Method for ascertaining a driving trajectory, controller, and vehicle

Abstract

The invention relates to a method for ascertaining a driving trajectory (10) for a driving maneuver of a vehicle (1). The driving trajectory (10) describes the movement of the vehicle (1) to a destination (11), and in order to reach the destination (11), at least one structure (14) which can be traversed and the height (h) of which differs from a road surface (18) is traversed by at least one wheel (7, 8, 9) of the vehicle (1). The collision angle (19) associated with the at least one wheel (7, 8, 9), said collision angle being formed between the wheel (7, 8, 9) and the structure (14), is ascertained for the wheel (7, 8, 9) from a wheel trajectory (10) assigned to the at least one wheel (7, 8, 9) and from a surroundings model which describes at least the structure (14), and the driving trajectory (10) is ascertained such that the collision angle (19) lies within a specified angular range during the driving maneuver.

Description

[0001] Description

[0002] Method for determining a travel trajectory, control device and vehicle

[0003] The invention relates to a method for determining a driving trajectory for a driving maneuver of a vehicle, wherein the driving trajectory describes a movement of the vehicle toward a target position, and wherein, to reach the target position, at least one traversable structure whose height differs from a road surface is traversed by at least one wheel of the vehicle. Furthermore, the invention relates to a control device and a vehicle.

[0004] When moving vehicles, especially during parking maneuvers or other slow-speed driving, it may be necessary to negotiate structures that are elevated or lower than the roadway. Such structures could include, for example, curbs that must be negotiated when parking or exiting a parking space.

[0005] Driving up or down curbs, or driving over similar structures with at least one wheel of a vehicle, even at low speeds, carries the risk of damage to the wheel or to a tire and / or wheel rim if the wheel comes into contact with the curb or structure at an unfavorable angle. For such maneuvers, it is desirable to determine a driving trajectory to be followed to execute the maneuver in such a way that the risk of damage to a vehicle wheel is minimized.

[0006] Various methods are known from the state of the art.

[0007] DE 10 2013 221 355 A1 describes a method for parking a vehicle in a parking space, wherein the parking space is located at least partially on a raised roadway boundary in a curve. For this purpose, environmental data is acquired using at least one distance sensor, from which an environmental model of the raised roadway boundary is determined. The environmental model describes at least one curvature of the raised roadway boundary, and a target parking position is determined based on this curvature. Approaching the final position at a shallow angle can be avoided to prevent damage to the rims or tires.

[0008] DE 10 2015 201 038 A1 discloses a method for planning the path of parking a vehicle in a parking space. The path planning comprises at least one vehicle path having a trajectory. The vehicle is moved from a starting position to an end position, with road surface irregularities such as curbs or groove-like depressions along the vehicle path being taken into account during the path planning. The path planning is modified with respect to an optimized path planning without taking road surface irregularities into account in such a way that the number of crossings of the road surface irregularities is reduced. Furthermore, the vehicle path is determined such that an angle between the wheel and the road surface irregularity has a certain minimum value.

[0009] The invention is based on the object of specifying an improved method for determining a driving trajectory for an autonomous or semi-autonomous driving maneuver of a vehicle, which in particular enables an improved determination of a collision angle between at least one wheel of the vehicle and the structure.

[0010] To achieve this object, the invention provides for a method of the type mentioned above that, for the at least one wheel, a collision angle of the wheel with the structure is determined from a wheel trajectory assigned to the at least one wheel and an environment model describing at least the structure, and the driving trajectory is determined such that the collision angle during the driving maneuver lies within a predetermined angular range. The driving trajectory, which enables the execution of the desired driving maneuver, is determined in particular such that shallow angles between the wheel and the curb are avoided, at which there is a comparatively high risk of damage to the wheel, for example scratching a rim or lateral damage to a tire.

[0011] Taking into account a wheel trajectory assigned to at least one wheel enables precise collision angle determination for each wheel that comes into contact with the structure during the maneuver or when traveling along the determined trajectory. Depending on the course of the structure and the desired target position of the vehicle after the maneuver, a single wheel, multiple wheels, or all of the vehicle's wheels can travel over the structure. The maneuver can, in particular, be a semi-autonomous or autonomous maneuver.

