicle steering angle sensor.

[0012] The device is further configured to determine, based on the determined (maximum) manual steering angle, a maximum adjustable steering angle of the vehicle's steering system that can be achieved by the vehicle's steering actuator within the context of automatic vehicle lateral guidance. In particular, the maximum adjustable steering angle can be determined for subsequent travel with automatic lateral guidance based on the determined (maximum) manual steering angle. In particular, the device can be configured to update the maximum adjustable steering angle stored in the memory unit on a vehicle-by-vehicle basis based on the determined (maximum) manual steering angle. Thus, the standard steering angle can be replaced by the vehicle-specific maximum adjustable steering angle.

[0013] The device thus enables a vehicle-specific adaptation (in particular an increase) of the maximum adjustable steering angle used within the scope of the automatic transverse guidance of the vehicle. The quality of the automatic transverse guidance of the vehicle can thus be improved.

[0014] The device can be configured to detect when a (maximum) manual steering angle is greater in magnitude than a maximum adjustable (standard) steering angle of the vehicle's steering system stored in a vehicle memory unit. In response to this detection, the stored maximum adjustable steering angle can be updated based on the determined (maximum) manual steering angle. This can result in a particularly robust and accurate update of the stored maximum adjustable steering angle. The update can be performed repeatedly in a corresponding manner at a series of consecutive points in time during vehicle operation.

[0015] The device can be configured to determine an updated maximum adjustable steering angle based on the determined (maximum) manual steering angle. The maximum adjustable steering angle stored in the storage unit can be increased by an incremental value (possibly predefined and / or based on a standard) to determine the updated maximum adjustable steering angle. This incremental value can be less than the deviation between the stored maximum adjustable steering angle and the determined manual steering angle. Alternatively or additionally, the incremental value can depend on the deviation between the stored maximum adjustable steering angle and the determined manual steering angle. Thus, the stored maximum adjustable steering angle can be gradually (repeatedly) adapted to (possibly approximately) the corresponding determined (maximum) manual steering angle, so that the stored maximum adjustable steering angle can be determined in a particularly robust and precise manner.

[0016] The device can also be configured to check, during driving with automatic lateral guidance, whether an updated maximum adjustable steering angle of the steering system can actually be achieved by the steering actuator. This can be determined based on sensor data from one or more steering angle sensors of the vehicle. If it is determined that the updated maximum adjustable steering angle can be achieved by the steering actuator, the updated maximum adjustable steering angle can be stored in the memory unit (only when necessary) as the maximum adjustable steering angle. This allows for a particularly robust update of the stored maximum adjustable steering angle.

[0017] The device can be configured to repeatedly determine, within a series of consecutive travels with manual lateral guidance, the (maximum) manual steering angle resulting from the respective travel. Furthermore, the corresponding stored maximum adjustable steering angle can be repeatedly updated based on the respectively determined (maximum) manual steering angle. The repeated updating allows for a particularly robust and precise adaptation of the stored maximum adjustable steering angle.

[0018] The device can be configured to record a reference trajectory between a first point (e.g., a starting point) and a second point (e.g., an end point) of the journey while driving with manual lateral guidance, wherein the maximum manual steering angle caused by the driver of the vehicle while driving along the reference trajectory can be determined.

[0019] Furthermore, the device may be configured to recognize that the maximum manual steering angle is greater in magnitude than a maximum adjustable steering angle, which is stored in a vehicle memory unit for a subsequent trip along a reference trajectory with automatic lateral guidance (e.g., a subsequent trip in the same or opposite direction as the initial trip). The maximum adjustable steering angle stored in the memory unit may then be updated based on the determined maximum manual steering angle.

[0020] Furthermore, the device can be configured to operate the steering actuator during travel along a reference trajectory with automatic lateral guidance to achieve a steering angle of the vehicle's steering system up to the maximum adjustable steering angle stored in the memory unit. This can improve the quality of the resumed travel. In particular, it can ensure that the vehicle precisely follows the previously recorded reference trajectory during the resumed travel.

