CALCULATING A LANE CHANGE CORRIDOR

Description

DESCRIPTION of the brief tto inventionindustry title : CALCULATION OF A COURSE FOR GEAR LANE CHANGE YOU ARE THE CNICO OF THE IN VENTION The present invention is generally related to the automotive industry, in particular automotive system electrons controlling the dynamics autovehicle , special eco-guided autonomous vehicle , toper project validate the replay tte of the vehicle. STATE OF THE ART As is known , the prediction of vehicle regression is a complex task that c o i n v o l g e u n a r a cco l t a e d a n a l i s i d i d a t i p r o v e n i e n t i d a s e n s o r i e a l t r i s i s t e m i d i r i l e v a m e n t o a u t o v e i c o l i s t i c i . N e l c a m p o a u t o v e i c o l i s t i c o , 1 ’ i m p i e g o d i s i s t e m i a u t o v e i c o l i s t i c i p e r v a l i d a r e t r a i e tto r i e , d o p o a v e r l e p r e d e tte , ¢ d i f o n d a m e n t a l e i m p o r t a n z a p e r g a r a n t i r e s i c u r e zza e d e ffi c i e n z a d i v e i c o l i a u t o n o m i e d i veicoli d o t a t i d i s i s t e m i a u t o v e i c o l i s t i c i d i a ssi s t e n z a a lla g u i d a . A l f i n e d i v a l i d a r e t r a i e tto r i e i n m o d o a u t o n o m o , ¢ n o t o I ’ i m p i e g o d i a l g o r i t m i d i potential detection of potentially identified sites along the trajectory defaultsecure and 1 ' self-vehicle . Furthermore , finally validate the letter ie tto riedegli car vehicles, simulation tools are widely used, which allow create virtual scenarios and literary tto realistic reconditioning . L simulations it may not include environmental factors , such as the presence of other vehicles , pedestrians and obstacles roads , assess the effectiveness and safety of the proposed route I n o l t r e , a l c u n i a l g o r i t m i s o n o p r o g e tta t i p e r c a l c o l a r e u n a c o r s i a d i m a r c i a d ell’autoveicolo, percorsa dall’autoveicolo, sulla b ase di informazioni relative alle linee d i d e l i m i t a z i o n e d i t a l e c o r s i a d i m a r c i a . I n o l t r e , è n o t o I ’ i m p i e g o d i a l g o r i t m i d i v a l i d a z i o n e p r o g e tta t i p e r v a l i d a r e t r a i e tto r i e d i g u i d a p redette s u lla b a s e d i i n f o r m a z i o n i r e l a t i v e a lle l i n ee d i d e l i m i t a z i o n e d e lla c o r s i a d i m a r c i a dell’autoveicolo. I n m a ggi o r d e tt a g l i o , t a l i a l g o r i t m i d i v a l i d a z i o n e s o n o c o n f i g u r a t i p e r d e t e r m i n a r e s e u n a t r a i e tto r i a diguidaprede tta drive bbe , opportunity bbe , a vehicle outside the steering wheel eperivalify the letter ie tto retraining the case. TODAY AND THE assumption of the 'IN VENZIONE The Applicant was entitled to obtain such a solution with the artenota , although in certain aspects , there are two improvements I nde tt garlic , such solutions notenotperme tto digest slowly , eventually overrechangedicourse , in cuil ' vehicle positioned in a lane marking rre in a lane marking adi d e s t i n a z i o n e . A d e s e m p i o , l e s o l u z i o n i d e ll’ a r t e n o t a potrebbero i n v a l i d a r e u n a t r a i e tto r i a d i g u i d a i n q u a n t o q u e s t ’ u l t i m a s i e s t e n d e o l t r e a d u n a l i n e a c h e d e l i m i t a l a c o r s i a d i m a r c i a c o rre n t e . S c o p o d e lla p r e s e n t e i n v e n z i o n e ¢ q u i n d i m e tte r e a d i s p o s i z i o n e u n a soluzione c h e m i g l i o r i a l m e n o i n p a r t e l e s o l u z i o n i d e ll ’ a r t e n o t a . I n d e tt a g l i o , l o s c o p o d e lla presente i n v e n z i o n e ¢ d i m e tte r e a d i s p o s i z i o n e u n s o f t w a r e d i c o n t r o llo a u t o v e i c o l i s t i c o p e r c a l c o l a r e u n c o rri d o i o d i c a m b i o d i c o r s i a d i m a r c i a p e r ’ a u t o v e i c o l o ; e d i n m a ggi o r of tt garlic , which allows us to invalidate the captured method rediscovered also in casodiunamanovradicam biodicorsia . According to the present invention, a redicontrol software is provided. motor vehiclehow to claim the gates BR EVE OF SIGN GODS WRITING Figure 1 shows a functional cch diagram related to the validation. non-software vehicle tracking against automotive vehicles with customs real cheese according to the present invention. Figures 2 and 3 schematically show the differences in road scenes related to each steering wheel maneuver and the vehicle is attached according to regulations default . Figure 4 schematically shows some of the marked dichotomous dichotomous rri an autovehicle calculated according to a shape of the present preferred action invents. OF DESCRIPTION OF THE FORMS OF RELATIONSHIP FOR THE EFFECTS OF THE IN VENTION The present invention is described in the glio reference in the figure. a real educational expert person will be read to the permission Various modified according to the described embodiments shall be immediately apparent to the personnel expertise reconceptualization principles described can be applied to other forms realization of ppl ication without request outside the ambit of the present invention , how to define the references to the gates Hence , the presentinvention shall not be considered limited to the embodiments described and illustrated, but glycidevea provides the most wide-ranging protection for conformal and risky linkages d e s c r i tte e r i v e n d i c a t e . O v e n o n d e f i n i t o i n a l t r o m o d o , t u tt i i t e r m i n i t e c n i c i e s c i e n t i f i c i q u i u t i l i zza t i h a nno l o s t e sso s i g n i f i c a t o c o m u n e m e n t e u t i l i zz a t o d a p e r s o n e d i o r d i n a r i a e s p e r i e n z a n e l s e tt o r e d i p e r t i n e n z a d e lla presente invenzione. I n c a s o d i c o n f l i tto , l a presente d e s c r i z i o n e , c o m p r e s e l e d e f i n i z i o n i f o r n i t e , r i s u l t e r a v i n c o l a n t e . I n o l t r e , g l i e s e m p i s o n o f o r n i t i a p u r o s c o p o i llu s t r a t i v o e c o m e t a l i n o n d e v o n o e sse r e c o n s i d e r a t i l i m i t a n t i . I n p a r t i c o l a r e , g l i s c h e m i a b l o cch i i n c l u s i n e lle f i g u r e a lle g a t e e d e s c r i tti i n s e g u i t o n o n s o n o d a i n t e n d e r s i c o m e r a ppr e s e n t a z i o n e d e lle c a r a tte r i s t i c h e s t r u tt u r a l i , o vve r o l i m i t a z i o n i c o s t r u tti v e , m a d e v o no e sse r e i n t e r p r e t a t i c o m e r a ppr e s e n t a z i o n e d i c a r a tte r i s t i c h e f u n z i o n a l i , p r o p r i e t a c i o è i n t r i n s e c h e d e i d i s p o s i t i v i e d e f i n i t e d a g l i e ffe tti o tte n u t i o vve r o l i m i t a z i o n i f u n z i o n a l i e c h e p o sso n o e sse r e i m p l e m e n t a t e i n m o d i d i v e r s i , q u i n d i i n m o d o d a p r o t e gge r e l e f u n z i o n a l i t a d e llo s t e sso ( p o ssi b i l i t a d i f u n z i o n a r e ) . A l f i n e d i f a c i l i t a r e l a c o m p r e n s i o n e d e lle f o r m e d i r e a l i zza z i o n e q u i d e s c r i tte , si f a r a r i f e r i m e n t o a d a l c u n e s p e c i f i c h e f o r m e d i r e a l i zza z i o n e e u n l i n g u a ggi o s p e c i f i c o sara u t i l i zza t o p e r d e s c r i v e r e l e s t e sse . La t e r m i n o l o g i a u t i l i zza t a n e l p r e s e n t e d o c u m e n t o h a l o s c o p o d i d e s c r i v e r e s o l o p a r t i c o l a r i r e a l i zza z i o n i , e n o n ¢ d e s t i n a t a a l i m i t a r e I 'ambito d e lla presente i n v e n z i o n e . L a F i g u r a 1 m o s t r a u n o s c h e m a a b l o cch i f u n z i o n a l e r e l a t i v o a ll a v a l i d a z i o n e ( b l o cco 7 ) d i t r a i e tto r i e a u t o v e i c o l i s t i c h e 9 i n u n s o f t w a r e d i c o n t r o llo a u t o v e i c o l i s t i c o 1 s e c o n d o u n a f o r m a d i r e a l i zza z i o n e d e lla p r e s e n t e i nvenzione. 1l software, or computer product, tablet controller 1¢ storageable in, and executable from, electronic processing resources 2 , and is configured to ensure that, when executed , the processing 2 resources become configurable calculate a gear lane change corridor 12; preferably, in order to validate ( block 7 ) revised trajectory 9 predicted self-vehicle Causal factor 9 should not be validated, such electronic processing resources 2 become configuregenerate a flag , or use a rounding indicator that occurs under a condition d i i n v a l i d i t a d e lla t r a i e tto r i a 9 , i l q uale p u o p o i e sse r e u t i l i zza t o p e r s c a t e n a r e u n o pp o r t u n o i n t e r v e n t o a u t o v e i c o l i s t i c o p e r causare, a d e s e m p i o , 1 ’ a cco s t a m e n t o d e ll’ a u t o v e i c o l o 8 a l m a r g i n e d e lla s t r a d a o ppu r e l a p i a n i f i c a z i o n e d i u n a d i ffe r e n t e t r a i e tto r i a 9 . I n d e tta g l i o , i l p r e s e n t e s o f t w a r e d i c o n t r o llo a u t o v e i c o l i s t i c o 1 c o n s e n t e d i c a l c o l a r e i l c o rri d o i o d i c a m b i o d i c o r s i a d i m a r c i a p i ù l a r g o p o ssi b i l e , a l f i n e d i m inimizzare e v e n t u a l i f a l s i a lla r m i d u r a n t e l a v a l i d a z i o n e d i u n a t r a i e tto r i a d i g u i d a , p e r Individual self - vehicles have predefined defects Referably , ' vehicle 8 includes resources and processing technology 2 memories , configureandrun the vehicle control software 11 vehicle control software 1 ¢ project to ensure that , when executed the ttr ony resources of processing 2 , the latter were configured for these arenas of various operations, we can finally calculate the lco rri two-dimensional exchange rate d i m a r c i a 1 2 i n o cco rre n z a d i u n a r i c h i e s t a d i u n a m a n o v r a d i c a m b i o d i c o r s i a ; e p e r c o n t r o lla r e 1 ’ o p e r a t i v i t a , i n d e tta g l i o l a d i n a m i c a , d e ll’ a u t o v e i c o l o 8. P e r q u a n t o r i g u a r d a i l c a l c o l o d e l c o rri d o i o d i c a m b i o d i c o r s i a d i m a r c i a 1 2 i n g e n erale e l a v a l i d a z i o n e d e lle t r a i e tto r i e 9 d e ll’ a u t o v e i c o l o 8 , p e r c u i si p r e v e d e u n c a m b i o d i c o r s i a d i m a r c i a , i n p a r t i c olare si s o tto l i n e a c h e c i o c h e c o n t a s o n o l e o p e r a z i o n i c h e d e v o n o e sse r e i m p l e m e n t a t e p e r r e a l i zza r e t a l e f u n z i o n a l i t a e non l e a r c h i t e ttu r e h a r d w a r e e s o f t w a r e c o n c u i t a l i o p e r a z i o n i s o n o i m p l e m e n t a t e , a l p u n t o c h e q u e s t e p o t r e bbe r o e sse r e i m p l e m e n t a t e t r a m i t e u n ’ a r c h i t e ttu r a c o n c e n t r a t a , o vve r o d a u n a sola c e n t r a l i n a e l e ttr o n i c a a u t o v e i c o l i s t i c a ( a d e s e m p i o u n a E C U ; E l e c t r o n i c Control U n i t ) , o ppu r e t r a m i t e u n ’ a r c h i t e ttu r a d i s t r ibuita c oop e r a t i v a , a d e s e m p i o d i s t r i b u i t e f r a d i v e r s i d i s p o s i t i v i e l e tt r o n i c i ( a d e s e m p i o , a n c h e e s t e r n i a d a u t o v e i c o l i ) i n c o m u n i c a z i o n e e c oop e r a n t i f r a l o r o s e c o n d o u n a a r c h i t e ttu r a l o g i c a p r o p r i e t a r i a c h e i l p r o d u tto r e d e l vehicle control s oftware 1 d ecides to adopt. For descriptive convenience, in the following description a single solar power plant is referred to automotive ECU 2 , without therefore losing generality. The ECU 2¢ is configured to receive large vehicles icon vehicle sensory form plate 3 of the vehicle 8 ; elbows , at least parthedithal large vehicles are indicative of the dynamics of the vehicle 8 e.g. at least part of the diagonal of the vehicles indicating the different position l i n ee d i d e l i m i t a z i o n e d i c o r s i a ( 1 0 A , 1 0 B , 11A , 11B ) . A t i t o l o e s e m p l i f i c a t i v o e n o n l i m i t a t i v o , l a E C U 2 è p r o g e tta t a p e r r icevere l e g r a n d e zze a u t o v e i c o l i s t i c h e , i n d e tta g l i o d a t i i n d i c a t i v i d i t a l i g r a n d e zze a u t o v e i c o l i s t i c h e , a ttr a v e r s o u n a r e t e d i c o m u n i c a z i o n e d i b o r d o a u t o v e i c o l i s t i c a ( C A N ) . I n p a r t i c o l a r e , l e g r a n d e zze a u t o v e i c o l i s t i c h e ricev u t e c o m p r e n d o n o d a t i d i p o s i z i o n e i n d i c a t i v i d e lla p o s i z i o n e g e o g r a f i c a d e ll’ a u t o v e i c o l o 8 e f o r n i t i , a d e s e m p i o , d a u n s i s t e m a d i g e o l o c a l i zza z i o n e a u t o v e i c o l i s t i c o d e ll a p i a tta f o r m a s e n s o r i a l e a u t o v e i c o l i s t i c a 3 . I n d e tt a g l i o , l e g r a n d e zze a u t o v e i c o l i s t i c h e i n d i c a t i v e d e lla posizione d i d i v e r s e l i n ee d i d e l i m i t a z i o n e d i c o r s i a ( 1 0 A , 1 0 B , 11A , 11B ) c o m p r e n d o n o d a t i d i d e l i m i t a z i o n e r a ppr e s e n t a t i v i d e lle l i n ee d i d e l i m i t a z i o n e 1 0 A , 1 0 B d i u n a c o r s i a d i m a r c i a c o rre n t e 1 0 d e ll’ a u t o v e i c o l o 8 ( o vve r o , l a c o r s i a d i m a r c i a 1 0 i n c u i s t a v i a ggi a n d o 1 ’ a u t o v e i c o l o 8 ) , e d a t i d i d e l i m i t a z i o n e r a ppr e s e n t a t i v i d e lle l i n ee d i d e l i m i t a z i o n e 11A , 11B d i a l m e n o u n a d i ffe r e n t e c o r s i a d i m a r c i a 11 ( a d e s e m p i o , u n a c o r s i a d i m a r c i a 11 d i s i n i s t r a r i s p e tto to the current gear lane 1 0 and the vehicle gearsense 8 ) In particular , vehicle signs indicating the position of the various vehicles delimitation of various courses , including ciaco rre nte 1 0 of the self-vehicle 8 ; for example , large motor vehicles are not required of the position of the lines and the delimitation according to the different courses of march In the glio , the icolistic auto - sensory training layer 3 includes a camera 3 The configurationbecause it is rare and diverse but represents a plurality of the lane boundary nets ( 10A , 10B , 11A , 11B ); that is, images through which is then we can determine the position of a plurality in the core delimitation ( 1 0 A , 1 0 B , 11A , 11B ) . Exemplary title , 1 ' ECU 2 ¢ large receiver cover design automobile capture the diverse po sition and delimitation of the fields ia ( 1 0 A , 1 0 B , 11A , 11B ) but divide vehicles at the frontal comprising u n a t e l e c a m e r a 3 A A D A S ( A d v a nc e d D r i v e r A ssi s t a n c e S y s t e m ) , d e lla p i a tta f o r m a s e n s o r i a l e a u t o v e i c o l i s t i c a 3 , p r o g e tta t a p e r c a ttu r a r e d e lle i mma g i n i d i g i t a l i e d e ffe ttu a r e d i v e r s e e l a b o r a z i o n i c o n t e m p o r a n e a m e n t e s u t a l i i mma g i n i d i g i t a l i c atturate p e r l a r e a l i zza z i o n e d i d i v e r s e a ppl i c a z i o n i , q u a l i i l r i c o n o s c i m e n t o d i c o r s i a d i m a r c i a c o s i d a f o r n i r e d a t i r a ppr e s e n t a t i v i d i e l e m e n t i p r e s e n t i n e ll e i mma g i n i d i g i t a l i c a ttu r a t e ; i n p a r t i c o l a r e , l e l i n ee d i d e l i m i t a z i o n e d e s t r a e s i n i s t r a 1 0 A , 1 0 B ( r i s p e tto a l s e n s o d i m a r c i a of the vehicle 8 ) of the current lane 1 0 that the vehicle 8 is travelling; ev entually also vehicles that precede, look at the, obstacles, vulnerable users of the road, road signs, etc. In fact , large automobile manufacturers indicate the dynamics of the vehicle 8 also includes the idle speed and the speed activation longitudinal and / lateral gear of the vehicle 8 eforniti , for example , from the system automotive digelocation or high-speed sensor reader , of the shape s motor vehicle ensorial 3, associated with the wheels of the motor vehicle 8. In particular, such received vehicle gr ades, and indicative of vehicle dynamics 8, furthermore include ideas about the indicative relationships of the vehicle 8 ; conveniently , including the right hand side and indicating the jerk side of the vehicle 8 . In addition , large vehicles are captive dynamics of the vehicle 8 preferably indicates a direction of vehicle gear 8. Furthermore, the ECU 2 is configured to determine, or calculate, where vehicle 8 is not marked on the basis of the large zze empty motor vehicle . Taking advantage of the present invention and large automotive vehicles not including side gear speed , ' ECU 2 ¢ configuredfor relay calculation marginal speed is also the basis of the largest automotive vehicles The title exemplary , the ECU 2 ¢ configured to calculate the gearshift relay curved based on the longitudinal speed of the vehicle Secondseveral examples , during an emergency maneuver , ECU 2 ¢ configured calculates the lateral velocity based on the longitudinal velocity and the angles steered . If the secondary eighth , during one staircase , 1 ' ECU 2 is designed taper calculate the speed based on the angle of departure of the vehicle 8 respectively to the deviation direction ( radiating ) based on the speed of the vehicle In addition , in addition to garlic orders , large automotive companies include inoltreinformation daily request to open handshakechange odicorsia ; in particular , including eleven directions ( or , senderreceiving the arrow vehicle 8 ) of the vehicle 8 ) of the vehicle 8 , and / where the vehicle ( ad example of a textual day ) indicative of the request for a dichambiodial maneuver lane . For example , when the frequency is placed on the right of the flight of the vehicle 8, the steering index is a data indicative of the fact that the intention of the c o n d u c e n t e d e ll’ a u t o v e i c o l o 8 ¢ d i s p o s t a r s i s u lla c o r s i a d i m a r c i a d i d e s t r a r i s p e tto a lla c o r s i a d i m a r c i a c o rre n t e 1 0 i n c u i s t a v i a ggi a n d o . I n p a r t i c o l a r e , l ’ E C U 2 ¢ p r o g e tta t a i n o l t r e p e r d e t e r m i n a r e u n a r i c h i e s t a d i u n a m a n o v r a d i c a m b i o d i c o r s i a e p e r d e t e r m i n a r e u n i s t a n t e d i t e m p o i n i z i a l e d a c u i s i v u o l e m o n i t o r a r e l a d i r e z i o n e d e ll’ a u t o v e i c o l o 8 p e r l a m a n o v r a d i c a m b i o d i c o r s i a . I n d e tt a g l i o , l ’ E C U 2 ¢ c o n f i g u r a t a p e r r i c e v e r e l e i n f o r m a z i o n i i n d i c a t i v e d i u n a r i c h i e s t a p e r u n a m a n o v r a d i c a m b i o d i c o r s i a e / o l e g r a n d e zze a u t o v e i c o l i s t i c h e i n d i c a t i v e d e lla d i n a m i c a d e ll’ a u t o v e i c o l o 8 d a u n o o p i u s e n s o r i 3 B , c o n f i g u r a t i p e r r i l e v a r e g r a n d e zze a u t o v e i c o l i s t i c h e , d e lla p i a tta f o r m a s e n s o r i a l e a u t o v e i c o l i s t i c a 3 . I n o l t r e , c o n v e n i e n t e m e n t e , t a l i g r a n d e zze a u t o v e i c o l i s t i c h e r i c e v u t