Method and device for planning a trajectory for an automated longitudinal and / or lateral guidance of a vehicle

Abstract

The invention relates to a device for planning a driving trajectory for an automated longitudinal and / or lateral guidance of a vehicle, wherein the device is designed to determine a mixed initial state of the vehicle at an update time; and for a first subset of state variables of the vehicle, the mixed initial state comprises setpoint values from the driving trajectory determined for a preceding update time and, for a second subset of state variables of the vehicle, the mixed initial state is based on measured values. The device is also designed to determine an updated driving trajectory for the update time, wherein the driving trajectory indicates the overall state of the vehicle at a sequence of successive trajectory points, starting from the mixed initial state to a planned end state, and the overall state of the vehicle comprises values for the first subset and for the second subset of state variables.

Description

[0001] 24-3628

[0002] - 1 -

[0003] Method and device for planning a trajectory for the automated longitudinal and / or lateral guidance of a vehicle

[0004] The invention relates to a method and a corresponding device designed to plan a trajectory for the automated longitudinal and / or lateral guidance of a (motor) vehicle.

[0005] A vehicle can have one or more driving systems, each configured to automatically guide the vehicle longitudinally and / or laterally. A driving system can be configured to determine a driving trajectory for the vehicle based on sensor data from one or more of the vehicle's environmental sensors. This trajectory guides the vehicle, for example, at a specific speed within a designated lane of a roadway. Depending on the planned driving trajectory, one or more longitudinal and / or lateral control actuators of the vehicle can be operated to ensure that the vehicle is automatically guided longitudinally and / or laterally at the specified speed along the designated lane of the roadway.

[0006] Within the scope of operating the driving system for automated longitudinal and / or lateral control of the vehicle, the driver may wish to use in24-3628

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[0008] to intervene cooperatively in the longitudinal and / or lateral guidance effected by the driving system.

[0009] This document addresses the technical challenge of achieving particularly comfortable and reliable cooperative longitudinal and / or lateral guidance of a vehicle (by the driver and by a driving system).

[0010] The problem is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim, without the features of the independent claim itself or only in combination with a subset of the features of the independent claim, can constitute a separate invention independent of the combination of all features of the independent claim, which can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can constitute an invention independent of the features of the independent claims.

[0011] According to one aspect, a device for planning a driving trajectory for the automated longitudinal and / or lateral control of a (motor) vehicle is described. The device can be configured to effect the automated longitudinal and / or lateral control of the vehicle depending on the planned or determined driving trajectory. For this purpose, a trajectory tracking controller can be used, which aims to effect the automated longitudinal and / or lateral control in such a way that the vehicle follows the planned or determined driving trajectory. 24-3628

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[0013] In determining the vehicle trajectory, a general state with a total set of state variables of the vehicle is preferably determined for a sequence of successive trajectory points, particularly for a sequence of successive time points (starting from an initial state to a final state). The vehicle trajectory can specify values ​​for the total set of state variables for each individual trajectory point (especially for each time point). The values ​​of the state variables can be used, at least partially, as setpoints for the trajectory tracking controller. In particular, values ​​from a first subset of state variables can be used as setpoints for the trajectory tracking controller. Conversely, the values ​​from a second subset of state variables may not be used as setpoints for the trajectory tracking controller.

[0014] The first and second subsets of state variables can be complementary to each other such that together they correspond to the total set of state variables. The individual state variables from the total set are typically either in the first subset (and not in the second subset) or in the second subset (and not in the first subset).

[0015] Trajectory planning can be updated repeatedly, particularly periodically, at a sequence of successive update times, especially to take into account the current environmental situation around the vehicle. At each update time, an updated driving trajectory can be determined, each progressing from an (updated) initial state to a (newly planned and / or updated) final state. The planning horizon of the individual driving trajectories can remain unchanged, so that the times of the initial state and the final state change as the planning horizon progresses.

[0016] - 4 -

[0017] Postpone the update time. This allows for continuous automated longitudinal and / or lateral guidance of the vehicle.

[0018] The device is configured to determine a mixed initial state of the vehicle at or for an update time (from a sequence of successive update times). For the first subset of the vehicle's state variables, the mixed initial state contains target values ​​derived from the driving trajectory determined for the (immediately) preceding update time. Furthermore, the mixed initial state can contain measured values ​​(in particular, actual values) for the second subset of the vehicle's state variables. These measured values ​​can be determined based on sensor data from one or more of the vehicle's sensors. In general, the mixed initial state can contain values ​​for the second set of state variables that are determined based on measured values.

[0019] The mixed initial state can have a value for each of the total set of state variables, which is referred to in this document as the initial value. The initial values ​​of the first subset of state variables can correspond to the corresponding target values ​​(for the update time) from the previously planned trajectory. Conversely, the initial values ​​of the second subset of state variables can correspond to the currently measured or actual values.