[0012] The vehicle can, for example, be a four-wheeled passenger car. It is also possible for the vehicle to be configured as another type of motor vehicle or as a non-motorized vehicle, such as a trailer. In particular, the vehicle can also be a combination of a motor vehicle and a trailer, whereby a collision angle determination can be performed for both the wheels of the motor vehicle and the wheels of the trailer.

[0013] The method advantageously makes it possible to determine an individual collision angle for each of the wheels. For this purpose, the respective collision angle can be determined for each wheel of the vehicle that drives over the structure when performing the driving maneuver. The wheel trajectory assigned to the respective wheel can be used for each of the wheels. The collision angle can be determined for each wheel from the individual wheel trajectories, taking into account the environment model describing the structure. This makes it possible to determine the driving trajectory in such a way that the collision angle for each of the wheels lies within the specified angular range when performing the driving maneuver. The same angular range can be specified for each of the wheels, or different angular ranges can be specified for different wheels, in particular for each individual wheel.

[0014] In particular, if a structure to be driven over has an irregular shape and / or is curved, scenarios can arise in which different collision angles result for different wheels of the vehicle. In particular, these collision angles for the individual wheels of a vehicle can also differ significantly from an angle between the trajectory of the vehicle and the structure. The method according to the invention can also advantageously prevent driving over the structure with an unfavorable collision angle between one or more wheels and the structure in such cases.

[0015] The collision angle describes the angle between an edge of the wheel lying in the wheel's direction of movement and an edge of the structure intersected by the wheel's trajectory. The collision angle describes this angle regardless of the wheel's direction of movement, i.e., regardless of whether the wheel is traveling up or down the structure, such as a curb.

[0016] By considering the individual wheel trajectories as well as the geometry of the structure described in the environment model, a collision angle within the specified angle range can be advantageously maintained for all scenarios and all wheels in the trajectory to be determined.

[0017] In particular, a separate consideration of curve scenarios, for example, when parking or reversing on curved curbs or during similar maneuvers, is unnecessary. Furthermore, the explicit and precise calculation of the collision angle for each wheel eliminates assumptions that could limit the availability of the driving maneuver. Precise determination of the collision angle also has the advantage that the driving maneuver does not have to be interrupted and / or continued with a corrected driving trajectory, since a driving trajectory optimized for the collision angle is determined right from the start, thus preventing any previously unconsidered collision angles from occurring during the maneuver, which would necessitate an interruption and / or correction.It is also advantageous that, when the driver is offered a (partially) automated parking process as a driving maneuver, it has already been ensured that the parking process correctly takes the curb into account and that the end parking position or the target position can be reached.

[0018] According to the invention, it can be provided that the collision angle is additionally determined as a function of an at least two-dimensional wheel model that at least partially describes the geometry of the wheel. The model can, in particular, describe a width of the wheel in the transverse direction of the vehicle and an extension of the wheel in the longitudinal direction of the vehicle. Taking the geometric extension of the wheel into account enables precise determination of the contact or collision angle, since this angle can vary for different sections of the wheel, particularly in the case of a curved or irregularly shaped structure. By determining the collision angle also as a function of the two- or multi-dimensional model of the wheel, it can thus be achieved that the specified angular range for the collision angle is also maintained in relation to the entire wheel width or in relation to the entire extension of the wheel in the longitudinal direction of the vehicle.

[0019] In a preferred embodiment of the invention, the wheel model can comprise a projection of the at least one wheel onto the road surface and / or at least one projection of the at least one wheel associated with the height of a surface of the structure, wherein the collision angle is determined using the projection. In particular, the wheel model can comprise various projections associated with different heights of the structure. Such a wheel model can be referred to as a 2.5-dimensional model.

[0020] In addition to the wheel width, which is the same for all structure heights, a projection also indicates the wheel's longitudinal extension at a height corresponding to the structure height. Since a wheel is at least essentially cylindrical in shape, the wheel's longitudinal extension, which is relevant for determining a collision angle, increases continuously for increasing structure heights up to the wheel diameter. In other words, a smaller wheel extension in the vehicle's longitudinal direction is relevant for lower structures than for higher structures.