e c o m p r e n d o n o d a t i d i c u r v a t u r a i n d i c a t i v i d i u n r i f e r i m e n t o d i curvatura K 4 e p e r l a t r a i e tto r i a 9 d e ll’ a u t o v e i c o l o 8 e f o r n i t i , a d e s e m p i o , d a u n c o n t r o llo r e 4 d i p i u a l t o l i v e llo . In addition , the ECU 2 ¢ is configured to lose access ( block 5 ) to the delimitation 1 0 A , 1 0 B two-lanecurrent gear 1 0 for 1 vehicle 8 on the two-lane different sizes of vehicles indicated by different positions of deleteCourse ( 1 0 A , 1 0 B , 11A , 11B ); unspecific , determining ( block 5 ) the c or non-spatial demarcation lines 1 0 A , 1 0 B of the current lane 1 0 of the self-vehicle 8 . In the order image , the configured ECU 2¢isdetermined , or calculate , ( block 5 ) the space of a plurality of two different pointpositions of the boundary lines 10A , 10B of the current lane In particular , the ECU 2 ¢ taperdefinition and calculation project ( block 5 ) is unaligned bounding 10A , 10B , 11A , 11B according to a plurality of spatial coordinates determinedetermination and . For example , ECU 2 is configuredto calculate re ( block 5 ) where dynaspatialized lines and delimitations are 1 0 A , 1 0 B , 11A , 11B below the world of diverse techniques is elaborating on this S econdondifferent examples o , The ECU 2 ¢ is configured to lose terminals ( block 5 ) when the lines are not spaced. delimitation 10A , 10B , 11A , 11B based on a default polynomial, conveniently the following order: y = x 3 + bx ® + cx + d @ ) where a, b, ¢ ands are given coefficients, exeys are the spatial coordinates l longitudinal and, respectively, laterals of the boundary lines 10A , 10B , 11A , 11B expresses Cartesian unsystematic For example , the ECU 2 ¢ overcalculator project , for each line of imitation 1 0 A , 10B , 11A , 11B , one or more indicative magnitudes of the distance between such line of delimitation 10A , 10B , 11A , 11B and vehicle 8 (for example, according to a system of c oor dinate ISO ) perdiversipointion ionization X axis distance ( see ahead ) p is redefinedN: {y;,}, i = 1,..,4, n =1, .. , N, where, represents the number of the line 1 0 A , 1 0 B , 11A , 11B are points along the path . Furthermore , the ECU 2 is designed to determine the vehicle's position in the area gearshift maneuvers ia , finally disposed of the opposite marginal lane 1 0 gathers destination lane 11 (different with respect to the lane current 1 0 ) , on the basis of vehicular loads received; unspecific , on the basis of one or more of, conveniently all, indicative information of a request but hand gestures change speech , large vehicles and captive position of different lane bounding lines ( 10A , 10B , 11A , 11B ), walking speed data of the vehicle 8 ageindicates the direction of the vehicle According to the present invention, the ECU 2 is designed to be tapered. determine , based on the predefined algorithm , whether the vehicle is in the area lane change maneuver based on speed data, indicative data of the the direction of march based on the indicative information requested by each person maneuveringcambiodicors ia . In particular, such a predefined algorithm ¢ top project calculatedetermine between predefined times ( despite timeouts vehicle 8 , proceeding at the idle speed current and in the direction of current, beyond exceeding a boundary line 11A , 11B from a destination turning lane 11; in which, I'initial time instant coincides at the same time ¢ statesmen in hand vradichangedicourse According to various aspects of the present invention, the ECU 2 is designed to taper determine ' car 8 stamp ffe ttu arenamanual exchange speechbase to the content, in particular the textual content, of the indicative information of a requestforhandwr exchangediscourse ; for example , odital science informationincludes a textcontent (default example) request unmanualcambiodic orsia I n o l t r e , ’ E C U 2 ¢ c o n f i g u r a t a p e r d e t e r m i n a r e l i n ee d i d e l i m i t a z i o n e 11A , 11B d e ll a c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11 s u ll a b a s e d i u n a o d i v e r s e g r a n d e zze a u t o v e i c o l i s t i c h e r i c e v u t e i n d i c a t i v e d e lla posizion e d i d i v e r s e l i n ee d i d e l i m i t a z i o n e d i co rsia ( 10A , 10B , 11A , 11B ); in particolare, almeno in base alle grandezze a u t o v e i c o l i s t i c h e i n d i c a t i v e d e lla p o sizione d i t a l i l i n ee d i d e l i m i t a z i o n e d i c o r s i a ( 1 0 A , 1 0 B , 11A , 11B ) . I n p a r t i c o l a r e , l ’ E C U 2 ¢ c o n f i g u r a t a p e r d e t e r m i n a r e l e l i n ee d i d e l i m i t a z i o n e 11A , 11B d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11 q u a n d o d e t e r m i n a c h e 1 ’ a u t o v e i c o l o 8 s t a p e r e ffe ttu a r e u n a m a n o v r a d i c a m b i o d i c o r s i a . A t i t o l o e s e m p l i f i c a t i v o e n o n limitativo, I ’ E C U 2 ¢ c o n f i g u r a t a p e r d e t e r m i n a r e l e l i n ee d i d e l i m i t a z i o n e 11A , 11B d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11 s olo s e d e t e r m i n a c h e I ’ a u t o v e i c o l o 8 s t a p e r e ffe ttu a r e u n a m a n o v r a d i c a m b i o d i c o r s i a . L ’ E C U 2 ¢ i n o l t r e c o n f i g u r a t a p e r c a l c o l a r e u n c o rri d o i o d i c a m b i o d i c o r s i a d i m a r c i a 1 2 , p e r c o n g i u n g e r e l a c o r s i a d i m a r c i a c o rre n t e 1 0 c o n l a c o r s i a d i m a r c i a d i destination 11, on the basis of which large vehicles are captured at dynamics of the vehicle 8 on the basis of predefined constraints alcambiodicorsiadimar cia . Indeed, the ECU 2 ¢ is configured to calculate the current dicambiodicorsiadimar cia 1 2 impossible to chesian the effects of ivincolids predefined calculation activates marginal discoursechange Furthermore , ECU 2 is configured provides access to the base delco rri two diode exchange speech march Figure 4 schematically shows a gear diode exchange circuit. 1 2 per vehicle 8 calculatedaccording to a preference position presentinvention . In particular , the dual exchange rate of gear 1 2 is configured for extend the current 1 0 until the nail , optionally incise with, the target driving lane 11. Wherein, the lane change aisle 12 is a when someone had to move the vehicle 8 this paper was changed lane, at least during the lane change maneuver . T a l i v i n c o l i d i c a l c o l o p r e d e f i n i t i e r e l a t i v i a l c a m b i o d i c o r s i a d i m a r c i a c o m p r e n d o n o u n o o p i ù t r a u n v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a , u n v i n c o l o d i t e m p o m a ssi m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a , u n v i n c o l o d i t e m p o m i n i m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a , e d u n v i n c o l o d i t e m p o m a ssi m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a . Preferibilmente, t a l i v i n c o l i d i c a l c o l o c o m p r e n d o n o i l v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a d i changing speech , the time constraint if you learn to initialize changing speech , ilvincoloditempominim opercompletarelamanov radicambiodicorsia , edilvincolo time ssi mopercompletehand vradichangediscourse I nde tt garlic , constraints dicalculopredefined unconditional if you want to recalculate , either term of the calculation of the, gear lane change corridor 12. In particular, the ECU 2 ¢ configuredfor calculation reilco rri double exchange speed gear 1 2 pileargopo ssi bile p e r c u i i v i n c o l i d i c a l c o l o p r e d e f i n i t i s i a n o s o ddi s f a tti , a l f i n e d i m i n i m i zza r e e v e n t u a l i f a l s i a lla r m i . I n d e tt a g l i o , l ’ E C U 2 ¢ c o n f i g u r a t a p e r m a ssi m i zza r e l o s p a z i o a ll’ i n t e r n o d e l c o rri d o i o d i c a m b i o d i c o r s i a d i m a r c i a 1 2 i n m o d o c h e i v i n c o l i d i c a l c o l o s i a n o s o ddi s f a tti . A t i t o l o e s e m p l i f i c a t i v o , t a l i v i n c o l i d i c a l c o l o c o m p r e n d o n o i l v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a e d i l v i n c o l o d i t e m p o m i n i m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a . S e c o n d o u n u l t e r i o r e d i ffe r e n t e e s e m p i o , t a l i v i n c o l i d i c a l c o l o c o m p r e n d o n o i l v i n c o l o d i t e m p o m i n i m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a e d i l v i n c o l o d i t e m p o m a ssi m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a . S e c o n d o u n u l t e r i o r e d i ffe r e n t e e s e m p i o , t a l i v i n c o l i d i c a l c o l o c o m p r e n d o n o i l v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a e d i l v i n c o l o d i t e m p o m a ssi m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a . C o n v e n i e n t e m e n t e , i v i n c o l i d i c a l c o l o c o m p r e n d o n o i n o l t r e u n v i n c o l o d i a cc e l e r a z i o n e l a t e r a l e m a ssi m a p e r l a m a n o v r a d i c a m b i o d i c o r s i a , e d e v e n t u a l m e n t e also a right-hand connection for the sidebar In particular , the constraints on lateral relationships cannot be exchanged c orsia is satisfied if the lateral acceleration of the vehicle 8, during the maneuver of changediscourse , ¢ lowerequalvalue cce lateral relationship ssi ma allows the default Here , according to the present invention , the ECU 2 ¢ project tt determine , receive , value cce lateral relationship ssi ma permission based on the default