US 12,077,180 B2
Control system and control method for a hybrid approach for determining a possible trajectory for a motor vehicle
Christian Lienke, Gelsenkirchen (DE); Christian Wissing, Dortmund (DE); Manuel Schmidt, Dortmund (DE); Andreas Homann, Dortmund (DE); Torsten Bertram, Düsseldorf (DE); Till Nattermann, Krefeld (DE); Martin Keller, Waltrop (DE); and Karl-Heinz Glander, Monheim (DE)
Assigned to ZF AUTOMOTIVE GERMANY GMBH, Alfdorf (DE)
Appl. No. 17/413,982
Filed by ZF Automotive Germany GmbH, Alfdorf (DE)
PCT Filed Dec. 16, 2019, PCT No. PCT/EP2019/085300
§ 371(c)(1), (2) Date Jun. 15, 2021,
PCT Pub. No. WO2020/127011, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 102018009927.0 (DE), filed on Dec. 17, 2018.
Prior Publication US 2022/0032952 A1, Feb. 3, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 30/12 (2020.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 30/12 (2013.01); B60W 30/18163 (2013.01); B60W 50/00 (2013.01); B60W 2050/006 (2013.01); B60W 2552/10 (2020.02); B60W 2552/53 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A control system for a motor vehicle configured to detect one or more of lanes, road boundaries, road markings and further motor vehicles in a region adjacent the motor vehicle based on environmental data and to control driving maneuvers of the motor vehicle in real time, the control system comprising:
an electronic controller; and
at least one environmental sensor arranged on the motor vehicle and configured to obtain the environmental data representing the region adjacent the motor vehicle and to provide the obtained environmental data to the electronic controller,
wherein the electronic controller
determines information relating to a current driving situation of the motor vehicle based on first environmental data provided by the at least one environmental sensor,
determines at least one component of a future driving maneuver for the motor vehicle based on the information relating to the current driving situation of the motor vehicle,
determines a plurality of model trajectories for the motor vehicle based on the determined component of the future driving maneuver for the motor vehicle at a first sampling rate of the first environmental data, wherein the first sampling rate corresponds to a starting location of the motor vehicle for the future driving maneuver and an ending location of the motor vehicle for the future driving maneuver,
selects a trajectory for the motor vehicle from the plurality of model trajectories for the motor vehicle, which trajectory is intended to be followed by the motor vehicle in a further course of travel of the motor vehicle, using a first target function that encodes driving comfort and safety of the motor vehicle,
receives second environmental data from the at least one environmental sensor and updates the information relating to the current driving situation of the motor vehicle based on the second environmental data,
adapts the selected trajectory for the motor vehicle using a second target function and based on the second environmental data sampled at a second sampling rate higher than the first sampling rate and the updated information relating to the current driving situation of the motor vehicle, wherein the second sampling rate corresponds to a plurality of intermediate locations of the motor vehicle between the starting location of the motor vehicle for the future driving maneuver and the ending location of the motor vehicle for the future driving maneuver, and
controls the motor vehicle to perform the future driving maneuver by following the adapted trajectory.