Zf Friedrichshafen Ag

Michael Fleps-Dezasse

Ulrich Mair

Stephan Pollmeyer

Nils Mühl

Lothar Kiltz

Felix Mesmer

Michel Wilde

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.

Trajectory planning system for a vehicle and vehicle

The disclosure relates to a process of ascertaining an input variable of a vehicle actuator using a model-based predictive control. A processor unit accesses trajectory information and a state data set, which represents a state of surroundings of a vehicle, the vehicle, and/or the vehicle, by an interface. The processor unit carries out a secondary condition algorithm in order to calculate a secondary condition and an MPC algorithm for a model-based predictive control. By carrying out the secondary condition algorithm, a secondary condition is ascertained for the MPC algorithm based on the trajectory information and the state data set. By carrying out the MPC algorithm, an input variable is ascertained for an actuator of the vehicle based on the secondary condition. This is carried out such that in a future predicted trajectory, the vehicle follows the specified trajectory with a specified degree of reliability.

Ascertaining an input variable of a vehicle actuator using a model-based predictive control

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Markdorf, Germany

Michael Fleps-Dezasse