name (for example , in the middle of a table ) traun valueof the speed of the vehicle 8 edunaco rri slope sidearm ssi maperm ssa O ptionally , winning the calculation gives us the winning praise and leration sideminimalpearl nowchangediscourse ; know the defect if you determine The lateral acceleration of vehicle 8, d uring the lane change maneuver, is but now it is equal to the predefined lateral relationship Here , according to the present invention , the ECU 2 is designed to determine , or r i c e v e r e , i l v a l o r e d i a cce l e r a z i o n e l a t e r a l e m i n i m a p e r m e ssa i n b a s e a d u n a m a ppa t u r a e ff e tt u a t a ( a d e s e m p i o , m e d i a n t e u n a t a b e lla ) t r a u n v a l o r e d i v e l o c i t a d i m a r c i a d e ll’ a u t o v e i c o l o 8 e d u n a c o rri s p o n d e n t e a cce l e r a z i o n e l a t e r a l e m i n i m a p e r m e ssa . I n p a r t i c o l a r e , i l v i n c o l o d i s t r a ppo l a t e r a l e m a ssi m o p e r l a m a n o v r a d i c a m b i o d i c o r s i a ¢ s o ddi s f a tto s e l o s t r a ppo l a t e r a l e d e ll’ a u t o v e i c o l o 8 , d u r a n t e l a m a n o v r a d i c a m b i o d i c o r s i a , ¢ i n f e r i o r e o d u g u a l e a d u n v a l o r e d i s t r a pp o l a t e r a l e p e r m e sso p r e d e f i n i t o ( c o n v e n i e n t e m e n t e , 5 m / s 3 ) . I n d e tta g l i o , c o n v e n i e n t e m e n t e , i l v i n c o l o d i s t r a ppo l a t e r a l e m a ss i m o p e r l a m a n o v r a d i c a m b i o d i c o r s i a ¢ s o ddi s f a tt o s e l a m e d i a d e llo s t r a ppo l a t e r a l e d e ll’ a u t o v e i c o l o 8 p e r u n p e r i o d o d i t e m p o p r e d e f i n i t o , a d e s e m p i o 0 . 5 s , è i n f e r i o r e o d u g u a l e a l v a l o r e d i s t r a ppo l a t e r a l e p e r m e sso p r e d e f i n i t o . I n p a r t i c o l a r e , i l v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a ¢ s o ddi s f a tto q u a n d o i l t e m p o i n c u i inizia i l c a m b i o d i c o r s i a è m a ggi o r e d i , o d equal , undefined time ( preferably , thirteen seconds ) beginning maneuver ; here , the time begins with the ambiodicorsiac rri near the time here at least one boundary line 10A , 10B of the current lane 10 begins at extend (or extend) towards the destination 11 (ie beyond the current marker 1 0 there is direction of the linear demarcation 11B southwestoutside the nation's march lane 11) I n of August , the time at which the exchange of discourse begins ¢ defined as the difference at the time ' ECU 2 receives the changeover request determination ( for example , the current time instant ) , based on the received command , the current time instant in which the lane change maneuver is actually initiated; that is, in which such line 10A , 10B begins to extend outside the current lane of travel 10 . In particular , the ECU 2 ¢ project also determines the demand for exchange rates , in basea ll large empty vehicles , and calculating equal time p e r i n i z i a r e i l c a m b i o d i c o r s i a i n b a s e a l t e m p o m i n i m o p r e d e f i n i t o e d i n b a s e a ll’ i s t a n t e d i t e m p o i n c u i I ’ E C U 2 h a d e t e r m i n a t o o r i c e v u t o l a r i c h i e s t a d i c a m b i o d i c o r s i a . A t i t o l o e s e m p l i f i c a t i v o , i l v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a è s o ddi s f a tto q u a n d o l ’ i s t a n t e d i t e m p o i n c u i 1 ’ a u t o v e i c o l o 8 i n i z i e r e bbe l a m a n o v r a d i c a m b i o d i c o r s i a ¢ c a l c o l a t o e sse r e m a ggi o r e r i s p e tto a ll’ i s t a n t e d i t e m p o m i n i m o c a l c o l a t o p e r i n i z i a r e i l c a m b i o d i c o r s i a . I n d e tt a g l i o , l ’ E C U 2 ¢ c o n f i g u r a t a p e r calculatepredict I ' instant of time now ' car vehicle 8 initial bbe maneuvers changing the language on the basis of the large vehicle manufacturing companies ; inde tt garlic , such time instant rri borders the time instant in which the delimitation line 1 0 A , 1 0 B initiateextensions . In other words , the ECU 2 ¢ configuredloses the constraints minimum time to initiate the orsiasiase exchange maneuver of the sfa tto when determine the vehicle 8 starting bbe handbrake rsiaregardless t e m p o s u cce ssi v o r i s p e tto a ll’ i s t a n t e d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a . A d e s e m p i o , q u a n d o l a c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11 ¢ c o llo c a t a a s i n i s t r a r i s p e tto a lla c o r s i a d i m a r c i a c o rre n t e 1 0 ( r i s p e tto a l s e n s o o a lla d i r e z i o n e d i m a r c i a d e ll’ a u t o v e i c o l o 8 ) , i l v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a ¢ s o ddi s f a tto q u a n d o l a l i n e a d i d e l i m i t a z i o n e 1 0 B d i s i n i s t r a d e lla c o r s i a d i m a r c i a c o rre n t e 1 0 si e s t e n d e i n d i r e z i o n e d e lla l i n e a d i d e l i m i t a z i o n e 11B d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11 i n u n t e m p o m a gg i o r e r i s p e tto a l t e m p o m i n i m o p r e d e f i n i t o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a . I n p a r t i c o l a r e , i l v i n c o l o d i t e m p o m a ssi m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a ¢ s o ddi s f a tto q u a n d o i l t e m p o , o I ’ i s t a n t e d i t e m p o , i n c u i i n i z i a i l c a m b i o d i c o r s i a ¢ i n f e r i o r e d i u n t e m p o , o i s t a n t e d i t e m p o , m a ssi m o p r e d e f i n i t o ( p r e f e r i b i l m e n t e , c i n q u e s e c o n d i ) p e r i n i z i a r e l a m a n o v r a . I n d e tt a g l i o , I ’ E C U 2 ¢ c o n f i g u r a t a p e r d e t e r m i n a r e c h e i l v i n c o l o d i t e m p o m a ssi m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a s i a s o ddi s f a tto q u a n d o d e t e r m i n a c h e 1 ’ a u t o v e i c o l o 8 i n i z i e r e bbe l a m a n o v r a d i c a m b i o d i c o r s i a i n u n i s t a n t e d i t e m p o p r e c e d e n t e r i s p e tto a ll’ i s t a n t e d i t e m p o m a ssi m o p r e d e f i n i t o p e r i n i z i a r e l a m a n o v r a . I n p a r t i c o l a r e , i l v i n c o l o d i t e m p o m i n i m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a ¢ s o ddi s f a tto q u a n d o i l t e m p o i n c u i ¢ c o m p l e t a t o i l c a m b i o d i c o r s i a ¢ m a ggi o r e d i , o d u g u a l e a d , u n t e m p o m i n i m o p r e d e f i n i t o o c a l c o l a t o ( p e r i l c o m p l e t a m e n t o d e lla m a n o v r a ) . I n c u i , i l t e m p o i n c u i i l c a m b i o d i c o r s i a è c o m p l e t a t o c o rri s p o n d e a l t e m p o i n wherein at least one boundary line 10A , 10B of the current traffic lane 10, extending , angle radii lateral to lines 11A , 11B of the lane target gear 11; i.e., in which, the time at which the lane change is completed ¢ defined the reversed effects and then effectively ¢ initiated it gearshifter maneuvers are available at any time ¢ the new problem has been completed In fact , the ECU 2 ¢ is configured complete the speech change maneuver of the sfa tt when you determine The vehicle 8 completes bbe rsiambiotic maneuvering no matter what weather on this basis, the minimumtime instant is redefined for the completion of the maneuver . In fact , the ECU 2 ¢ is configured complete the change of speech maneuver of the inbaseal fault ( or true , when ¢ I know that the ) constraint and relationship is broken , but the exchanges are odicorsia ; in particular , based on default timeout ( preferably , two seconds ) edin b a s e a d u n a a cce l e r a z i o n e m a ssi m a p e r l a m a n o v r a d i c a m b i o d i c o r s i a . I n m a ggi o r d e tt a g l i o , l ’ E C U 2 è c o n f i g u r a t a p e r d e t e r m i n a r e c h e i l v i n c o l o d i t e m p o m i n i m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a s i a s o ddi s f a tt o i n b a s e a l t e m p o m i n i m o p r e d e f i n i t o e d i n b a s e a ll’ a cce l e r a z i o n e m a ssi m a p e r m e ssa p e r l a m a n o v r a d i c a m b i o d i c o r s i a . I n o l t r e , e d i n p a r t i c o l a r e , i l v i n c o l o d i t e m p o m a ss i m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a è s o ddi s f a tto q u a n d o i l t e m p o i n c u i è c o m p l e t a t o i l c a m b i o d i c o r s i a ¢ i n f e r i o r e d i , o d u g u a l e a d , u n t e m p o m a ssi m o p r e d e f i n i t o ( p r e f e r i b i l m e n t e , d i e c i s e c o n d i ) p e r i l c o m p l e t a m e n t o d e lla m a n o v r a . I n d e tt a g l i o , l ’ E C U 2 è c o n f i g u r a t a p e r d e t e r m i n a r e c h e i l v i n c o l o d i t e m p o m a ssi m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a s i a s o ddi s f a tto q u a n d o d e t e r m i n a c h e 1 ’ a u t o v e i c o l o 8 c o m p l e t e r e bbe l a m a n o v r a d i c a m b i o d i c o r s i a i n u n i s t a n t e d i t e m p o p r e c e d e n t e r i s p e tto a ll’ i s t a n t e d i t e m p o m a ssi m o p r e d e f i n i t o p e r i l c o m p l e t a m e n t o d e lla m a n o v r a . L e F i g u r e 2 e 3 m o s t r a n o s c h e m a t i c a m e n t e d i ff e r e n t i s c e n a r i s t r a d a l i r e l a t i v i a d u n a m a n o v r a d i c a m b i o d i c o r s i a e ffe ttu a t a d a ll’ a u t o v e i c o l o 8 s e c o n d o u n a r e g o l a m e n t a z i o n e s p e c i f i c a p e r l e m a n o v r e d e i c a m b i d i c o r s i a , o vve r o l a U N R e g u l a t i o n N o . 