[0021] The device can be configured to plan a driving trajectory for a driving maneuver with automatic lateral guidance (in particular for re-entry) based on the determined maximum adjustable steering angle. The driving trajectory is planned such that, during the driving maneuver, the steering angle of the vehicle steering system, caused by the steering actuator, reaches but does not exceed the maximum adjustable steering angle. This allows for a particularly comfortable and precise driving maneuver with automatic lateral guidance.

[0022] The device can be configured to determine a maximum adjustable steering angle (possibly stored in a memory unit) based on the determined (maximum) manual steering angle, such that the maximum adjustable steering angle is reduced (in magnitude) by a determined offset value relative to the determined (maximum) manual steering angle. This offset value can be set by the vehicle user, if desired. In other words, the device can be configured to reduce the determined manual steering angle by the offset value. The manual steering angle, reduced by the offset value, is then stored in the vehicle's memory unit as the maximum adjustable steering angle. This can further enhance the driving comfort.

[0023] According to another aspect, a device is described for assisting a driver of a vehicle during (possibly manual) lateral guidance of the vehicle. The measures described herein are applicable to the device individually or in combination.

[0024] The device is configured to determine a manual steering angle of a vehicle steering system, which is caused when the vehicle is manually guided laterally. Furthermore, a maximum adjustable steering angle can be determined based on the determined manual steering angle and, if necessary, stored in a memory unit of the vehicle (as described in this document).

[0025] Furthermore, the device can be configured to determine the maximum curvature of the vehicle's driving trajectory during a (subsequent) driving maneuver with lateral guidance based on the maximum adjustable steering angle. During the driving maneuver, the driver can, if necessary, manually initiate lateral guidance. The driver can be assisted in lateral guidance of the vehicle by displaying one or more possible driving trajectories on a display unit of the vehicle (e.g., on a screen). In particular, the driving trajectory with the maximum possible curvature (and that can be achieved with the maximum adjustable steering angle) is displayed to the driver on the display unit (and superimposed with a camera image of the vehicle's surroundings).

[0026] Thus, during a driving maneuver with lateral guidance, information about the determined maximum curvature (in particular the driving trajectory with the maximum curvature) can be displayed on the vehicle display unit. This can further increase the driver's comfort.

[0027] For example, the device can be configured to determine, during a (typically repeated) driving maneuver, image data relating to the vehicle environment located in front of the vehicle in the direction of travel based on at least one camera (or possibly multiple cameras) of the vehicle. One or more cameras can be arranged at the front and / or rear of the vehicle. Furthermore, the device can be configured to cause a visual presentation to be displayed or output on a display unit based on the image data, the visual presentation showing the vehicle environment with at least one trajectory superimposed. The visual presentation can include a video of the vehicle environment. Alternatively or in addition, the visual presentation can include a schematic diagram of the vehicle environment (e.g. a top view). The trajectory displayed in the visual presentation can in particular include a trajectory with the maximum curvature (which trajectory is determined based on the maximum adjustable steering angle).

[0028] The aspects described herein relate in particular to a device that can be configured to assist the driver of a (motor) vehicle during a (second) repeat of a reference trajectory along a (previous) first driving record. The first drive can comprise an outbound trip from a first point (e.g., from a starting point) to a second point (e.g., to an end point). The second drive can comprise a corresponding return trip from the second point to the first point. Thus, the driver assistance system can be configured to assist the driver on the return trip. Alternatively, the second drive can comprise a repetition of the first drive (in the same direction of travel). Thus, the first drive can comprise a drive from the first point to the second point, while the second drive can comprise a re-drive from the first point to the second point.

[0029] According to a further aspect, a (road) motor vehicle, in particular a passenger car, a truck, a bus or a motorcycle, is described, which comprises at least one of the devices described herein.

[0030] According to another aspect, a method for controlling automatic lateral guidance of a vehicle is described. The method includes determining a manual steering angle of a vehicle steering system that is caused during manual lateral guidance of the vehicle. The method also includes determining a maximum adjustable steering angle of the vehicle steering system caused by a vehicle steering actuator within the context of the automatic lateral guidance of the vehicle based on the determined manual steering angle.

