Robert Boschgmbh

Stefan Grodde

Wolfgang Fischer

Matthias Bitzer

Maximilian Manderla

Steffen Joos

Jonathan Mueller

Thomas Specker

Bastian Reineke

Philip Holzwarth

Roktim Bruder

Philipp Kotman

Vijaya Kumar Madivala Veerabasappa

Andre Reiche

Thomas Makowicki

A method for controlling an automated or autonomous locomotive device, including automatically ascertaining a deviation from a predefined trajectory, the deviation requiring a return of the locomotive device to the predefined trajectory; automatically calculating a jerk as an input variable, as a function of the deviation from the predefined trajectory; automatically calculating an unconstrained correcting variable for the return to the predefined trajectory, as a function of a weighted sum that includes a weighted summand of the input variable and a weighted summand of the state for the return path; automatically calculating a constrained correcting variable regarding the jerk; the unconstrained correcting variable being manipulated via a cascade that includes multiple stages having one saturation function per stage; integrating the constrained correcting variable, to obtain a constrained return trajectory to the predefined trajectory; automatically steering the locomotive device to the predefined trajectory by way of the constrained return trajectory.

Method for controlling an automated or autonomous locomotive device, and evaluation unit

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Stuttgart, Germany

Stefan Grodde