[0021] Advantageously, taking the projection into account allows for precise collision angle determination. In particular, for wheels that are positioned close to the structure or that are positioned close to the structure at least once during travel along the trajectory, a possible collision of the outer or inner side of the wheel with the structure can also be taken into account. In this case, any collision angle that occurs can also be advantageously limited to the specified value range.

[0022] Furthermore, there is no need to maintain a fixed minimum distance between the wheel and the structure before a change of direction is possible, since redirecting the vehicle can ensure that none of the wheels will drive back down the curb with a significantly shorter distance. This advantageously increases the availability of the process and the availability of driving trajectories, as less space is required overall for the vehicle's movement.

[0023] According to the invention, it can be provided that a projection described as a polygon and / or as an ellipsoid is used. Describing the projection as a polygon and / or as an ellipsoid has the advantage that the contact angle to the structure can be calculated with comparatively little computational effort. In a preferred embodiment of the invention, it can be provided that a structure with a surface above or below the road surface, in particular a curb, a speed bump, a gutter, a pothole, or a road curvature, is described in the environment model as the driveable structure. Other types of structures that can be driven over by a vehicle, in particular at low speeds, can also be described in the environment model.

[0024] The surface of the structure can, for example, be located between 3 cm and 25 cm above and / or below a road surface. The lower interval limit of 3 cm and, in particular, the upper interval limit of 25 cm can also be selected larger or smaller, for example, depending on the vehicle type and / or the vehicle's wheel type or tires.

[0025] According to the invention, an environment model can be used in which the structure is assigned a height or a height class and / or in which the structure is described as a polygon, as a spline and / or as a geometric figure. The height of the structure can, for example, be stored as a value in the environment model. Additionally or alternatively, the height of the structure can also be assigned to one of several height classes, wherein the height classes each comprise structures whose height lies in an interval assigned to the respective height class. The height or height class of a structure in the environment of the vehicle can, for example, be determined from the sensor data of at least one environment sensor of the vehicle.

[0026] Within the environment model, the structure can be described, for example, as a polygon, a spline, or a geometric figure, such as a straight line, an arc segment, or similar. A curved curb as a structure can also be described, for example, as a circle or a circular arc segment with a radius corresponding to the curvature, which can advantageously reduce the computational effort for collision checking and thus increase collision checking efficiency.

[0027] According to the invention, a wheel trajectory can be determined for each wheel of the vehicle as a function of a steering angle assigned to the wheel. Including the steering angle for the individual wheels makes it possible to take into account the fact that, for example, wheels arranged on a steering axle of a vehicle may have an orientation with respect to the vehicle or with respect to the structure that depends on the steering angle when traveling along the trajectory. Advantageously, the method can be used to precisely determine the wheel-specific collision angle for any type of vehicle or for any number of wheels arranged on rigid axles and / or steerable axles.

[0028] According to the invention, the driving maneuver can be a parking maneuver, a parking exit, a turning maneuver, or a reversing maneuver. A parking or exit maneuver can be performed parallel to the direction of travel of the roadway, perpendicular to the direction of travel of the roadway, or at an angle to the direction of travel of the roadway. The parking or exit maneuver can, for example, include partially or completely driving over a straight or curved curb, with the curb correspondingly representing the structure that can be driven over or is driven over.

[0029] In a preferred embodiment of the invention, the travel trajectory for reaching the predetermined target position can be determined in such a way that the number of overtravels in which the structure is traversed by at least one wheel is minimized. While adhering to the angular ranges for the collision angle, the possible travel trajectory can be selected in which the number of overtravels is minimal.

[0030] According to the invention, the vehicle can comprise at least one environmental sensor, wherein the environmental model is created from sensor data of the at least one environmental sensor. The environmental sensor can detect at least part of the vehicle's surroundings or the vehicle's surroundings, wherein the environmental model that at least partially describes the surroundings is generated from the sensor data of the environmental sensor.

