Method for controlling the movement of a vehicle in automated driving mode and device for carrying out the method

Abstract

Method for controlling the movement of a vehicle (F) in automated driving mode, wherein: - the automated driving mode is switchable from a regular operating mode, in which the vehicle (F) is automatically guided to a predetermined target position, to an emergency operating mode, in which the vehicle is automatically guided to an emergency stop position (NP); - control in regular operating mode is carried out by means of a main control unit (MCU) and in emergency operating mode by means of an auxiliary control unit (ACU); - the automated driving mode is switched from regular operating mode to emergency operating mode if a malfunction of the main control unit (MCU) is detected in regular operating mode; - control in regular operating mode is carried out based on a regular target trajectory (RST) leading to the target position, which is continuously determined by the main control unit (MCU) in regular operating mode.- the control in emergency operating mode is based on an emergency operating target trajectory (ETP) stored in the auxiliary control unit (ACU) and leading to the emergency stop position (ES), which was determined by the main control unit (MCU) in regular operating mode before switching from operating mode to emergency operating mode and was supplied to the auxiliary control unit (ACU) for storage, - in regular operating mode, a lane path (FSI) associated with the emergency operating target trajectory (ETP) of a lane (FS) traveled by the vehicle is determined, characterized in that - in regular operating mode, the lane path (FSI) associated with the emergency operating target trajectory (ETP) is supplied to the auxiliary control unit (ACU) for storage, - the emergency operating target trajectory (ETP) and the associated lane path (FSI) are determined in a vehicle-fixed coordinate system ({x, y}) of the main control unit (MCU),- that in emergency operating mode the lane path (FSI) of the lane (FS) traveled by the vehicle (F) is determined in a vehicle-fixed coordinate system ({x', y'}) of the auxiliary control unit (NSG), - that in emergency operating mode, based on the lane path of the lane (FS) stored in the auxiliary control unit (NSG) and the lane path of the lane (FS') determined by the auxiliary control unit (NSG), a deviation (Δ) between the coordinate systems ({x, y}, {x',y'}) of the main control unit (HSG) and the auxiliary control unit (NSG) is compensated.

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