7 9 S u ppl . 3 . I n d e tt a g l i o , l e F i g u r e 2 e 3 m o s t r a n o s c h e m a t i c a m e n t e e s e m p i d i m a n o v r e d i c a m b i o d i c o r s i a e ffe ttu a t e i n t e m p i s t i c h e d e f i n i t e d a t a l e r e g o l a m e n t a z i o n e . I n p a r t i c o l a r e , i v i n c o l i d i c a l c o l o s o n o d e f i n i t i i n m o d o t a l e d a f a r si c h e s i a respect , bear of repeal , civic regulationsfor change of course , or vve roll UNR egulation N or . 7 9 S u ppl . 3 ; this phase , the ECU 2 becomes configured per calculation of the rri double exchange speech in gear 1 2 based on the action regulation I nde tt garlic , such regulations , automated randomization manovradicambiodicors ia , thismanovrainizitratr esecondiefifquesecond idopo The procedure is manually checked Furthermore , in the case of glio , regulation and imp one that maneuver was completed in less than ten seconds Furthermore , in for example, the regulation requires that, during the lane change maneuver, a steering indicator remains on , automatic mode is disabled when sideterminachelamav rootchangediscourse ¢ was completedatme no 5 seconds . In fact , such regulations are not limited to the relationship lane change , defaults based on the vehicle's speed 8. Title example , when the speed of the vehicle is 8 ¢ you will travel 3 0 km / h and 1 6 0 km / h I ' side-to-side acceleration (when the sum approaches between I ' the relationto maintain lacorsia and the relationto changethe lacorsia ) is 5 m / s ? and I ' has the minimum lateral relationship to & 3 m / s According to the actual format preferred for the present invention , the ECU 2 is also configured to calculate , based on large vehicle revenues indicates the dynamics of the self-vehicle 8 changewe want to mark a , at least one linewith unction 1 2 A , 1 2 B to join left and right ( 1 0 B , 11B ), or right ( 1 0 A , 11A ) , ( respectively vehicle speed sensor 8 ) with respect to the current speed lane 1 0 e of the destination lane 11; wherein, I'at least one joining line 12A , 1 2 B calculated from the limit of the doiodichambiodicorsiad of the gear 1 2 . In particular , one-line conjunction and 1 2 A , 1 2 B extend one-line and mitation 1 0 A , 1 0 B of the current gear lane 1 0 to the corresponding oiling width bounding line 11A , 11B of the destination lane 11; specifically, in so that the latter coincides with the conjunction 1 2 A , 1 2 B at that point According to a preferred view of the present invention , a linear conjunction of 1 2 A , 1 2 B ¢ a conjunctioncurve and . In particular, the ECU 2 ¢ also configured to calculate linear junction left 1 2 B medlineto join oneright 12A project to meet respectively and delimitation of streets 1 0 B , 11B of the lane current 10 and the destination lane 11, and the right boundary lines 10A , 11A of the current gait lane 10 and the target gait lane 11 . In addition , the ECU 2¢ designs a calculator with a gear range of 1 2 in mode is bounded by the line joining the left 1 2 B and the line right junction 1 2 A ( with respect to the vehicle 8 ) Alternatively , optionally , the ECU 2¢ configured for realigned calculation jointright , left , 1 2 A , 1 2 B jointhe delimitation line 1 0 A , 1 0 B of the corresponding current 1 0 lane ( or , on the same side ) demarcation lines 11A , 11B of the nation's lane 11; eper calculate the gear lane change corridor 12 such that it is bounded on the left, right , calculated 1 2 A , 1 2 B conjunction line , on the right ( right , left ) , be bounded by the bounding line 1 0 B , 1 0 A or opposite ( with respect to the line of boundary 10A , 10B from which the joining line 12A , 12B ) of the marking lane 1 0 . In particular, the ECU 2 ¢ also configured to calculate inline with junction 12A, 12B pursuant to information indicating the location of the lane of travel of destination 11 with respect to the current running lane 10; specifically, a piece of information indicative of the fact that the lane of traffic 11 is on the right, or on the left, with respect to the current marking lane 1 0 . In the table , The ECU 2 ¢ to configure : - calculate , non-particular minimumto complete the gear changer maneuver , a linewith the conjunction and next 1 2 B along the boundary line 1 0 B (of the current lane 1 0 ) closer (with respect to the otherline delimitation 1 0 A of the current lane 10) at the boundary line 11A , 11B of the destination lane 11; and / or - calculate , non-particular but if we complete it manually , a linear conjunction 12A extending the boundary line 10A , of the current lane 10, plus distant (with respect to the otherlinedelimitation 1 0 B of the current lane 1 0 ) from the boundary lines 11A, 11B of the destination lane 11. Note that, in particular, the left boundary line 10B, with respect to the direction of march, corresponds to the closest boundary line (with respect to the other boundary line) boundary 10A of the current lane 10) to the boundary lines 11A, 11B of the marching lane of destination 11 when the marching lane of destination 11 is located to the left of the current lane 10; otherwise, the lane left boundary 10B, with respect to the direction of travel, corresponds to the line of further boundary (with respect to the other boundary line 1 0 A of the lane) current lane 10) to the boundary lines 11A, 11B of the driving lane destination 11 when the lane to destination 11 is to the right of the road to the current lane 10. Note that, the reference numbers 10A, 10B, 11A, 11B are considered exemplary for the cases illustrated in the Figures (such as, for example, the case study for which destination road 11 is located on the right, with respect to the direction of travel of the motor vehicle 8, of the current lane 10); therefore, here and in the followed, the boundary line closest to the boundary lines 11A, 11B of the destination lane 11 will be numbered, without this being restrictive, as the delimitation line to the left 1 0 B of the current lane In particular , the ECU 2 is designed to determine which bounding 10A , 10 B of the current running lane 10, is the bounding line 10B nearest ( distant ) line and demarcation 11A , 11B of lanes destination gear 11 ; in addition , in garlic , 1 ' ECU 2 is designed with a linear calculator deconjunctionpro ssi ma 1 2 B and / wavelinean eremote conjunction 12A belowquantity predetermined . In particular, ' ECU 2 ¢ configuredlosealigned nose closest boundary 10B to lane boundary lines 11A, 11B destination 11, based on a difference between the position (or spatial order) of a boundary line 10A, 10B of the current lane 10 and the positions of the boundary lines 11A, 11B of destination lane 11; in particular, making a difference between the position of such boundary line 10A, 10B and the position of the outermost or most distant boundary line 11B in relation to the lane current lane 10. For example, current lane 10 and current lane destination mark 11 share a boundary line 10B , 11A . According to a different example , a different lane ( here not the road ) ¢ interstate lane demarcation rre nte 1 0 elane demarcation stination In particular , the right joining line but 1 2 B ¢ the left joining line , or right, and the remote connecting line 12A ¢ The other connecting line; that is, ¢ the junction line of right 12A , or left. Indeed , the next conjunction line 1 2 B extends (or prolongs) from d to the boundary line 10B , of the current lane 10, nearest the line delimitation on 11B of the national march lane 11. I nde tt garlic , the joining line mode 12A is extended from the delimitation line 1 0 A , of the current marking lane 1 0 , behind the outer demarcation line 11B of the march of this nation The order images , ' ' ECU 2 ¢ also design the linear calculator of conjunction for 1 2 B , instead of cross-lined Hungarian days delimitation 11B of the destination lane 11, according to a minimum time the defaultforcomplete is to change the icorsia based on a cce report but ssi butmanual exchanges odicorsia In particular , the redesigned ECU 2 ¢ determines the value of the predefined minimum delay time value of L * ( where such a value ¢ indicative of the length, conveniently and optimally, of the line of conjunction 1 2 A , 1 2 B ) calculated on the basis of the pearl acceleration m lane change maneuver (conveniently, so that the constraint of to cc eleraction ssi butmanual changes odicorsia ) ; epercalcularelalinead i c o n g i u n z i o n e p r o ssi m a 1 2 B i n m o d o c h e q u e s t ’ u l t i m a r a ggi u n g a l a l i n e a d i d e l i m i t a z i o n e 11B d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11, a p a r t i r e d a lla c o rri s p o n d e n t e l i n e a d i d e l i m i t a z i o n e 1 0 B d e lla c o r s i a d i m a r c i a c o rre n t e 1 0 , i n u n t e m p o p a r i o d inferiore a t a l e v a l o r e m i n i m o d e t e r m i n a t o e d a p a r t i r e d a ll’ i s t a n t e d i t e m p o i n i z i a l e . I n particolare, l’ECU 2 , q u ando riceve la richiesta di manovra di cambio di corsia, p r o g e tta t a p e r f o r n i r e i n u s c i t a l a l i n e a d i c o n g i u n z i o n e p r o ssi m a 1 2 B f i n o a q u a n d o r a ggi u n t o l ’ i s t a n t e d i t e m p o m i n i m o p r e d e f i n i t o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a e p e r f o r n i r e i n u s c i t a l a l i n e a d i d e l i m i t a z i o n e 11B d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11 p e r u n o o d i v e r s i i s t a n t i d i t e m p o s u cce ssi v i a t a l e i s t a n t e d i t e m p o m i n i m o p r e d e f i n i t o ( i n c u i , l a l i n e a d i c o n g i u