METHOD FOR PLANNING A TRAJECTORY OF A DRIVING MANEUVER OF A MOTOR VEHICLE, COMPUTER PROGRAM PRODUCT, COMPUTER-READABLE STORAGE MEDIUM, AND VEHICLE

• Main Authors: EDLING, Frank, RIEDER, Maximilian, ENGELHORN, Michael
• Format: Patent
• Language: English; French; German
• Published: 14.08.2024
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The invention relates to a method for planning a trajectory of a driving maneuver of a motor vehicle (4), said method having the steps of: 1) evaluating (200) a current driving situation; 2) ascertaining an adapted driving maneuver on the basis of the evaluated driving situation; 3) calculating a number of working points (A1-A4) of the trajectory on the basis of the evaluated driving situation and the ascertained driving maneuver; 4) discretizing the current surroundings information and/or vehicle information at each of the working points (A1-A4) of the trajectory; 5) selecting and integrating (300) relevant surroundings data for each working point (A1-A4) on the basis of domain-specific information; 6) linearizing the selected and integrated surroundings data; 7) using the linearized surroundings data in order to formulate a QP model; 8) solving (400) the QP model using a QP solver; and 9) repeating (500) steps 1) to 8) on the basis of a convergence of the solution, wherein upon repeating steps 1) to 8), the solution of the QP solver is taken into consideration.