[0031] According to another aspect, a method for assisting a driver of a (motor vehicle) during (possibly manual) lateral guidance of the vehicle is described. The method comprises determining a (maximum) manual steering angle of a vehicle steering system that results from manual lateral guidance of the vehicle, and determining a maximum adjustable steering angle based on the determined (maximum) manual steering angle. The method further comprises determining a maximum curvature of a driving trajectory of the vehicle during a (subsequent) driving maneuver with (possibly manual) lateral guidance based on the maximum adjustable steering angle. The method further comprises displaying information relating to the determined maximum curvature on a display unit of the vehicle during the driving maneuver with lateral guidance.

[0032] According to another aspect, a software (SW) program is described. The SW program can be arranged to be executed on a processor (eg on a vehicle controller) and to perform at least one of the methods described herein.

[0033] According to another aspect, a storage medium is described. The storage medium may contain a SW program, which is configured to be executed on a processor and to thereby perform at least one of the methods described herein.

[0034] It is important to note that the methods, devices, and systems described herein may be used individually or in combination with other methods, devices, and systems described herein. Furthermore, any aspect of the methods, devices, and systems described herein may be combined in a variety of ways. Specifically, features in the claims may be combined in a variety of ways. Furthermore, features listed in parentheses should be understood to be optional features. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be described in more detail below with reference to exemplary embodiments.

[0036] Figure 1 shows exemplary components of a vehicle;

[0037] Figure 2 shows an exemplary recorded trace;

[0038] Figure 3 An exemplary display showing a vehicle steering angle;

[0039] Figure 4 A flow chart shows an exemplary method for learning a maximum adjustable steering angle within the scope of automatic transverse guidance. DETAILED DESCRIPTION

[0040] As previously mentioned, this document aims to improve the quality of automated lateral guidance of a vehicle, particularly when driving along a previously recorded and / or planned driving trajectory. Below, we will discuss a return trip based on the outbound trajectory recorded during the outbound trip. It should be noted that the described aspects generally apply to a second trip based on a reference trajectory recorded during the first trip. Furthermore, the described aspects generally apply to trips based on a planned driving trajectory (e.g., in parking and / or maneuvering assistance).

[0041] Figure 1 An exemplary vehicle 100 is shown, which has one or more environmental sensors 102 (e.g., cameras, radar sensors, lidar sensors, ultrasonic sensors, etc.) and one or more vehicle sensors 103 (e.g., steering sensors, speed sensors, inertial measurement units (IMUs), etc.). A (control) device 101 of the vehicle 100 can be configured to detect trajectory data related to a forward trajectory traveled during the forward trip based on sensor data from the one or more environmental sensors 102 and / or based on sensor data from the one or more vehicle sensors 103 during the forward trip (e.g., during a maneuvering maneuver) and store the data in a storage unit 107 of the vehicle 100.

[0042] The vehicle 100 may further include a return camera 106, which is configured to detect image data related to the environment of the vehicle 100 located in front of the vehicle 100 in the direction of travel of the vehicle 100 during the return trip of the vehicle 100. In particular, the environment behind the vehicle 100 can be detected by the camera 106 during the return trip of the vehicle 100.

[0043] Vehicle 100 may also include one or more longitudinal and / or transverse guidance actuators 104 designed to provide at least partially automated longitudinal and / or transverse guidance of vehicle 100. Exemplary actuators 104 include drive motors, steering devices, and / or braking devices. This can enable automatic steering of the front and / or rear axles of vehicle 100. (Control) device 101 may be configured to control one or more actuators 104 on the return trip based on trajectory data related to the outbound trip, in order to assist the driver of vehicle 100 on the return trip. Transverse guidance can, in particular, be provided automatically by vehicle 100.

