US 12,358,501 B2
Method for creating a guidance trajectory for a first motor vehicle, method for controlling a motor vehicle and method for operating a motor vehicle
Daniel Münning, Braunschweig (DE)
Assigned to VOLKSWAGEN AKTIENGESELLSCHAFT, (DE)
Appl. No. 18/554,567
Filed by VOLKSWAGEN AKTIENGESELLSCHAFT, Wolfsburg (DE)
PCT Filed Apr. 5, 2022, PCT No. PCT/EP2022/058930
§ 371(c)(1), (2) Date Oct. 9, 2023,
PCT Pub. No. WO2022/214451, PCT Pub. Date Oct. 13, 2022.
Claims priority of application No. 10 2021 203 484.5 (DE), filed on Apr. 8, 2021.
Prior Publication US 2024/0182027 A1, Jun. 6, 2024
Int. Cl. B60W 30/12 (2020.01); B60W 60/00 (2020.01); G06V 20/56 (2022.01); H04W 4/46 (2018.01)
CPC B60W 30/12 (2013.01) [B60W 60/001 (2020.02); G06V 20/588 (2022.01); H04W 4/46 (2018.02); B60W 2420/403 (2013.01); B60W 2530/201 (2020.02); B60W 2552/53 (2020.02); B60W 2554/408 (2020.02); B60W 2556/65 (2020.02)] 13 Claims
OG exemplary drawing
 
1. A method for creating a guidance trajectory for a first transportation vehicle, the method comprising:
receiving swarm data for a route section, that represents motion trajectories from a plurality of second transportation vehicles travelling through the route section, wherein the swarm data also includes respective vehicle widths for each of the plurality of second transportation vehicles sending their motion trajectories;
determining distances between the trajectories represented by the swarm data and a determined roadway edge for the route section; and
correcting respective motion trajectories, in an electronic computing device using information based on vehicle width of the respective second transportation vehicles providing the motion trajectories;
determining, by the electronic computing device, the guidance trajectory for the first transportation vehicle using corrected motion trajectories in response to the distance assigned to the respective motion trajectory for the route section being greater than or equal to a predefined limit value;
providing, by the electronic computing device, the guidance trajectory for the first transportation vehicle to a control device of the first transportation vehicle; and
guiding, by the control device, the first transportation vehicle along the guidance trajectory while transversely controlling the first transportation vehicle using the provided guidance trajectory so as to take into consideration the corrected motion trajectories that account for vehicle width of the respective second transportation vehicles providing the motion trajectory.