n z i o n e 1 2 B h a raggiunto t a l e l i n e a d i d e l i m i t a z i o n e 11B d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11) . I n p a r t i c o l a r e , l ’ E C U 2 è p r o g e tta t a p e r c a l c o l a r e l a l i n e a d i c o n g i u n z i o n e r e m o t a 1 2 A , i n m o d o c h e r a ggi u n g a l a c o rri s p o n d e n t e l i n e a d i d e l i m i t a z i o n e 11A d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11, i n b a s e a d u n t e m p o m a ssi m o p r e d e f i n i t o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a ; a d e s e m p i o , i n c i n q u e s e c o n d i a p a r t i r e d a ll’ i n i z i o d e lla m a n o v r a d i c a m b i o d i c o r s i a , o d i n d i e c i s e c o n d i a p a r t i r e d a ll’ i s t a n t e d i t e m p o i n i z i a l e . I n p a r t i c o l a r e , I ’ E C U 2 ¢ p r o g e tta t a p e r f o r n i r e i n u s c i t a l a l i n e a d i c o n g i u n z i o n e r e m o t a 1 2 A f i n o a q u a n d o è r a ggi u n t o 1 ’ i s t a n t e d i t e m p o m a ssi m o ( a d e s e m p i o , d i e c i s e c o n d i ) p r e d e f i n i t o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a e p e r f o r n i r e i n u s c i t a l a l i n e a d i d e l i m i t a z i o n e 11A d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11 p e r u n o o d i v e r s i i s t a n t i d i t e m p o s u cce ssi v i a t a l e i s t a n t e d i t e m p o m a ssi m o p r e d e f i n i t o . P r e f e r i b i l m e n t e , I ’ E C U 2 ¢ i n o l t r e c o n f i g u r a t a p e r c a l c o l a r e l a l i n e a d i c o n g i u n z i o n e p r o ssi m a 1 2 B a n c h e i n b a s e a l v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a ; e / o p e r c a l c o l a r e l a l i n e a d i c o n g i u n z i o n e r e m o t a 1 2 A anche i n b a s e a l v i n c o l o d i t e m p o m a ssi m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a . O p z i o n a l m e n t e , i n a l t e r n a t i v a , ’ E C U 2 ¢ c o n f i g u r a t a p e r c a l c o l a r e l a l i n e a d i c o n g i u n z i o n e p r o ssi m a 1 2 B e / o p e r c a l c o l a r e l a l i n e a d i c o n g i u n z i o n e r e m o t a 12A s u lla b a s e d e l v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a e s u lla b a s e d e l v i n c o l o d i t e m p o m a ssi m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a , e non s u lla b a s e d e i v i n c o l i d i t e m p o m i n i m o e m a ssi m o p e r c o n c l u d e r e l a m a n o v r a d i c a m b i o d i c o r s i a . E - E - I n d e tt a g l i o , I ’ E C U 2 ¢ i n o l t r e c o n f i g u r a t a p e r c a l c o l a r e l a l i n e a d i c o n g i u n z i o n e p r o ssi m a 1 2 B i n m o d o c h e s i a s o ddi s f a tto i l v i n c o l o d i t e m p o m i n i m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a ; e p e r c a l c o l a r e l a l i n e a d i c o n g i u n z i o n e r e m o t a 12A i n m o d o c h e s i a s o ddi s f a tto i l v i n c o l o d i t e m p o m a ssi m o p e r i n i z i a r e l a m a n o v r a d i c a m b i o d i c o r s i a . I n m a ggi o r d e tta g l i o , l ’ E C U 2 è c o n f i g u r a t a p e r c a l c o l a r e l a l i n e a d i c o n g i u n z i o n e p r o ssi m a 1 2 B i n m o d o c h e e ssa s i i n i z i a d e s t e n d e r e , d a lla c o rr i s p o n d e n t e l i n e a d i d e l i m i t a z i o n e 1 0 B d i c o r s i a d i m a r c i a c o rre n t e 1 0 , a d u n i s t a n t e d i t e m p o m a ggi o r e d i , o u g u a l e a d , u n i s t a n t e d i t e m p o m i n i m o p r e d e f i n i t o m e d i a n t e i l v i n c o l o d i t e m p o m i n i m o periniziarelamanovrad exchange In addition , the ECU 2 ¢ configurataper calculate the remote joining line 12 A so that it begins to extend, from c corresponding bounding line 10A of current running lane 10, at an instant lowertimewith , odugualead , equaltimewith ssi predefinedthrough the time constraint if you can start the maneuver Specifically, ECU 2, when receiving the lane change maneuver request, is a project to provide a linear demarcation 1 0 B of the lane c o rre n t e 1 0 f i n o a d u n i s t a n t e d i t e m p o m i n i m o p r e d e f i n i t o ( a d e s e m p i o , t r e s e c o n d i ) p e r o l t r e p a ssa r e ( o d e s t e n d e r s i d a ) l a l i n e a d i d e l i m i t a z i o n e 1 0 B ; quindi, l ’ E C U 2 ¢ p r o g e tta t a p e r f o r n i r e i n u s c i t a l a l i n e a d i c o n g i u n z i o n e p r o ss i m a 1 2 B f i n o a q u a n d o ¢ raggiunto I ’ i s t a n t e d i t e m p o m i n i m o p r e d e f i n i t o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a e p e r f o r n i r e i n u s c i t a l a l i n e a d i d e l i m i t a z i o n e 11B d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11 p e r u n o o d i v e r s i i s t a n t i d i t e m p o s u cce ssi v i a t a l e i s t a n t e d i t e m p o m i n i m o p r e d e f i n i t o ( here , the conjunction line 1 2 B has reached the delimitation line 11B of the lanesmarketofthis nation 11) . In addition, conveniently, the ECU 2, when it receives the maneuver request of change of discourse , is designed to provide an aligned delimitation 1 0 A of the marking lane 1 0 until a predefined time ( for example , five seconds ) for tr opponent ; therefore, ECU 2 is designed to we will continue to connect ota 12A until ¢ is reached. I ’ i s t a n t e d i t e m p o m a ssi m o ( a d e s e m p i o , d i e c i s e c o n d i ) p r e d e f i n i t o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a e p e r f o r n i r e i n u s c i t a l a l i n e a d i d e l i m i t a z i o n e 11A d e lla c o r s i a d i m a r c i a d i d e s t i n a z i o n e 11 p e r u n o o d i v e r s i i s t a n t i d i t e m p o s u cce ssi v i a t a l e i s t a n t e d i t e m p o m a ssi m o p r e d e f i n i t o . I n d e tt a g l i o , I ’ E C U 2 ¢ p r o g e tta t a p e r c a l c o l a r e l a l i n e a d i c o n g i u n z i o n e p r o ssi m a 1 2 B e l a l i n e a d i c o n g i u n z i o n e r e m o t a 12A i n m o d o d a d e f i n i r e o d e l i m i t a r e i l c o rri d o i o d i c a m b i o d i c o r s i a d i m a r c i a 1 2 ; i n m a ggi o r d e tt a g l i o , i n m o d o t a l e c h e l a l u n g h e zz a d e lla linejoiningnearest 1 2 B be less than the length of the lines remote conjunction 1 2 A Index , ' ECU 2 ¢ linear calculator project to disconnect remote 1 2 A elalineadjunction eproxima 1 2 B ( i.e. , both entramblelin and deboundary 1 2 A , 1 2 B of the gear 1 2 ) unmodulated flow , during the interprocess calculation of the double exchange speech in march 1 2 , the relelen process is demarcation 10A , 10B , 11A , 11B of traffic lanes maintaining the order of this and the latter also in case of crossing one of such lines 10A , 10B , 11A , 11B from of the self-vehicle 8 ; unparticular , reprinted process ( unparticular , from the camera 3 A of the vehicle 8 ) in such a way that their order does not changein case of crossing of any of such lines 10A, 10B, 11A, 11B by vehicle According to the present invention , the ECU 2 ¢ configured for calculation alinewithjoining and 1 2 A , 1 2 B through an homily curve ; unspecific , a curve polynomial equation , observed , order I nde tt garlic , each lined conjunction 1 2 A , 1 2 B calculated on the edge of a calculated curve In particular , the fifth or second polynomial curve is expressed as follows following formulation : y ( x ) = co + c 1 x + box ? + c 3 x 3 + c 4 x * + cgx 5 . In addition , in particular , ECU 2 is configured to calculate relinear combinations of one 1 2 A , 1 2 B , or polynomial curve vve , solvingSystem ( 2 ) as follows: xo = 0 y| x0=0 ylx (]:o Jx = 0 @ ylx T = W ylx T : ( ) ylx T : ( ) Here , w ¢ is the width of the change lane ( in this case , running along the width of the lane , for example 5 m ) , L is the longitudinal length of the curve ( which is assumed to be unknown); furthermore, in which, the s ystem of reference is of the vehicle, xq co rri along the longitudinal position of the initial timestamp is 0 and Y is a lateral position at time instant 0 , and $ runs correspondingly to the lateral velocity and lateral relation of the vehicle 8 , coaxial axis at the time instant T edyr is at the time instant T . In addition , X ¢ the idling speed of the vehicle 8 . Indeed , the ECU 2 ¢ designs the solution of system ( 2 ) above presenting the following values ​​for the five different coefficients: c C o = ¢ y = ca = 0 , c 3 = 1 0 L — 3 , c 4 = — 1 5 ; , cs 5 = 6L—5. The exemplar title limiting enon, i l . . 3 5 5 2 , 5 2 1 coefficients are as follows: Co = C1 = Ca = 0, c3 = & CA = = C5 =T The number of orders tt garlic , at its constant longitudinal directional velocity time , the systematic solution ( 2 ) can be further expressed in time , or halfthefollowingfor mulation ( 3 ) : x ( t ) = vt y ( t ) = 10¥t 3— 15¥t 4+ 6 ¥t5 @) In this way , the ECU 2 becomes configured to calculate homial polygon curves , or vve role lin and disjunction 1 2 A , 1 2 B , solving the exemplary system by choosing the colors timeminimum ( unspecific , T = 5 and T = 1 0 ) respectively aligned conjunctionpro ssi ma 1 2 B and perpendicular to remote conjunction 1 2 A Preferably, ECU 2 is configured to calculate the geometric curvature of the roadway following formulation ( 4 ) : kro aa = ( 3 ' 0 ' 7 — 553 7 ) î ( 4 ) x2+y? In addition , in particular , the ECU 2 is designed to overcalculate , predict , acceleration lateral request (or, where the latter is indicated) to pursue the curvature calculated from the last basequest ; inde tt garlic , also on the basis of speed of the self-vehicle 8 . In order , ECU 2 is a taper calculator design to this intermediate lateral relationship , partially or lare solving , following the formula In more detail, the ECU 2 is configured to determine The lateral relation of this map is based on the lateral relation of this map. calculated ; unspecific , on the basis ( or , solving it ) following formula : aymax = MIN ( 2 . 