[0020] The device is further configured to determine the updated driving trajectory for the update time, wherein the driving trajectory represents the overall state of the vehicle at the sequence of successive trajectory points, starting from the mixed initial state (at the respective update time) up to a planned final state (an24-3628).

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[0022] a point in time that lies around the planning horizon after the update time), indicates.

[0023] The updated trajectory for the update time can specify (target and / or planned) values ​​for each trajectory point in the sequence of consecutive trajectory points for the first subset and for the second subset of state variables. In other words, the updated trajectory can specify target values ​​for each (one or more) state variables from the first subset and target values ​​for each (one or more) state variables from the second subset.

[0024] The device can be configured to determine the updated trajectory for an update time,

[0025] • based on the mixed initial state determined for the update time;

[0026] • based on environmental data relating to a model of the vehicle's environment at the time of the update (which is determined based on sensor data from one or more environmental sensors of the vehicle); and / or

[0027] • based on a desired final state of the driving trajectory to be determined (which is specified, for example, by the driving system for automated longitudinal and / or lateral control of the vehicle).

[0028] The updated driving trajectory can be determined using a cost function to be optimized, which depends in particular on the mixed initial state, the desired final state, and / or a motion model (e.g., a single-track model) for the vehicle. Furthermore, the updated driving trajectory can be determined using one or more boundary conditions, which depend in particular on the environmental data. The cost function can be determined taking into account the ein24-3628

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[0030] or several boundary conditions are optimized, in particular minimized, using an optimization method to determine the updated driving trajectory. This allows for a particularly precise and robust determination of a driving trajectory.

[0031] Similarly, for each sequence of successive update times, an updated trajectory can be determined starting from the respective mixed initial state.

[0032] The device can be set up, in particular, to perform repeated, especially periodic, updates at the current update time.

[0033] • To determine target values ​​of the first subset of state variables for the current update time from the planned trajectory for the (directly) preceding update time; and • To determine measured values ​​of the second subset of state variables, which are used to determine the values ​​of the second subset of state variables for the current update time.

[0034] The mixed initial state can then be determined for calculating the updated driving trajectory for the current update time based on the target values ​​of the first subset of state variables for the current update time and on the basis of the measured values ​​of the second subset of state variables (which were recorded for the respective current update time).

[0035] The vehicle trajectory, updated at each update time, can then be used (using a trajectory tracking controller) for automated longitudinal and / or lateral guidance of the vehicle. This is achieved by using a mixed initial state consisting of one or more planned state variables and one or more measured state variables.24-3628

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[0037] State variables result in a particularly reliable, comfortable and robust cooperative longitudinal and / or transverse guidance.

[0038] The device can be configured to determine a combined (updated) vehicle trajectory for longitudinal and lateral guidance at an update time. In particular, the vehicle trajectory can specify target values ​​or planned values ​​for one or more state variables for longitudinal guidance and for one or more state variables for lateral guidance. Alternatively or additionally, the device can be configured to determine a (partial) vehicle trajectory for longitudinal guidance (specifying target values ​​or planned values ​​for one or more state variables for longitudinal guidance, and not for state variables for lateral guidance), and / or to determine a separate (partial) vehicle trajectory for lateral guidance (specifying target values ​​or planned values ​​for one or more state variables for lateral guidance, and not for state variables for longitudinal guidance).

[0039] Examples of state variables are:

[0040] • x the position along the longitudinal axis of the vehicle (for longitudinal and / or lateral guidance);

[0041] • y the position in relation to the transverse axis of the vehicle (for longitudinal and / or lateral guidance);

[0042] • v the longitudinal speed of the vehicle (for longitudinal guidance);

[0043] • a the longitudinal acceleration of the vehicle (for longitudinal guidance);

[0044] • Change in longitudinal acceleration (for longitudinal guidance);

[0045] • K Curvature of the path traveled by the vehicle (for lateral guidance); and / or

[0046] • K Change in curvature (for lateral guidance).

[0047] As already explained, a mixed initial state is determined for each update time point, which uses the target values ​​from the previously planned24-3628 for the one or more state variables of the first subset.

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[0049] The device has a driving trajectory and is based on measured values ​​for one or more state variables of the second subset. A specific latency and / or delay time may exist between the measurement time at which the measured values ​​of the one or more state variables of the second subset are acquired and the update time. The device can be configured to predict the measured values ​​for the one or more state variables acquired at the measurement time for the subsequent update time. The previously planned driving trajectory can be taken into account to perform the prediction.

[0050] The latency can differ for one or more lateral guidance-related state variables and for one or more longitudinal guidance-related state variables. The device can be configured to take this into account during prediction. If necessary, an update of at least a part (e.g., the lateral guidance-related part or the longitudinal guidance-related part) of the vehicle trajectory can be performed at an intermediate time point between the measurement time and the update time. The updated part of the vehicle trajectory can then be used to predict the measured values ​​from the intermediate time point to the update time. This allows for particularly precise prediction.