[0031] The environment sensor can be, for example, an ultrasonic sensor, a radar sensor, a lidar sensor, or a camera. The vehicle can, in particular, comprise multiple environment sensors, in particular different types of environment sensors, with the environment model being generated, in particular, from a fusion of the respective sensor data.

[0032] In a preferred embodiment of the method, the value range for a collision angle between a direction of movement of the wheel and an edge of the structure can include angles greater than 5°. For collision angles within this value range, damage to the wheel, such as scratching a rim or tire sidewall, can be advantageously avoided. Small angle ranges, for example, angle ranges comprising angles greater than 10°, greater than 20°, greater than 30°, greater than 40°, greater than 45°, and / or greater than 50°, can also be selected.

[0033] According to the invention, it can be provided that, after determining the driving trajectory, at least one display device for displaying driving information that at least partially describes the driving trajectory and / or at least one actuator of the vehicle for carrying out the driving maneuver are controlled. The display device serves, in particular, to graphically display information to a driver of the vehicle. The display device can be, for example, a display device arranged in an interior of the vehicle or a display device external to the vehicle.

[0034] A display device arranged in the interior of the vehicle can be, for example, a display panel, a heads-up display, or the like. A display device external to the vehicle can be, for example, a mobile device such as a smartphone or the like. Additionally or alternatively, at least one actuator of the vehicle, for example, a steering actuator and / or a drive actuator, can be controlled depending on the determined driving trajectory, so that the vehicle can follow the driving trajectory or execute the driving maneuver in a partially or fully automated manner.

[0035] Furthermore, the invention relates to a control device which is designed to carry out a method according to the invention.

[0036] The control device can communicate with at least one environment sensor of the vehicle and can also be configured to determine the environment model. Alternatively, the control device can also receive the environment model from another computing unit. The wheel trajectory and any wheel model used can also be determined by the control device itself or by another computing unit and transmitted to the control device. The control device can also be designed or configured to receive driving maneuver information describing the driving maneuver from a user of the vehicle, for example, using a user interface.

[0037] The invention further relates to a vehicle, wherein the vehicle comprises a control device according to the invention.

[0038] All advantages and embodiments described above in relation to the method according to the invention also apply accordingly to the control device according to the invention and to the vehicle according to the invention and vice versa.

[0039] Further advantages and details of the invention will become apparent from the exemplary embodiments described below and from the drawings. These are schematic representations and show:

[0040] Fig. 1 shows an embodiment of a vehicle according to the invention, Fig. 2 shows a schematic representation of a driving maneuver to explain an embodiment of a method according to the invention,

[0041] Fig. 3 a detailed view of a projection of a wheel used as a wheel model, and

[0042] Fig. 4 shows the angle of collision between a wheel and a structure.

[0043] Fig. 1 shows an embodiment of a vehicle 1. The vehicle 1 comprises a plurality of environmental sensors 2, which are arranged at various positions along the circumference of the vehicle 1. The environmental sensors 2 are each designed as an ultrasonic sensor 3, a camera 4, or a radar sensor 5. The positions of the environmental sensors 2 shown, as well as the number of environmental sensors 2 shown, are purely exemplary; in addition to the environmental sensors 2 shown, further environmental sensors 2, other and / or additional types of environmental sensors 2, and differently arranged environmental sensors 2 can also be provided in the vehicle 1.

[0044] The environmental sensors 2 are connected to a control device 6 of the vehicle 1. The control device 6 is configured to determine a driving trajectory for a driving maneuver of the vehicle 1, wherein the driving trajectory describes a movement of the vehicle 1 to a target position, and wherein, to reach the target position, at least one traversable structure whose height differs from a road surface is traversed by at least one wheel 7 of the vehicle 1.

[0045] In the present exemplary embodiment, the vehicle 1 is designed as a passenger car (PKW). The vehicle 1 comprises four wheels 7, two of the wheels 7 each being a steerable front wheel 8. The other wheels 7 each form a rear wheel 9 of the vehicle 1. Depending on the design of the vehicle 1, the rear wheels 9 can also be steerable or rigid and thus not steerable. The control device 6 is designed to create an environment model of the vehicle 1 from sensor data transmitted by the environment sensors 2. In this case, various objects and structures in the environment of the vehicle 1 are detected, and corresponding descriptions of these objects and structures are stored in the environment model.