[0044] Furthermore, vehicle 100 preferably includes a user interface 105 having a display unit, which can be located, for example, on the dashboard and / or head unit of vehicle 100. The display unit can include a screen (particularly an LCD, LED, or OLED screen), a projector, and / or a head-up display. Device 101 can be configured to display image data from return camera 106 on the display unit during a return trip. In particular, the environment ahead of vehicle 100 in the direction of travel can be displayed (in video form).

[0045] Figure 2 An exemplary reference trajectory 200 from a starting point 201 to an end point 202 is shown. This reference trajectory is recorded and stored during an outbound trip 203 (typically the first trip). Outbound trajectory 200 can include any path points in a plane spanned by the x-axis and the y-axis. Reference trajectory 200 can be driven manually by the driver. Steering, in particular, can be manually initiated by the driver. Reference trajectory 200 can be stored in storage unit 107 of vehicle 100 as a reference for driving maneuvers.

[0046] Device 101 of vehicle 100 may be configured to enable a user of vehicle 100 to select a stored reference trajectory 200 for a re-travel and / or a second travel 204. This selection may be made, for example, via user interface 105. Second travel 204 may be a return trip (from end point 202 to start point 201) or a re-travel trip (from start point 201 to end point 202). During second travel 204, lateral guidance of vehicle 100 (e.g., via front wheel steering and / or rear wheel steering) may be automatically initiated by vehicle 100 (particularly via one or more steering actuators 104 of vehicle 100).

[0047] Device 101 can be configured to plan a driving trajectory 210 for a (possibly second) drive 204 (particularly based on reference trajectory 200). The planning typically includes taking into account the limits of one or more actuators 104 of vehicle 100, particularly the limits of the front and / or rear wheel steering. In particular, the maximum adjustable steering angle of the (front and / or rear wheel) steering of vehicle 100 can be taken into account. The maximum adjustable steering angle can be stored in memory unit 107.

[0048] The maximum adjustable steering angle stored for vehicle 100 is typically designed to be relatively conservative to account for manufacturing and / or installation tolerances among different vehicles 100 of the same model. A maximum adjustable steering angle can be stored as a standard that, even taking into account tolerances, can be reliably achieved by (almost) all vehicles 100 of the corresponding model (e.g., with a (possibly approximately) 100% probability). This allows for reliable automatic lateral guidance of individual vehicles 100 of the model.

[0049] Therefore, the maximum adjustable steering angle stored by default is usually smaller (in magnitude) than the steering angle actually achievable by a specific vehicle 100 of this model. This can result in the steering angle manually set by the driver of vehicle 100 being greater than the maximum adjustable steering angle that can be set within the scope of automatic lateral guidance of vehicle 100. This can also result in driving trajectory 210 planned for second drive 204 deviating from reference trajectory 200 (recorded within the scope of manual drive 203).

[0050] Deviations between actual driving trajectory 210 and reference trajectory 200 may result in a disruption in the automated lateral guidance of vehicle 100 and, thus, a reduction in the comfort of vehicle 100. Furthermore, excessively limiting the maximum adjustable steering angle for the automated lateral guidance maneuver may result in a reduction in the agility of vehicle 100 when executing the automated lateral guidance maneuver.

[0051] The device 101 of the vehicle 100 can be configured (vehicle-specifically) to learn the maximum adjustable steering angle of the vehicle 100. To this end, the steering angle caused during manual driving operation can be determined (e.g., based on sensor data from a steering angle sensor of the vehicle 100) (wherein the steering angle caused manually by the driver is referred to herein as the "manual steering angle"). In particular, the maximum manual steering angle can be determined. Furthermore, a check can be performed to determine whether the maximum manual steering angle is greater than the maximum adjustable steering angle stored (in the storage unit 107). If so, the maximum adjustable steering angle stored in the storage unit 107 can be updated.

[0052] For example, the maximum manual steering angle can be directly stored as the maximum adjustable steering angle in the storage unit 107. Thus, the actual maximum adjustable steering angle for the automatic lateral guidance of the vehicle 100 can be learned very quickly.