[0051] The device can be configured to acquire the measured values ​​for the one or more (measured) state variables from the second subset at a current measurement time that is deferred by a latency period before the update time. The measured values ​​for the one or more state variables from the second subset can be predicted from the respective current measurement time to the update time in order to determine predicted measured values ​​for the one or more state variables from the second subset for the update time. The prediction can be based on the trajectory determined for the previous update time (and, if applicable, 24-3628).

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[0053] (based on a portion of the trajectory updated at an intermediate point in time).

[0054] The overall state of the vehicle, as described by the driving trajectory, can include, for example, a measured state variable (from the second subset) and one or more (planned) state variables (from the first subset) that correspond to a derivative, e.g., a first or second derivative, of the measured state variable. The values ​​of a planned state variable from the previous driving trajectory (for the preceding update time and / or for the intermediate time) can be integrated from the current measurement time up to the update time to determine a delta value that describes the change in the value of the measured state variable between the current measurement time and the update time. The predicted measured value of the state variable can then be determined based on, in particular, the sum of, the measured value of the state variable and the determined delta value.

[0055] The predicted measured values ​​for the one or more (measured) state variables from the second subset can then be incorporated into the mixed initial state of the vehicle at the update time. The initial state can then include:

[0056] • the target values ​​from the travel trajectory determined for the previous update time for the one or more state variables from the first subset; and

[0057] • the predicted measured values ​​for the one or more state variables from the second subset.

[0058] This allows for a particularly precise update of the vehicle trajectory for a cooperative driving system.24-3628

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[0060] As previously explained, the vehicle trajectory can comprise a longitudinal guidance sub-trajectory and a lateral guidance sub-trajectory. In other words, the vehicle trajectory can have a longitudinal guidance-related part and a lateral guidance-related part. The two parts of the vehicle trajectory can be updated sequentially (i.e., one after the other) to determine the updated vehicle trajectory. The longitudinal guidance-related part of the vehicle trajectory can include one or more longitudinal guidance-related state variables, and the lateral guidance-related part of the vehicle trajectory can include one or more lateral guidance-related state variables.

[0061] The latency between the respective measurement time and the update time can differ for the longitudinal guidance-related part and for the lateral guidance-related part. This can be taken into account when updating the driving trajectory to further increase the accuracy and comfort of the driving trajectory.

[0062] The device can be configured to acquire the measured value for at least one longitudinal guidance-related state variable from the second subset at a longitudinal guidance measurement time that is one longitudinal guidance latency time before the update time. Furthermore, the device can be configured to acquire the measured value for at least one transverse guidance-related state variable from the second subset at a transverse guidance measurement time that is one transverse guidance latency time before the update time. As already explained, the longitudinal guidance latency time and the transverse guidance latency time can be different. In particular, the transverse guidance latency time can be greater than the longitudinal guidance latency time.

[0063] The measured value for the longitudinal guidance-related state variable can be determined, in particular, from the driving trajectory determined for the previous update time and / or from the lateral guidance-related part of the 24-3628

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[0065] The updated driving trajectory can be predicted from the longitudinal control measurement time to the update time in order to determine the predicted measured value for the longitudinal control-related state variable. Furthermore, the measured value for the lateral control-related state variable can be predicted from the lateral control measurement time to the update time, particularly based on the driving trajectory determined for the previous update time and / or based on the longitudinal control-related portion of the updated driving trajectory, in order to determine the predicted measured value for the lateral control-related state variable.

[0066] As already explained, the device can be configured to effect automated longitudinal and / or lateral guidance of the vehicle using a trajectory tracking controller. The trajectory tracking controller can be configured to adjust, in particular regulate, actual values ​​for the first subset of state variables based on the setpoint values ​​for the first subset of state variables from the updated vehicle trajectory. The trajectory tracking controller can, in particular, be configured to determine a control error based on (measured) actual values ​​for the first subset of state variables and based on the setpoint values ​​for the first subset of state variables from the updated vehicle trajectory. Based on the control error, control values ​​for one or more control variables can be generated by a controller to actuate the one or more longitudinal and / or lateral guidance actuators (e.g., steering ...The vehicle's drive motor, braking system, and / or steering system are used to determine the parameters of the vehicle. The one or more longitudinal and / or lateral control actuators can be operated based on the control values ​​for these one or more control variables to effect automated longitudinal and / or lateral control of the vehicle.

