US 12,263,855 B2
Method for checking the suitability of a target trajectory for trajectory control of a vehicle
Florian Bastien Dumas, Herrenberg (DE); Christoph Dörr, Stuttgart (DE); Stefan Sellhusen, Leonberg (DE); and Roland Werner, Sindelfingen (DE)
Assigned to MERCEDES-BENZ GROUP AG, Stuttgart (DE)
Appl. No. 18/016,030
Filed by MERCEDES-BENZ GROUP AG, Stuttgart (DE)
PCT Filed Jun. 21, 2021, PCT No. PCT/EP2021/066820
§ 371(c)(1), (2) Date Jan. 13, 2023,
PCT Pub. No. WO2022/012874, PCT Pub. Date Jan. 20, 2022.
Claims priority of application No. 10 2020 118 706.8 (DE), filed on Jul. 15, 2020.
Prior Publication US 2023/0286523 A1, Sep. 14, 2023
Int. Cl. B60W 50/12 (2012.01); B60W 40/06 (2012.01); B60W 40/068 (2012.01)
CPC B60W 50/12 (2013.01) [B60W 40/068 (2013.01); B60W 2552/15 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A method for checking the suitability of a target trajectory for trajectory control of a vehicle, the method comprising:
detecting or estimating, by a control unit in the vehicle, a slope, a transverse incline, and a friction value of a road surface along the target trajectory using sensors or map data, wherein the target trajectory contains route information about the path of a route to be driven and momentum information about momentum with which the route should be driven;
calculating, by the control unit, target values required for driving the target trajectory of target traction, target tractive power, target steering power, and horizontal target tire forces on individual wheels of the vehicle based on model equations of the vehicle from the route information and momentum information about the target trajectory and from the detected slope and transverse incline,
wherein the target trajectory is assessed as suitable for the trajectory control if:
the target traction and target tractive power are below a predetermined characteristic traction curve or characteristic tractive power curve,
the target steering power is below a predetermined power limit of the steering, and
the horizontal target tire forces on each wheel are within the friction value limits determined by the friction value,
wherein the target trajectory is otherwise assessed to be unsuitable; and
controlling, by the vehicle, a trajectory of the vehicle along the target trajectory using the target trajectory assessed as suitable for trajectory control.
 
10. A vehicle comprising:
a control unit configured to check the suitability of a target trajectory for trajectory control of a vehicle, wherein the control unit is configured to
detect or estimate a slope, a transverse incline, and a friction value of a road surface along the target trajectory using sensors or map data, wherein the target trajectory contains route information about the path of a route to be driven and momentum information about momentum with which the route should be driven;
calculate target values required for driving the target trajectory of target traction, target tractive power, target steering power, and horizontal target tire forces on individual wheels of the vehicle based on model equations of the vehicle from the route information and momentum information about the target trajectory and from the detected slope and transverse incline,
wherein the target trajectory is assessed as suitable for the trajectory control if:
the target traction and target tractive power are below a predetermined characteristic traction curve or characteristic tractive power curve,
the target steering power is below a predetermined power limit of the steering, and
the horizontal target tire forces on each wheel are within the friction value limits determined by the friction value,
wherein the target trajectory is otherwise assessed to be unsuitable; and
wherein the vehicle is configured to control a trajectory of the vehicle along the target trajectory using the target trajectory assessed as suitable for trajectory control.