[0053] In another example, the maximum adjustable steering angle may be learned incrementally. In response to recognizing that the maximum manual steering angle is greater than the stored maximum adjustable steering angle, the maximum adjustable steering angle stored in the storage unit 107 may be increased by a determined incremental value (e.g., 0.1°) to determine an updated maximum adjustable steering angle.

[0054] When executing the automated lateral guidance maneuver, it may be checked whether actuator 104 of vehicle 100 is actually capable of setting the updated maximum adjustable steering angle. If so, the updated maximum adjustable steering angle may be stored as the maximum adjustable steering angle in memory unit 107. If actuator 104 of vehicle 100 is unable to set the updated maximum adjustable steering angle, the previous maximum adjustable steering angle may be retained in memory unit 107.

[0055] The above-described updating method can be repeated to iteratively and / or stepwise learn the maximum adjustable steering angle, thereby enabling particularly robust learning of the maximum adjustable steering angle.

[0056] The device 101 may be configured to communicate the stored maximum adjustable steering angle to a user of the vehicle 100 , in particular the driver. Figure 3 An exemplary visual representation 305 that can be displayed via the display unit of user interface 105 is shown. For example, a manual steering angle 301 set by the driver during the recording of reference trajectory 200 can be displayed. Furthermore, a maximum adjustable steering angle 302 stored in memory unit 107 can be displayed. This allows the user to directly determine whether manually recorded reference trajectory 200 is achievable within the scope of an automated lateral guidance maneuver.

[0057] As described above, the maximum adjustable steering angle 302 is typically used for path or trajectory planning of the automatic parking and / or maneuvering function of the vehicle 100. Otherwise, control errors may occur in the event of deviations from the planned trajectory 200, and the steering actuator 104 of the vehicle 100 cannot compensate for the control errors. Specifying the maximum adjustable steering angle that is generally valid usually takes into account manufacturing and installation tolerances, so that the saved value is usually relatively conservative. Therefore, for the vehicle 100, a deviation may occur between the saved maximum adjustable steering angle 302 and the maximum steering angle 301 that the driver can set himself. This may lead to deviations when automatically driving through the planned or stored trajectory 200. Another reason for the possible deviation between the saved maximum adjustable steering angle 302 and the maximum manual steering angle 301 may be that the steering system of the vehicle 100 may not have an elastic body installed as a steering stop, but instead a stop is simulated by software.

[0058] The parking and / or maneuvering function of the vehicle 100 can be configured to learn the actual maximum adjustable steering angle starting from a conservatively calculated and specified (i.e., saved) value of the maximum adjustable steering angle 302. To this end, the maximum steering angle manually set by the driver (specific to the vehicle 100) can be determined and stored based on sensor data from one or more sensors 102, 103 of the vehicle 100. Based on the maximum manual steering angle 301, an updated maximum adjustable steering angle 302 can be determined.

[0059] During the automatic lateral guidance operation, it may be checked whether the actuator 104 of the vehicle 100 is capable of achieving the updated maximum adjustable steering angle.

[0060] If necessary, a maximum manual steering angle 301 can be determined and stored for each recorded trajectory 200. This maximum manual steering angle 301 can then be taken into account (as maximum adjustable steering angle 302) when driving through this trajectory 200. This operation can only be performed if the maximum manual steering angle 301 when recording the trajectory 200 is greater than the stored maximum adjustable steering angle 302.

[0061] Thus, the maximum adjustable steering angle 302 can be learned during manual driving. This can be done iteratively, if necessary. A conservative starting value can be selected, and if the steering angle 301 manually set by the driver is higher than the currently stored value for the maximum adjustable steering angle 302, the corresponding manually set value can be adopted as the stored value. This process can be repeated (continuously, if necessary) to learn the maximum adjustable steering angle 302.

[0062] Alternatively, to update the stored value, the previously stored value can be increased by a specific incremental value, so that maximum permissible steering angle 302 is gradually increased in the direction of maximum manual steering angle 301. Within the scope of the automated lateral guidance, a check can be performed to determine whether increasing maximum permissible steering angle 302 by the corresponding incremental value is actually achievable. If the check is successful, steering angle 302 can be permanently stored.