[0067] The use of a trajectory tracking controller enables particularly robust automated longitudinal and / or lateral guidance. 24-3628

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[0069] The trajectory tracking controller can be designed such that

[0070] • the setpoints for the second subset of state variables from the updated trajectory are not taken into account and / or set, in particular regulated, by the trajectory tracking controller; and / or

[0071] • the setpoints for the second subset of state variables from the updated trajectory do not contribute to the control error of the trajectory tracking controller; and / or

[0072] • the setpoints for the second subset of state variables from the updated vehicle trajectory are not used by the trajectory tracking controller to determine the control values ​​of the one or more control variables for controlling the one or more longitudinal and / or lateral guidance actuators of the vehicle.

[0073] This allows for a particularly reliable and comfortable cooperative automated longitudinal and / or lateral guidance system.

[0074] The first subset of state variables can include the vehicle's acceleration, the change in the vehicle's acceleration, the curvature of the path traveled by the vehicle, and / or the change in the curvature of the path. The second subset of state variables can include the vehicle's position, the vehicle's speed, and / or the vehicle's orientation. This enables particularly comfortable and reliable cooperative automated longitudinal and / or lateral guidance.

[0075] According to another aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described that includes the device described in this document.

[0076] According to one aspect, a method for planning a driving trajectory for the automated longitudinal and / or lateral guidance of a (motor) vehicle24-3628

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[0078] The procedure involves determining a mixed initial state of the vehicle at an update time, wherein the mixed initial state comprises, for a first subset of state variables of the vehicle, target values ​​from the driving trajectory determined for a previous update time, and for a second subset of state variables of the vehicle is based on measured values ​​for the one or more state variables for the second subset of state variables.

[0079] The procedure further includes determining an updated driving trajectory for the update time, wherein the driving trajectory specifies an overall state of the vehicle at a sequence of successive trajectory points, starting from the mixed initial state to a planned final state, and wherein the overall state of the vehicle includes or specifies (planned) values ​​for the first subset and for the second subset of state variables.

[0080] It should be noted that the aspects described in connection with the device, in particular the claims described in connection with the device, are also applicable to the method as corresponding process features.

[0081] Another aspect described is a software (SW) program. The SW program can be configured to run on a processor (e.g., on a vehicle's control unit) and thereby execute the procedure described in this document.

[0082] According to another aspect, a storage medium is described. The storage medium may include a software program configured to run on a processor and thereby execute the procedure described in this document. 24-3628

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[0084] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways. Features listed in parentheses are to be understood as optional features.

[0085] The invention will now be described in more detail using exemplary embodiments.

[0086] Figure 1a shows exemplary components of a vehicle;

[0087] Figure 1b shows an example of a driving situation of the vehicle;

[0088] Figure 2 shows an exemplary device for the interactive or cooperative longitudinal and / or lateral guidance of a vehicle; and

[0089] Figure 3 shows a flowchart of an exemplary procedure for planning a trajectory for the interactive or cooperative longitudinal and / or lateral guidance of a vehicle.

[0090] As stated at the outset, this document deals with the provision of the most comfortable and reliable interactive and / or cooperative automated longitudinal and / or lateral guidance of a vehicle. In this context, Fig. 1a shows an exemplary vehicle 100 with one or more environmental sensors 102, each configured to acquire sensor data relating to the environment of the vehicle 100.

[0091] Examples of environmental sensors 102 are a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0092] A (control) device 101 of the vehicle 100 can be configured to evaluate the sensor data of one or more environmental sensors 102, e.g. to detect one or more objects (e.g. other vehicles) and / or road markings 24-3628

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[0094] The device 101 can detect objects in the vicinity of the vehicle 100. Furthermore, the device 101 can be configured to effect automated longitudinal and / or lateral guidance of the vehicle 100 based on the sensor data from one or more environmental sensors 102, in particular based on the one or more detected objects and / or road markings. For this purpose, one or more longitudinal and / or lateral guidance actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle 100 can be controlled.

[0095] Fig. 1b shows an exemplary driving situation in which vehicle 100 is traveling on a multi-lane roadway 121. A vehicle 123 is located directly in front of vehicle 100 in the lane it is traveling in. Furthermore, there are neighboring vehicles 122 in one or more adjacent lanes. The course of the roadway 121 and / or the one or more other vehicles 122, 123 in the vicinity of vehicle 100 can be detected based on the sensor data from one or more environmental sensors 102. Furthermore, the device 101 of vehicle 100 can be configured depending on the sensor data from the one or more environmental sensors 102, in particular depending on the roadway course and / or the one or more other vehicles 122, 123 (i.e.,Depending on a model for the environment of the vehicle 100, a driving trajectory 110 for the vehicle 100 is to be determined, which runs from an initial state 111 of the vehicle 100 (in which the vehicle 100 is located on the current lane behind the front vehicle 123) to a final state 112 of the vehicle 100 (in which the vehicle 100 is located on a neighboring lane next to the front vehicle 123).

[0096] The one or more actuators 103 of the vehicle 100 can be controlled depending on the determined travel trajectory 110 in order to cause the vehicle 100 to be transferred from the initial state 111 to the final state 112. An updated 24-3628 can be repeatedly, and in particular periodically, used in this process.

