Zf Friedrichshafen Ag

Lothar Kiltz

Stephan Pollmeyer

Michael Fleps-Dezasse

Felix Mesmer

A trajectory planning system for a vehicle includes a sensor system for measuring an actual curvature on the basis of a respective current yaw rate, a memory containing a target trajectory with target curvatures, wherein the trajectory planning system determines target yaw rates from the target curvature, and a steering system that uses steering variables to obtain target curvatures in actual curvatures. The system determines a respective first actual derivative of the measured respective current actual yaw rate over time and a respective first target derivative of the respective current target yaw rate over time. A correlator determines a respective current delay on the basis of the respective first actual derivatives and the respective first target derivatives in a current yaw rate segment, and a parameter estimator recursively estimates the delay between the target yaw rate and the actual yaw rate on the basis of respective current delay inputs.

Growing community of inventors

Ravensburg, Germany

Lothar Kiltz