[0063] The learning of maximum adjustable steering angle 302 may optionally be performed directly at the assembly plant of vehicle 100 and / or during maintenance of vehicle 100 (e.g., after replacement or repair of the steering system), (e.g., during calibration). This may be performed, for example, during diagnostic work, a learning drive, and / or a test bench drive.

[0064] Figure 4 A flow chart of a (possibly computer-implemented) method 400 for controlling the automatic lateral guidance of a (motor) vehicle 100 is shown. Method 400 can be performed, for example, within the scope of a driving function of vehicle 100 , wherein vehicle 100 is automatically guided laterally along a (possibly pre-recorded) trajectory 200 .

[0065] Method 400 includes determining 401 a manual steering angle 301 of a steering system of vehicle 100 that results when vehicle 100 is manually guided laterally. For example, a maximum manual steering angle 301 (in magnitude) that results when manual driving 203 is used to record reference trajectory 200 may be determined.

[0066] Furthermore, method 400 includes determining 402 a maximum adjustable steering angle 302 caused by steering actuator 104 of vehicle 100 within the context of automatic lateral guidance of vehicle 100 based on determined (maximum) manual steering angle 301. In particular, maximum adjustable steering angle 302 stored in memory unit 107 of vehicle 100 can be updated based on determined (maximum) manual steering angle 301.

[0067] The aspects described herein can efficiently and robustly improve the quality of automatic lateral guidance of the vehicle 100 , particularly when traversing a pre-recorded reference trajectory 200 .

[0068] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and drawings merely illustrate the principles of the proposed methods, devices and systems.

Claims

1. A device (101) for controlling automatic lateral guidance of a vehicle (100); wherein the device (101) is configured to: - determining a manual steering angle (301) of a steering system of the vehicle (100) caused by manual lateral guidance of the vehicle (100); and - Based on the determined manual steering angle (301), determining a maximum adjustable steering angle (302) caused by a steering actuator (104) of the vehicle (100) within the scope of automatic transverse guidance of the vehicle (100).

2. The apparatus (101) according to claim 1, wherein the apparatus (101) is configured to: - determining the maximum manual steering angle (301) resulting from driving (203) with manual lateral guidance; and - determining the maximum adjustable steering angle (302) for subsequent travel (204) with automatic lateral guidance, based on the determined maximum manual steering angle (301).

3. The device (101) according to any one of the preceding claims, wherein the device (101) is configured to: - detecting that the manual steering angle (301) is greater in magnitude than a maximum adjustable steering angle (302) of the steering system of the vehicle (100) stored in a memory unit (107) of the vehicle (100); and - in response to the detection, updating the stored maximum adjustable steering angle (302) based on the determined manual steering angle (301).

4. The device (101) according to claim 3, wherein the device (101) is configured to: - determining an updated maximum adjustable steering angle based on the determined manual steering angle (301); - during driving with automatic lateral guidance (204), checking whether the updated maximum adjustable steering angle can be achieved by the steering actuator (104); and If it is detected that the updated maximum adjustable steering angle can be achieved by the steering actuator (104), the updated maximum adjustable steering angle is stored in the storage unit (107) as a maximum adjustable steering angle (302).

5. The device (101) according to claim 4, wherein - the device (101) is configured to increase the maximum adjustable steering angle (302) stored in the storage unit (107) by an incremental value to determine an updated maximum adjustable steering angle; and The incremental value is smaller than the deviation between the stored maximum adjustable steering angle (302) and the determined manual steering angle (301).

6. The device (101) according to any one of claims 3 to 5, wherein the device (101) is configured to: - repeatedly determining, within the scope of a series of consecutive drives (203) with manual transverse guidance, the manual steering angle (301) caused within the scope of the respective drive (203), in particular the maximum manual steering angle caused within the scope of the respective drive (203); and - Based on the respectively determined manual steering angle (301), in particular based on the respectively determined maximum manual steering angle, repeatedly updating the respectively stored maximum adjustable steering angle (302).