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[0098] The driving trajectory 110 is determined in order to take into account the changing environmental situation in the vicinity of the vehicle 100.

[0099] Thus, an updated driving trajectory 110 for a driving maneuver to be performed by the vehicle 100 can be determined for each successive update time. The driving trajectory 110 determined for a specific update time can represent the (overall) state of the vehicle 110 for a sequence of successive trajectory points (where a trajectory point can be a time-based or a distance-based point), starting from the initial state 111 (at the respective update time or at the corresponding initial (trajectory) point) to the final state 112 (at an final (trajectory) point that follows the initial point with a specific planning horizon).

[0100] The overall state of vehicle 100 can be described by a state vector with a total set of state variables. An example state vector is x = [x, y, 0, v, a, ä, K, k] Twith the state variables

[0101] • x Position along the longitudinal axis of the vehicle 100 and / or the position in a (global) reference coordinate system;

[0102] • y position in relation to the transverse axis of the vehicle 100 and / or the position in a (global) reference coordinate system;

[0103] • v Longitudinal speed of the vehicle 100;

[0104] • a Longitudinal acceleration of the vehicle 100;

[0105] • Change in longitudinal acceleration;

[0106] • K Curvature of the path traveled by vehicle 100; and / or • K Change in curvature.

[0107] The driving trajectory 110 can thus specify the target state of the vehicle 100 at a sequence of preceding trajectory points. The driving trajectory 110 can be determined using a motion model (e.g., a single-track model).24-3628

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[0109] or a kinematic vehicle model) for the motion of vehicle 100. Furthermore, a cost function can be considered, which, for example, aims to determine the most comfortable driving trajectory (e.g., with the least possible jerk) and / or a driving trajectory that reaches a desired final state as precisely and / or as efficiently as possible. The cost function can be optimized, in particular minimized, using an optimization method to determine the driving trajectory 110. One or more boundary conditions can be considered, which, for example, are based on the sensor data of one or more environmental sensors 102 and which, for example, aim to determine a driving trajectory 110 that ensures collision-free driving of vehicle 100.

[0110] The driving trajectory 110 determined for a specific update time t can be passed as a target value to a trajectory tracking controller of the vehicle 100. A first subset of the state variables of the (overall) state of the vehicle 100 specified by the driving trajectory 110 can be used as the target value for the trajectory tracking controller. The trajectory tracking controller can be configured to ensure that the actual values ​​of the first subset of state variables correspond to the target values ​​of the first subset of state variables specified by the driving trajectory 110. In particular, the trajectory tracking controller can be configured to...

[0111] • to determine a control error based on the setpoints for the first subset of state variables from the driving trajectory 110 (e.g., based on the setpoints for the subsequent trajectory point t+1) and based on the measured actual values ​​for the first subset of state variables; and

[0112] • to determine (control) values ​​for one or more control variables based on the control error. 24-3628

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[0114] The one or more longitudinal and / or lateral guidance actuators 103 of the vehicle 100 can then be operated depending on the (control) values ​​for the one or more control variables.

[0115] The first subset of state variables considered, and in particular controlled, by the trajectory following controller may include:

[0116] • a Longitudinal acceleration of the vehicle 100 (for longitudinal guidance);

[0117] • Change in longitudinal acceleration (for longitudinal guidance);

[0118] • K Curvature of the path traveled by vehicle 100 (for lateral guidance); and / or

[0119] • K Change in curvature (for lateral guidance).

[0120] The one or more control variables can include, for example, the drive torque requested by the drive motor, the braking torque requested by the braking device and / or the steering angle requested by the steering system.

[0121] Within the framework of repeated, especially periodic, updates of the vehicle trajectory 110, the target values ​​of the (overall) state of the vehicle 100 for time t from the previous vehicle trajectory 110, which was determined at the previous update time t-1, can be used as the initial state 111 for the updated vehicle trajectory 110 to be determined at the respective update time t. Thus, the target state planned for the update time t can always be used as the starting point for updating the vehicle trajectory 110. In this way, robust trajectory tracking control can be achieved. Manual interventions in the longitudinal and / or lateral guidance of the vehicle 100 made by the driver of the vehicle 100 at a control element 104 (e.g., the steering wheel) can be considered disturbances that are compensated by the trajectory tracking control.This results in the vehicle 100 being robustly carried out as planned by the driving system.24-3628.

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[0123] Trajectory 100 follows (as exemplified by trajectory 301 in Fig. 3).

[0124] In an alternative configuration of the trajectory planning, the current (measured) actual state of vehicle 100 at each update time t could always be used as the initial state 111 for the updated driving trajectory 110. This could lead to unstable driving behavior of vehicle 100, as discontinuities in the control error of the trajectory tracking controller could arise. Fig. 3 shows an exemplary trajectory 302 when using the measured actual state of vehicle 100 as the initial state 111 for determining the updated driving trajectory 110.