[0046] Fig. 2 schematically shows a traffic situation which serves to explain the method which can be carried out by the control device 6 for determining the driving trajectory for a driving maneuver. The driving maneuver of the vehicle 1 is to be a parking maneuver into a target position 11, which is determined, for example, via the environment sensors 2, between two other vehicles 12, 13. The vehicle 1 therefore carries out a parallel parking maneuver as a driving maneuver. For this purpose, the control device 6 determines a driving trajectory 10 via which the vehicle 1 can be moved into the target position 11. To reach the target position 11, a structure 14 in the form of a curved curb must be driven over by two wheels 7 of the vehicle 1, specifically the right front wheel 8 and the right rear wheel 9.

[0047] At the beginning of the scenario, it is not immediately apparent at what angle the front wheel 8 and the rear wheel 9 each pass over the structure 14. When determining the driving trajectory 10, for example, different possibilities for vehicle movement and / or orientation can be examined and / or compared with each other in order to determine the desired driving trajectory 10 for performing the parking maneuver. Obviously, due to the curvature of the structure 14 or the course of the curved curb, different collision angles between the individual wheels 7 and the structure can result depending on the position of the vehicle 1.

[0048] The control device 6 determines the travel trajectory 10 such that the collision angles between the wheels 7 traveling over the structure 14 lie within a predetermined angular range, for example, between 5° and 90° relative to a collision angle between an angle in a direction of movement of the wheel 7 and an edge of the structure 14. For this purpose, the control device 6 determines a collision angle with the structure 14 assigned to the respective wheel 7 for each of the wheels 7 from a wheel trajectory 15, 16 assigned to the respective wheel 7 and the environment model containing a description of the structure. By taking into account the wheel trajectory 15 for the right front wheel 8 and the wheel trajectory 16 for the right rear wheel 9, it can advantageously be taken into account that the wheels 8, 9 each move over the structure 14 at a different angle, particularly due to the curved shape of the structure 14.

[0049] To enable precise determination of the collision angle for each of the wheels 7, the control device 6 further takes into account the steering angle of the respective wheels 8, 9. In the present example, the right front wheel 8 can have a different and / or variable steering angle, for example depending on a preceding position of the vehicle 1 and / or depending on a possible movement of the vehicle 1 along a path taken into account in the course of determining the travel trajectory 10. The right rear wheel 9 is unsteered in the present exemplary embodiment and thus has a constant, unchanging orientation relative to the vehicle 1. Alternatively, however, a steering angle can also be taken into account for the rear wheel 9, for example if the vehicle 1 has a steerable rear axle or rear-wheel steering.

[0050] Furthermore, the control device 6 takes into account a wheel model for each of the wheels 8, 9, which describes the geometry of the respective wheel 8, 9. As shown in Fig. 3 in a side view of one of the wheels 8, 9 and the structure 14, the wheel model can, for example, comprise a projection 17 of the wheel 8, 9, wherein the projection 17 is assigned to the height h of a surface 23 of the structure 14 relative to a road surface 18. With the aid of the projection 17, the collision angle can be determined precisely and, in particular, across the entire width of the respective wheel 8, 9 in the vehicle's transverse direction, which width runs perpendicular to the plane of the drawing in Fig. 3. The wheel model can comprise such projections 17 for different heights h of the structure 14 and / or for different height classes of structures 14. Furthermore, the wheel model can also include a further projection of the at least one wheel 8, 9 onto a road surface 18.The wheel model can, for example, be a 2.5-dimensional model and preferably represent different heights of a structure to be driven over.