5 — | F ro qql , 1 ) ; here , such formula is infinite considering wave regulation UNR egulation . 2 0 In particular, the ECU 2 ¢ is configured to calculate resinmode $ = Î max © solving ¥ = 0 ( index , ppo , or where the derivative of diy energy is 0 ) as V3L function L ; or vve where X yx = = In fact , the ECU 2 ¢ is configured complete the change of speech maneuver of the inbaseal fault ( or true , when ¢ I know that the ) constraint and relationship is broken , but the exchanges are odicorsia ; in particular , based on default timeout ( preferably , two seconds ) edin based on this reasoning , but the odicorsia exchanges Therefore, the ECU 2 ¢ is configured to calculate an indicative value of the optimal length The * of the polynomial curve, or the line of conjunction 12A , 12B , on the basis of this reasoning if permissible to ,, (excerpt from this lateral relationship pursue another constant retraining ) ; inde tta glio , solvingj ( xyax ) = ay , . - 35V 3 where L * = In the table , ' ECU 2 ¢ configured for realigned calculation Y max conjunctionfor ssi but 1 2 B also on the base L * ; or vve ro , indecently speaking toil constraintcalculationcoloditem nametocompletehandsteering . In the glioma , the constraincalcalcoloditem pointto complete the gearshift is respected (or ungelaline branches delimitation of the destination lane 11 in time , or response rate , predefined minimum test value , percomplete rectal m experiment, and the calculated L* value. Conveniently , optionally , ECU 2 is configured for reuna calculation linear junction , either 1 2 B or remote 1 2 A , based on a curve ordinary loss polynomials of the lateral side loop constraint but ssi mo For illustrative purposes, ECU 2 is configured for recalibrated calculations. junction 1 2 A , 1 2 B on the basis of the bond , or the condition , J ax < 0 , 5 m / s In particular , such a polynomial curve is expressed as follows formulation : y ( x ) = co + c 1 x + box ? + c 3 x 3 + c 4 x * + csx ® + cx ® + cyx 7 . In addition , in particular , ECU 2 is configured to calculate relinear combinations of one 1 2 A , 1 2 B , or polynomial curve vve , solvingSystem ( 5 ) as follows: 2 1 N~ xo = 0 y| x0=0 is x(]:o ylx ( ] : o lx = 0 ® where xN=W and N = 0 and N = 0 ylx N = 0 The ECU 2¢ is also configured to provide the dual-core base. changed our discourseto 1 2 . For example , the ECU 2 ¢ configuredfor computing ( block 6 ) an attraction 9 of the vehicle 8 on the gearshift drive base 1 2 calculationand provide us with letters tto ria 9 calculated In particular, the ECU 2¢ is also designed to control the operation, equipped with dynamics, of the vehicle 8 on the basis of such gear lane shift corridor 12 . I n p a r t i c o l a r e , ’ E C U 2 ¢ c o n f i g u r a t a p e r f a r v i s u a l i zza r e , s u r i s o r s e e l e tt r o n i c h e d i v i s u a l i zza z i o n e ( a d e s e m p i o , u n d i s p l a y ) d e ll’ a u t o v e i c o l o 8 , i l c o rri d o i o d i c a m b i o d i c o r s i a d i m a r c i a 1 2 e / o u n a i n f o r m a z i o n e i n d i c a t i v a d e lla d i r e z i o n e c h e I ’ a u t o v e i c o l o 8 d o v r e bbe s e g u i r e d a ll’ i s t a n t e d i t e m p o i n i z i a l e f i n o a d u n i s t a n t e d i t e m p o d i f i n e m o n i t o r a ggi o ; i n c u i , s i v u o l e t e r m i n a r e l a v i s u a l i zz a z i o n e d e l c o rri d o i o d i c a m b i o d i c o r s i a d i m a r c i a 1 2 . I n d e tt a g l i o , t a l e i s t a n t e d i t e m p o d i f i n e m a n o v r a d i c a m b i o d i c o r s i a c o rr i s p o n d e a d u n i s t a n t e d i t e m p o s u cce ssi v o a ll’ i s t a n t e d i t e m p o m a ssi m o p e r c o m p l e t a r e l a m a n o v r a d e l c a m b i o d i c o r s i a ( d e f i n i t o d a l v i n c o l o d i t e m p o m a ssi m o p e r c o m p l e t a r e l a m a n o v r a d i c a m b i o d i c o r s i a ) . I n m a ggi o r d e tta g l i o , l ’ E C U 2 ¢ c o n f i g u r a t a p e r c a l c o l a r e 1 ’ i s t a n t e d i t e m p o d i f i n e m a n o v r a d i c a m b i o d i c o r s i a s o mma n d o u n t e m p o p r e d e f i n i t o , p r e f e r i b i l m e n t e i n b a s e a lla r e g o l a m e n t a z i o n e s p e c i f i c a , a ll’ i s t a n t e d i t e m p o m a ss i m o p e r c o m p l e t a r e l a m a n o v r a d e l c a m b i o d i c o r s i a ; a d e s e m p i o , t a l e t e m p o default to anoint , at the instant of time ss does not complete the working hand changeodiscourse , ¢ lowerordual 0 . 5 seconds . For example , the ECU 2 ¢ is configured to calculate ( block 6 ) a retrained plot predicted , for vehicle 8 , on the basis of various vehicle types receipts ; epervalidate ( block 7 ) predicted readjusted trajectory 9 on the basis of the stream dicambiodicorsiadimer cia 1 2 calculated In particular, the ECU 2 ¢ configurataper freeze ( or modify ) the dioxide flow 1 2 , elesuelin ee delimitation , during one night ( conveniently ) calculated validation or invalidation (block 7) of the plot In particular , the ECU 2 ¢ project tapercalculates the effective two-decimal of the vehicle 8 according to the current driving lane 10, according to the driving lane of destination 11 ed pursuant to march ia lane change lane 12; ed is furthermore overvalidation project (block 7) double-baseline reguided bridge effective margin 1 3 calculated In particular, such effective bidimensional running 1 3 of the self-vehicle 8 comprises co rri twoexchangediscourse march Index , ' ECU 2 ¢ taper calculator project such bidimensional effects 1 3 of the vehicle 8 immodified to start with lacorsia of current gear 10, with tunnels with gear lane change corridor 12 and radius at the end of the lane with arc destination 11. The order image, the ECU 2 ¢ configured to calculate and delimit 1 3 A , 1 3 B defined by two markings 1 3 of the vehicle 8 in such a way that the latter includes of boundary 10A , 10B of the current lane 10, the boundary lines 12A , 12B of the drive lane change corridor 12 and the bounding lines 11A , 11B of the current lane The number of garlic orders , 1 ' ECU 2 ¢ is configured for calculation and delimitation 13A , 13B defining the effective driving corridor 13 of the vehicle 8 such that this last time challenged us by inserting insequently , combining , lelin ee di bounding 10A , 10B of the current lane 10 , the bounding lines 12A , 12B of the lane change corridor 12 and the boundary lines 11A , 11B of the current marking lane In particular , the ECU 2¢ is configured for large vehicles received , at least indicating the dynamics of the vehicle 8 , lose ( block 6 ) a realigned trajectory 9 of the vehicle 8 validate ( block 7 ) trajectory 9 predicted on the based on the spatial dynamic co rri of the double exchange rate of the march 1 2 calculator owner invalidation criterion , conveniently based on speed motor vehicle gears 8 . According to the present invention , the predicted 9 ¢ one dynamic trajectory , or ¢ a predicted 9 trajectory ( block 6 ) on the basedel reference of the curvatur akaes ¢ of the position and the longitudinal dynamics , in 2 3 particularde the speed of the vehicle Secondary views of the present invention , the predicted 9 radius ¢ is a geometric radius , or is a trajectory predicted on the basis of the Kaes curvature reference and the position of the vehicle 8, but without taking into account the dynamics, in particular the v speed, of the vehicle 8. Wherein, optionally, the geometric 9 trajectory ¢ calculated ( block 6 ) based on the following formula: Vstatic = @ 2 here , the spatial length is , respectively , lateral to the geometric plots expressed in a Cartesian system Previously , the akaes curvature reference is calculatedfrom the control (block 4) from the highest level in functionof a planned 9th cycle (block 6) before the scheduled income planner functional but for digital roads supported by the sensory formation plate automotive 3 ecomprehensionidatidid elimination . For example, limiting enum, validate alfined ( block 7 ) deviation 9 prediction , 1 ' ECU 2 ¢ also configured to calculate 9 intersecting prediction one of the lines is the delimitation of the double exchange flow 1 2 ( or , of the double flow calculated margin 1 3 ) and , unless at least one intersection is determined , calculatepositionandintersectionpoint ; eper validate ( block 7 ) teletrait 9 p r e d e tta s u lla b a s e d e lla p o s i z i o n e d e l p u n t o d i i n t e r s e z i o n e . A d e s e m p i o , I ’ E C U 2 ¢ i n o l t r e c o n f i g u r a t a p e r c a l c o l a r e l a d i s t a n z a d i i n t e r s e z i o n e X ,, c o n v e n i e n t e m e n t e i n d i r e z i o n e l o n g i t u d i n a l e , f r a l a p o s i z i o n e d e ll’ a u t o v e i c o l o 8 e l a p o s i z i o n e d e l p u n t o d i i n t e r s e z i o n e ; e p e r c a l c o l a r e u n a d i s t a n z a d i c o n f r o n t o X s a p e con c u i c o n f r o n t a r e l a d i s t a n z a d i i n t e r s e z i o n e X ,,, s u lla base d e lla v e l o c i t a d i m a r c i a d e ll’ a u t o v e i c o l o 8 , c o n v e n i e n t e m e n t e u n a d i s t a n z a d i s i c u r e zza X s a p e , l a q u a l e a d e s e m p i o ¢ p a r i a l quadrato of the longitudinal velocity multiplied by so many Furthermore , for example , the ECU 