[0125] Fig. 2 shows a device 200 for determining the driving trajectory 110 of a vehicle 100 and for effecting automated longitudinal and / or lateral guidance of the vehicle 100 depending on the determined driving trajectory 110. The device 200 can be part of the control device 101 of the vehicle 100. The device 200 comprises a planning unit 202, which is configured to determine trajectory data with respect to an updated driving trajectory 110 based on an initial state 111 and based on environmental data 216 relating to the environment of the vehicle 100. The environmental data 216 can be provided by a modeling unit 206, which is configured to determine (based on the sensor data of one or more environmental sensors 102) a current model of the environment of the vehicle 100. The environmental data 216 can, for example, specify,

[0126] • the course of the roadway 121 used by vehicle 100;

[0127] and / or

[0128] • the position, speed and / or orientation of one or more other road users 122, 123 in the vicinity of the vehicle 100.24-3628

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[0130] The trajectory data for the driving trajectory 110 determined at a specific update time t can specify the setpoints 212 of the first subset of state variables for the subsequent time t+1, which are used by the trajectory tracking controller 203 for the trajectory tracking control of the vehicle 100. The trajectory data can thus be used as a setpoint for the trajectory tracking controller 212. As explained above, typically only a subset of the state variables of the (overall) state, in particular the state vector, of the vehicle 100 are used as a setpoint for the trajectory tracking controller 212. The setpoints 212 of the first subset of state variables used for trajectory tracking control can be considered a planned substate of the overall state of the vehicle 100, which is planned within the framework of trajectory planning.

[0131] The trajectory tracking controller 203 is configured to determine control values ​​213 for one or more control variables (for time t+1) based on the trajectory data, in particular based on the setpoint values ​​212 of the first subset of state variables for the subsequent time t+1 (and based on the measured actual values ​​of the first subset of state variables). The one or more longitudinal and / or lateral control actuators 103 of the vehicle 100 can be operated depending on the control values ​​213 for the one or more control variables, resulting in an actual state 214 of the vehicle 100 (at time t+1). The actual state 214 can be determined, for example, by the above-mentioned

[0132] State vector described.

[0133] A measuring unit 214 can be configured to record measured values ​​215 for one or more state variables of the actual state 214 of the vehicle 100 (for time t+1). Examples of state variables for which measured values ​​215 can be recorded are:

[0134] • x Position (e.g. along the longitudinal axis) of the vehicle 100;

[0135] • y Position (e.g. in relation to the transverse axis) of the vehicle 100;

[0136] • Longitudinal speed of the vehicle 100; and / or 24-3628

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[0138] • the orientation, especially the heading angle, of the vehicle 100.

[0139] The measured values ​​215 for the one or more state variables can be used by the model unit 206 to determine an updated model of the vehicle 100's environment (for time t+1). Based on this, updated environmental data 216 can then be determined for updating the vehicle trajectory 110 (for the update time t+1).

[0140] The device 200 comprises a state unit 201, which is configured to determine the initial state 111 for the determination of the current driving trajectory 110. The initial state 110 (for the update time t+1) can be determined based on the setpoint values ​​212 of the first subset of state variables from the driving trajectory 110 planned at the previous update time t (i.e., based on the trajectory data) and based on the measured values ​​215 for a second subset of state variables.

[0141] The initial state 111 comprises a total set of state variables, which can be divided into a first subset and a complementary second subset of state variables. For the initial values ​​of the first subset of state variables of the initial state 111, the target values ​​212 from the planned trajectory 110 for the previous update time can be used. For the initial values ​​of the second subset of state variables of the initial state 111, the measured values ​​215 (from the measuring unit 205) can be used (where the measured values ​​215 are, for example, acquired at a specific measurement time and predicted to the update time).

[0142] The first subset of state variables preferably comprises the one or more state variables that are set, and in particular controlled, by the trajectory-following controller 203. The first subset of state variables can, for example, include:

[0143] • a Longitudinal acceleration of the vehicle 100 (for longitudinal guidance);

[0144] • Change in longitudinal acceleration (for longitudinal guidance);

[0145] • K Curvature of the path traveled by vehicle 100 (for lateral guidance); and / or

[0146] • K Change in curvature (for lateral guidance).