[0051] 14 associated projections. It is also possible that a three-dimensional wheel model is used and / or that the projection determined for determining the collision angle is derived and / or calculated as a wheel model from a three-dimensional description of the wheel 8, 9. Figure 4 schematically shows a plan view of the scene shown in Fig. 3. The projection 17 of the wheel 8, 9 can be described, for example, as a polygon and / or as an ellipsoid, with a rectangular shape of the projection 17 being shown here as an example. In addition to the wheel width being the same for all structure heights h, for example, the extension of the respective wheel 8, 9 in the vehicle's longitudinal direction at a height corresponding to the structure height h can also be taken into account.

[0052] The height h of the structure 14 is taken from the environment model, in which, for example, a height or a height class is already assigned to the structure 14. For the curb to be driven over, for example, the respective extension of the wheels at a height corresponding to the curb is

[0053] 15 cm is taken into account, so that the correct collision angle can be determined for driving over the curb. Furthermore, when determining the driving trajectory, unintentional contact of the structure 14 with an outer or inner side of the wheels 8, 9 can be avoided, without requiring fixed or steering-angle-dependent minimum distances between the wheels 8, 9 and the structure 14 to be maintained.

[0054] The structure 14 can be described within the environment model, for example, as a polygon, a spline, and / or a geometric figure, for example, a straight line or a circular arc, so that the collision angle of the individual wheels 8, 9 can be determined with comparatively little computational effort for different trajectory segments and / or movement steps to be checked or evaluated as part of determining the driving trajectory 10. In other words, the explicit modeling of the wheels 7 via the respective wheel model and the respective wheel trajectory 15, 16 allows the collision or impact angle to be determined when planning the driving maneuver or the associated driving trajectory 10, which is necessary for checking the validity of the driving maneuver.

[0055] The collision angle 19, which is shown in Fig. 4 between the direction of movement 20 of the wheel 8, 9 and an edge 21 of the structure 14, can be limited to a predefined value range for determining the travel trajectory 10 for each wheel 7 passing over the structure 14. The value range can, for example, include angles greater than 5°. Alternatively, other limits for the angle range are also possible. The direction of movement 20 is perpendicular to an edge 22 of the wheel 8, 9, with the edge 22 coming into contact with the edge 21 of the structure 14 at the collision angle 19.

[0056] Therefore, if a collision angle 19 between one of the wheels 7 and the tread edge 21 on the structure 14 during the planning process for determining the travel trajectory entails the risk of, for example, damaging the tire and / or rim of the respective wheel 7, the planning program implemented or executed by the control device 6 attempts to prevent this with an alternative maneuver or by determining an alternative trajectory. In this way, the travel trajectory 10 can be determined while adhering to the angular ranges. Furthermore, the travel trajectory 10 can also be optimized with regard to other parameters; for example, the number of passes over the structure 14, for example, driving onto and / or off the curb, can be minimized.

[0057] In addition to a curb, the structure 14 can also be another type of structure whose height differs from the road surface 18. The structure 14 can, for example, also be a speed bump, a gutter, a pothole, a road curvature, or a comparable structure. In particular, structures with a height between 3 cm and 25 cm can be considered driveable structures 14, since although these can generally be driven over by the vehicle 1 at low speeds, there is a risk of damage to the wheel 7(s) at unfavorable collision angles.

[0058] In addition to the previously described embodiment of vehicle 1 as a passenger car, it can also be another type of vehicle. The vehicle can also be a combination consisting of a towing vehicle and a trailer, whereby the collision angle-dependent determination of the driving trajectory 10 can be carried out taking into account the wheel trajectories of both the towing vehicle and the trailer.

[0059] In addition to the illustrated parking maneuver, driving trajectories for other driving maneuvers can also be determined, for example, describing a corresponding parking maneuver. The method is equally suitable for parallel, angled, and perpendicular parking spaces.

[0060] It is possible for free parking spaces, which are used as target position 11, to be determined, for example, via the environment sensors 2 and / or via the control device 6. Driving trajectories 10 for turning maneuvers, reversing maneuvers, driving maneuvers with a trailer over a threshold, or the like can also be carried out accordingly, taking into account the collision angle between one or more wheels 7 and the structure 14, as described above.

