Dr. Ing. H.c. F. Porsche Aktiengesellschaft

Florian Strecker

Georg Tardy-Tuch

Michael Glatz

Georg Von Tardy-Tuch

Georg Warth

Apparatus for controlling dynamics of a vehicle determines a current course angle (&#x3b1;) of the vehicle. A desired course angle (&#x3b1;) is defined and assigned to a first point on a temporal profile of a desired driving line. The first point is on the desired driving line at a first preview time from a location assigned to an instantaneous vehicle position. A course angle deviation of the current course angle (&#x3b1;) from the desired course angle (&#x3b1;) is determined. A target angle (&#x3b1;) is defined and assigned to a second point on the temporal profile of the desired driving line. The second point is on the desired driving line at a distance of a second preview time from the location. A steering wheel angle (&#x3b4;) is determined as a total of the target angle (&#x3b1;) reinforced with a first parameter and the course angle deviation reinforced with a second parameter.

Method and apparatus for lane control of a vehicle

Method and device for optimized autonomous driving, wherein a trajectory for the actuation of the vehicle is determined. A profile of the trajectory is defined by a bending line of a bending band. The bending line is preferably determined by the finite element method, in particular according to the principle of virtual shifting, and achieves an optimization goal and satisfies a boundary condition. The boundary condition is defined in accordance with a profile of a roadway for the vehicle. The optimization goal is defined by a desired driving property of the vehicle.

Method for optimized autonomous driving of a vehicle

Method and device for autonomous driving of a vehicle on a roadway in a direction of travel. A trajectory for driving on the roadway in the direction of travel is determined. A bending strip of limited length defines the trajectory, wherein the bending strip is fixed at one end thereof in a node which defines a starting point of the trajectory. A course of the trajectory is determined, starting from the starting point, in dependence on a bending line of the bending strip, which line extends, starting from the node, to the other end of the bending strip. A representation of a roadway boundary defines a boundary condition for the determination of the trajectory. A quality measure is defined in dependence on a property of the bending strip. The bending line which satisfies the boundary condition and for which the quality measure has an extremal value is determined.

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Weissach, Germany

Florian Strecker