[0147] The second subset of state variables preferably comprises the one or more state variables of the state vector planned within the framework of trajectory planning that are not set, in particular controlled, by the trajectory tracking controller 203. The second subset of state variables can, for example, include:

[0148] • x Position along the longitudinal axis of the vehicle 100;

[0149] • y position relative to the transverse axis of the vehicle 100;

[0150] • v Longitudinal speed of the vehicle 100;

[0151] • a Longitudinal acceleration of the vehicle 100;

[0152] Thus, a mixed initial state 111 can be used for trajectory planning in the planning unit 202. This mixed initial state is composed of planned initial values ​​for one or more state variables (i.e., from a planned partial state) and of actually measured initial values ​​for one or more other state variables (i.e., from a measured partial state). This enables particularly convenient and robust cooperative longitudinal and / or lateral guidance of the vehicle 100, allowing the driver of the vehicle 100 to intervene in the automated longitudinal and / or lateral guidance of the vehicle 100 by means of manual interventions, without the manual interventions being considered disturbances in the automated longitudinal and / or lateral guidance. The resulting trajectory 303 driven in the described trajectory planning is shown by way of example in Fig. 3.

[0153] Fig. 4 shows a flowchart of an exemplary (possibly computer-implemented) method 400 for planning a driving trajectory 110 for the automated longitudinal and / or lateral guidance of a (motor) vehicle 100. The method 400 can be carried out by a device 101, 200 of the vehicle 100.

[0154] The procedure 400 comprises determining 401 a mixed initial state 111 of the vehicle 100 at or for an update time t. The mixed initial state 111 includes, for a first subset of state variables of the vehicle 100, the target values ​​212 (for the update time t) from the driving trajectory 110 determined for the (immediately) preceding update time t-1. Furthermore, the mixed initial state 111 is based for a second subset of state variables of the vehicle 100 on measured values ​​215 (i.e., on measured actual values ​​of the second subset of state variables). The first subset and the second subset of state variables can together constitute the total set of state variables for which the driving trajectory 110 to be determined provides (target and / or planned) values ​​for a sequence of preceding

[0155] specifies trajectory (time) points.

[0156] Method 400 further comprises determining 402 an updated driving trajectory 110 for the update time, wherein the driving trajectory 110 indicates the overall state of the vehicle 100 at a sequence of successive trajectory points, starting from the mixed initial state 111 to a planned final state 112. The overall state of the vehicle 100 can include (target and / or planned) values ​​for the first subset and for the second subset of state variables. The updated driving trajectory 110 for the update time can be used for the automated longitudinal and / or lateral guidance of the vehicle 100.In particular, the setpoints 212 specified by the updated driving trajectory 110 for the first subset of state variables (for the trajectory point t+1 immediately following the update time) can be used as setpoints for the trajectory tracking controller 203, which is configured to determine control values ​​213 for one or more control variables to actuate the longitudinal and / or lateral guidance actuators 103 of the vehicle 100 in order to effect automated longitudinal and / or lateral guidance. On the other hand, the setpoints of the second subset of state variables (from the updated driving trajectory 110) are typically not used by the trajectory tracking controller 203 or for trajectory tracking control.

[0157] The measures described in this document can achieve a particularly comfortable and robust cooperative longitudinal and / or lateral guidance of a vehicle 100.