2 ¢ configuredto validate (block 7) the predicted radius 9 based on the position of the intersection point, of at least a calculated Xsafe comparison distance and of a default criterion , conveniently pretend ntoch is the distance from onex intersections , is equal now hears the at least one front-distance calculated X safe In particular , the more the higher the uncertaintydistance value X y , the easier it is for an attractor to fail signal validation to trigger a generator vehicle intervention 2 4 transmission sso In the warp image , finally validate ( block 7 ) the predicted 9 radius , ECU 2 is configured to increase the calculated Xsafe comparison distance fake because the calculated comparison distance Xsqr is less than the distance of intersectionex , and is but the further distance from the static X intersection - In addition , the ECU 2¢ is configured to validate ( block 7 ) the predicted 9 as long as the comparison distance is x 4 , the calculated intersection distance is less than X and ; invalidate ( block 7 ) the prey 9 plot as long as the comparison distance is the same calculated Xsafe is greater than the intersection distance Xe. In this case , the ECU 2 ¢ is configured to generate signal signals for the unified chain intervention of self - vehicles in case the trajectory is invalid In the case side determines whether the battery is validated (ie, not validated), 1 'ECU 2¢ configured against the operational , dynamic , of the vehicle this last literature is retrained 9 prede tta 11 p r e s e n t e s o f t w a r e d i c o n t r o llo a u t o v e i c o l i s t i c o 1 p r e s e n t a d i v e r s i v a n t a ggi . I n p a r t i c o l a r e , l a R i c h i e d e n t e o sse r v a c h e l a p r e s e n t e i n v e n z i o n e c o n s e n t e a d u n a u t o v e i c o l o 8 d i e ffe ttu a r e u n c a m b i o d i c o r s i a r i s p e tta n d o u n a r e g o l a m e n t a z i o n e , o n o r m a t i v a , s p e c i f i c a ; i n d e tt a g l i o , r i s p e tta n d o l a U N R e g u l a t i o n N o . 7 9 S u ppl . 3 . I n p a r t i c o l a r e , l a p r e s e n t e i n v e n z i o n e p e r m e tte d i c a l c o l a r e u n c o rri d o i o d i c a m b i o d i c o r s i a d i m a r c i a 1 2 , a l c u i i n t e r n o d e v e v i a ggi a r e 1 ’ a u t o v e i c o l o 8 c h e s t a p e r e ffe ttu a r e u n c a m b i o d i c o r s i a , s u lla b a s e d i u n o o p i ù v i n c o l i p r e d e f i n i t i p e r r i s p e tt a r e l a r e g o l a m e n t a z i o n e s p e c i f i c a . I n d e tt a g l i o , i l p r e s e n t e s o f t w a r e d i c o n t r o llo a u t o v e i c o l i s t i c o 1 è v a n t a ggi o s a m e n t e u t i l i zza b i l e a l f i n e d i d e t e r m i n a r e s e u n a t r a i e tto r i a d i g u i d a 9 ¢ valida o m e n o i n f u n z i o n e d i c o n t r o lli v e l o c i , i n p a r t i c o l a r e atti a d e sse r e a pp licati i n t e m p o r e a l e . I n m a ggi o r d e tt a g l i o , i l p r e s e n t e s o f t w a r e d i c o n t r o llo a u t o v e i c o l i s t i c o 1 ¢ u t i l i zza b i l e p e r v a l i d a r e ( b l o cco 7 ) u n a t r a i e tto r i a 9 p r e d e tta , v a n t a ggi o s a m e n t e q u a n d o I ’ E C U 2 p r e v e d e c h e The vehicle 8 was a manual exchange of speech Furthermore, the Applicant observes that the vehicular c ontrol software 1 provides the current quantity of freedom of exchange in the international market discourse marks 1 2 purifying the defects of the unconditional calculus predefined , minimum where the rmi fails In fact , the Applicant claims that there is an alcohol license invention ico r rri two-change speech gearmore gearbox for 1 ' vehiclepercuii 2 5 constraint calculation before finishing defects , finally minimizing possible falsehoods to the rmi In the following order , the Applicant requests the present software 1 permit calculated also rri double exchange speed of gear 1 2 considering the case for hours ( peritem for limit ) . 2 6

Claims

1. Automotive control software (1) stored in, and executable by, electronic processing resources (2) and designed so that, when executed, the electronic processing resources (2) become configured to: - receive automotive quantities provided by an automotive sensor platform (3) of a motor vehicle (8); wherein, at least part of such automotive quantities are indicative of the dynamics of the motor vehicle (8) and wherein, at least part of such automotive quantities are indicative of the position of different lane boundary lines; - determine boundary lines (10A, 10B) of a current driving lane (10) for the motor vehicle (8) based on one or more received automotive quantities indicative of the position of different lane boundary lines;- determine whether the motor vehicle (8) is about to perform a lane change manoeuvre, in order to move from the current lane (10) to a different destination lane (11), on the basis of one or more received vehicle quantities; and, determine boundary lines (11A, 11B) of the destination lane (11) on the basis of one or more received vehicle quantities indicative of the position of different lane boundary lines; - calculate a lane change corridor (12), to connect the current lane (10) with the destination lane (11), on the basis of one or more received vehicle quantities indicative of the dynamics of the motor vehicle (8) and on the basis of one or more predefined calculation constraints relating to the lane change;wherein, the default lane change calculation constraints include one or more of a minimum time constraint to initiate the lane change maneuver, a maximum time constraint to initiate the lane change maneuver, a minimum time constraint to complete the lane change maneuver, and a maximum time constraint to complete the lane change maneuver; and provide an exit based on the lane change corridor (12).; 2. Automotive control software (1) according to claim 1, wherein the predefined calculation constraints relating to the lane change include a minimum time constraint to initiate the lane change maneuver, a maximum time constraint to initiate the lane change maneuver, a minimum time constraint to complete the lane change maneuver, and a maximum time constraint to complete the lane change maneuver.

3. Automotive control software (1) according to claim 2, wherein the predefined calculation constraints relating to the lane change further comprise a maximum lateral acceleration constraint for the lane change maneuver, and possibly also a maximum lateral jerk constraint for the lane change maneuver.

4. Automotive control software (1) according to any of the preceding claims, and designed so that, when executed, the electronic processing resources (2) become configured to calculate, based on one or different automotive quantities indicative of the dynamics of the automotive vehicle (8) and the predefined calculation constraints relating to the lane change, at least one connecting line (12A, 12B) to join the right (10A, 11A) or left (10B, 11B) boundary lines, with respect to the direction of travel of the automotive vehicle (8), respectively of the current lane (10) and the destination lane (11); wherein, the at least one calculated connecting line (12A, 12B) delimits the lane change corridor (12).

5. Automotive control software (1) according to claim 4, and designed so that, when executed, the electronic processing resources (2) become configured to: - calculate, based on the minimum time constraint to complete the lane change maneuver, a near link line (12B) that extends the boundary line (10B), of the current driving lane (10), closer to the boundary lines (11A, 11B) of the destination driving lane (11); and / or - calculate, based on the maximum time constraint to complete the lane change maneuver, a far link line (12A) that extends the boundary line (10A), of the current driving lane (10), further from the boundary lines (11A, 11B) of the destination driving lane (11).

6. Automotive control software (1) according to claim 5, and designed so that, when executed, the electronic processing resources (2) become further configured to calculate the near-junction line (12B), so that it reaches the corresponding boundary line (11B) of the destination lane (11), based on a predefined minimum time to complete the lane change maneuver and based on a maximum acceleration for the lane change maneuver.

7. Automotive control software (1) according to claim 5 or 6, and designed so that, when executed, the electronic processing resources (2) become further configured to: - calculate the near lane line (12B) also based on the minimum time constraint to initiate the lane change maneuver; and / or - calculate the far lane line (12A) also based on the maximum time constraint to initiate the lane change maneuver.

8. Automotive control software (1) according to any of claims 5 to 7, and designed so that, when executed, the electronic processing resources (2) become configured to calculate a connecting line (12A, 12B) by means of a fifth, or seventh, order polynomial curve.

9. Automotive control software (1) according to any of the preceding claims, and designed so that, when executed, the electronic processing resources (2) become configured to: - calculate (block 6) a predicted driving trajectory (9), for the automotive vehicle (8), based on one or more received automotive quantities; and - validate (block 7) the predicted driving trajectory (9) based on the calculated lane change corridor (12).

10. Motor vehicle (8) comprising electronic processing resources (2) storing and configured to execute the motor vehicle control software (1) according to any of the preceding claims.