[0061] After determining the driving trajectory 10, at least one display device (not shown) of the vehicle 1 can be controlled, for example, to display driving information that at least partially describes the driving trajectory 10. The display device serves, in particular, to graphically display information to a driver of the vehicle 1. The display device can be, for example, a display device arranged in an interior of the vehicle or a display device external to the vehicle.

[0062] Additionally or alternatively, at least one actuator (not shown) of the vehicle 1, for example a steering actuator and / or a drive actuator, can be used for

[0063] Execution of the driving maneuver can be controlled, i.e. controlled depending on the determined driving trajectory 10 in such a way that the vehicle 1 can travel the driving trajectory 10 or carry out the driving maneuver in a partially or fully automated manner.

[0064] List of reference symbols

[0065] 1 vehicle

[0066] 2 environment sensor

[0067] 3 Ultrasonic sensor

[0068] 4 Camera

[0069] 5 Radar sensor

[0070] 6 Control device

[0071] 7 wheel

[0072] 8 front wheel

[0073] 9 Rear wheel

[0074] 10 Driving trajectory

[0075] 11 Target position

[0076] 12 third-party vehicle

[0077] 13 Third-party vehicle

[0078] 14 Structure

[0079] 15 Wheel trajectory

[0080] 16 Wheel trajectory

[0081] 17 Projection

[0082] 18 Road surface

[0083] 19 Collision angle

[0084] 20 Direction of movement

[0085] 21 edge

[0086] 22 edge

[0087] 23 Surface

Claims

Patent claims 1. Method for determining a driving trajectory (10) for a driving maneuver of a vehicle (1), wherein the driving trajectory (10) describes a movement of the vehicle (1) to a target position (11) and wherein, in order to reach the target position (11), at least one traversable structure (14), the height (h) of which differs from a road surface (18), is traversed by at least one wheel (7, 8, 9) of the vehicle (1), wherein for the at least one wheel (7, 8, 9) a collision angle (19) of the wheel (7, 8, 9) with the structure (14) is determined from a wheel trajectory (10) assigned to the at least one wheel (7, 8, 9) and an environment model describing at least the structure (14), and the driving trajectory (10) is determined such that the collision angle (19) at the Driving maneuvers within a predetermined angular range.

2. Method according to claim 1, characterized in that the collision angle (19) is additionally determined as a function of a wheel model that at least partially describes the geometry of the wheel (7, 8, 9) and is at least two-dimensional.

3. Method according to claim 2, characterized in that the wheel model comprises a projection (17) of the at least one wheel (7, 8, 9) onto the road surface (18) and / or at least one projection (17) of the at least one wheel (7, 8, 9) associated with the height (h) of a surface (23) of the structure (14), wherein the collision angle (19) is determined using the projection (17).

4. Method according to claim 3, characterized in that, that a projection (17) described as a polygon and / or as an ellipsoid is used. Method according to one of the preceding claims, characterized in that in the environment model, a structure (14) with a surface (23) above or below the road surface (18), in particular a curb, a speed bump, a gutter, a pothole, or a road camber, is described as a traversable structure (14). Method according to one of the preceding claims, characterized in that an environment model is used in which a height (h) or a height class is assigned to the structure (14) and / or in which the structure (14) is described as a polygon, a spline, and / or a geometric figure.A method according to any one of the preceding claims, characterized in that a wheel trajectory (15, 16) is determined for each wheel (7, 8, 9) of the vehicle (1) as a function of a steering angle of the wheel (7, 8, 9) associated with the wheel (7, 8, 9). A method according to any one of the preceding claims, characterized in that the driving maneuver is a parking maneuver, a parking maneuver, a turning maneuver, or a reversing maneuver. A method according to any one of the preceding claims, characterized in that the vehicle (1) comprises at least one environment sensor (2), wherein the environment model is created from sensor data of the at least one environment sensor (2). Method according to one of the preceding claims, characterized in that the range of values ​​for a collision angle (19) between a direction of movement of the wheel (7, 8, 9) and an edge (21) of the structure (14) Angles greater than 5° are included. Control device configured for carrying out a method according to one of the preceding claims. Vehicle comprising a control device (6) according to claim 11.

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