[0158] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

24-3628 - 25 - Claims 1) Device (101, 200) for planning a driving trajectory (110) for the automated longitudinal and / or lateral guidance of a vehicle (100); wherein the device (101, 200) is configured, - to determine a mixed initial state (111) of the vehicle (100) at an update time; wherein the mixed initial state (111) comprises, for a first subset of state variables of the vehicle (100), setpoints (212) from the driving trajectory (110) determined for a previous update time, and for a second subset of state variables of the vehicle (100) is based on measured values ​​(215); and - to determine an updated driving trajectory (110) for the update time, wherein the driving trajectory (110) specifies an overall state of the vehicle (100) at a sequence of successive trajectory points, starting from the mixed initial state (111) to a planned final state (112); wherein the overall state of the vehicle (100) includes values ​​for the first subset and for the second subset of state variables. 2) Device (101, 200) according to claim 1, wherein - the device (101, 200) is configured to effect automated longitudinal and / or lateral guidance of the vehicle (100) by means of a trajectory tracking controller (203); and - the trajectory tracking controller (203) is configured to set, in particular regulate, actual values ​​for the first subset of state variables as a function of the setpoint values ​​(212) for the first subset of state variables from the updated driving trajectory (110). 3) Device (101, 200) according to claim 2, wherein the trajectory tracking controller (203) is configured such that - the setpoints for the second subset of state variables from the updated vehicle trajectory (110) are not taken into account and / or set, in particular regulated, by the trajectory tracking controller (203); and / or - the setpoints for the second subset of state variables from the updated driving trajectory (110) do not contribute to a control error of the trajectory tracking controller (203); and / or - the setpoints for the second subset of state variables from the updated vehicle trajectory (110) are not used by the trajectory tracking controller (203) to determine control values ​​(214) of one or more control variables for controlling one or more longitudinal and / or lateral control actuators (103) of the vehicle (100). 4) Device (101, 200) according to one of the preceding claims, wherein the first subset and the second subset of state variables are complementary to each other such that the first subset and the second subset of state variables together correspond to the total set of state variables. 5) Device (101, 200) according to one of the preceding claims, wherein - the first subset of state variables comprises an acceleration of the vehicle (100), a change in the acceleration of the vehicle (100), a curvature of a path traveled by the vehicle (100) and / or a change in the curvature of the path; and / or - the second subset of state variables includes a position of the vehicle (100), a speed of the vehicle (100) and / or an orientation of the vehicle (100). 6) Device (101, 200) according to one of the preceding claims, wherein the device (101, 200) is configured to determine the measured values ​​(215) of the second subset of state variables based on sensor data from one or more vehicle sensors of the vehicle (100). 7) Device (101, 200) according to one of the preceding claims, wherein the device (101, 200) is configured to repeatedly, in particular periodically, update at a current update time, - To determine the target values ​​(212) of the first subset of state variables for the current update time from the planned travel trajectory (110) for the preceding update time; - to determine measured values ​​(215) of the second subset of state variables for the current update time; and - to determine the mixed initial state (111) for the determination of the updated driving trajectory (110) for the current update time based on the setpoints (212) of the first subset of state variables for the current update time and on the basis of the measured values ​​(215) of the second subset of state variables for the current update time. 8) Device (101, 200) according to one of the preceding claims, wherein the device (101, 200) is configured to determine the driving trajectory (110) for the update time, - based on the mixed initial state determined for the update time (111); - based on environmental data (216) relating to a model of the vehicle's environment (100) for the update time;- 28 - - based on a desired final state of the travel trajectory to be determined (110); - using a cost function to be optimized, which depends in particular on the mixed initial state (111), the desired final state and / or a motion model for the vehicle (100); and / or - using one or more boundary conditions, which depend in particular on the environmental data (216). 9) Device (101, 200) according to one of the preceding claims, wherein the updated driving trajectory (110) specifies setpoint values ​​for the first subset and for the second subset of state variables for the individual trajectory points of the sequence of successive trajectory points at the update time. 10) Device (101, 200) according to one of the preceding claims, wherein the device (101, 200) is configured, - to acquire the measured values ​​(215) for the one or more state variables from the second subset at a current measurement time that is latency-wise prior to the update time; - to predict the measured values ​​(215) for the one or more state variables from the second subset to the update time in order to determine predicted measured values ​​for the one or more state variables from the second subset for the update time; and - to include the predicted measured values ​​for the one or more state variables from the second subset in the mixed initial state (111) of the vehicle (100) at the update time. 11) Device (101, 200) according to claim 10, wherein the device (101, 200) is configured to measure the measured values ​​(215) for the one or more 24-3628 - 29 - To predict state variables from the second subset to the update time based on the travel trajectory (110) determined for the previous update time, in order to determine the predicted measured values ​​for the one or more state variables from the second subset for the update time. 12) Device (101, 200) according to one of claims 10 to 11, wherein the device (101, 200) is configured, - to capture the measured value for at least one longitudinal guidance-related state variable from the second subset at a longitudinal guidance measurement time that is one longitudinal guidance latency time before the update time; - to acquire the measured value for at least one lateral guidance-related state variable from the second subset at a lateral guidance measurement time that is one lateral guidance latency time before the update time; wherein the longitudinal guidance latency time and the lateral guidance latency time are different; - to predict the measured value for the longitudinal guidance-related state variable, in particular based on the driving trajectory determined for the preceding update time and / or based on a lateral guidance-related part of the updated driving trajectory (110), from the longitudinal guidance measurement time to the update time in order to determine the predicted measured value for the longitudinal guidance-related state variable;and - to predict the measured value for the lateral guidance-related state variable, in particular based on the driving trajectory determined for the previous update time and / or based on a longitudinal guidance-related part of the updated driving trajectory (110), from the lateral guidance measurement time to the update time in order to predict the predicted measured value for the24-3628; - 30 - To determine the state variable related to the lateral guidance. 13) Method (400) for planning a driving trajectory (110) for the automated longitudinal and / or lateral guidance of a vehicle (100); wherein the method (400) comprises, - Determining (401) a mixed initial state (111) of the vehicle (100) at an update time; wherein the mixed initial state (111) comprises, for a first subset of state variables of the vehicle (100), setpoints (212) from the driving trajectory (110) determined for a previous update time, and for a second subset of state variables of the vehicle (100) is based on measured values ​​(215); and - Determining (402) an updated driving trajectory (110) for the update time; wherein the driving trajectory (110) specifies an overall state of the vehicle (100) at a sequence of successive trajectory points, starting from the mixed initial state (111) to a planned final state (112); wherein the overall state of the vehicle (100) includes values ​​for the first subset and for the second subset of state variables. 14) Software program configured to run on a processor and thereby perform the method (400) according to claim 13. 15) Storage medium comprising a software program configured to run on a processor and thereby perform the method (400) according to claim 13.

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