7. The device (101) according to any one of the preceding claims, wherein the device (101) is configured to: - during travel (203) with manual transverse guidance, recording a reference trajectory (200) between a first point (201) and a second point (202) of the travel (203); - determining the maximum manual steering angle (301) caused by the driver of the vehicle (100) while traveling (203) along the reference trajectory (200); - identifying that the maximum manual steering angle (301) is greater in magnitude than the maximum adjustable steering angle (302) that has been stored in a memory unit (107) of the vehicle (100) for a renewed trip (204) along the reference trajectory (200) with automatic lateral guidance; and - Updating the maximum adjustable steering angle (302) stored in the storage unit (107) based on the determined maximum manual steering angle (301).

8. The device (101) according to claim 7, wherein the device (101) is configured to operate the steering actuator (104) during the re-travel (204) along the reference trajectory (200) with automatic lateral guidance to achieve a steering angle of the steering system of the vehicle (100) up to the maximum adjustable steering angle (302) stored in the storage unit (107).

9. The device (101) according to any one of the preceding claims, wherein The vehicle (100) has a storage unit (107) in which a standard steering angle that can be adjusted maximally by the steering actuator (104) is stored; -The standard steering angle: - stored as standard in a storage unit (107) of the vehicle (100) during the manufacture of the vehicle (100); and / or - is identical for a plurality of different vehicles (100) of the same vehicle type and / or vehicle model; and The device (101) is configured to update the maximum adjustable steering angle stored in the memory unit (107) on a vehicle-by-vehicle basis based on the determined manual steering angle (301).

10. The device (101) according to any one of the preceding claims, wherein the device (101) is configured to: - planning a driving trajectory (210) for a driving maneuver with automatic lateral guidance based on the determined maximum adjustable steering angle (302); and In particular, the driving trajectory (210) is planned so that, within the scope of the driving maneuver, the steering angle caused by the steering actuator (104) reaches but does not exceed the maximum adjustable steering angle (302).

11. The device (101) according to any one of the preceding claims, wherein the device (101) is configured to: - reducing the determined manual steering angle (301) in magnitude by an offset value, and - storing the manual steering angle (301) reduced by the offset value as a maximum adjustable steering angle (302) in a storage unit (107) of the vehicle.

12. A device (101) for assisting a driver of a vehicle (100) in lateral guidance of the vehicle; wherein the device (101) is configured to: - determining a manual steering angle (301) of the vehicle (100) steering system, which is caused by manual lateral guidance of the vehicle (100); - determining a maximum adjustable steering angle (302) based on the determined manual steering angle (301); - determining a maximum curvature of the travel trajectory of the vehicle (100) during a driving maneuver with lateral guidance based on the maximum adjustable steering angle (302); and - during the driving maneuver with lateral guidance, displaying information relating to the determined maximum curvature on a display unit of the vehicle (100).

13. A method (400) for controlling automatic lateral guidance of a vehicle (100); wherein the method (400) comprises: - determining (401) a manual steering angle (301) of a steering system of the vehicle (100) during manual lateral guidance of the vehicle (100); and Based on the determined manual steering angle (301), determining (402) a maximum adjustable steering angle (302) caused by a steering actuator (104) of the vehicle (100) within the scope of automatic transverse guidance of the vehicle (100).

14. A method for assisting a driver of a vehicle (100) in lateral guidance of the vehicle; wherein the method comprises: - determining a manual steering angle (301) of a steering system of the vehicle (100) which is caused during manual lateral guidance of the vehicle (100); - determining a maximum adjustable steering angle (302) based on the determined manual steering angle (301); - determining a maximum curvature of a driving trajectory of the vehicle (100) during a driving maneuver with lateral guidance based on the maximum adjustable steering angle (302); and - during the driving maneuver with lateral guidance, displaying information relating to the determined maximum curvature on a display unit of the vehicle (100).

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