Cooperative vehicle lateral guidance closed-loop control, computer program product and open-loop control device for a motor vehicle

Abstract

The present invention generally relates to closed-loop control methods, a computer program product and an open-loop control device () for a motor vehicle (). The closed-loop control method is configured for the cooperative vehicle lateral guidance of a motor vehicle () with respect to a reference trajectory by means of an overall closed control loop () of a vehicle closed-loop control unit (). The overall closed control loop () comprises at least one first closed-loop control module () and one second closed-loop control module (). The first closed-loop control module () has a dynamic open-loop pilot controller () having a virtual closed control loop () which is configured to take into account a steering wheel state based on a manual steering input for influencing the vehicle lateral guidance. The second closed-loop control module () has a non-linear adaptive model-predictive closed-loop controller which is configured to compensate for at least one unknown estimated disturbance state based on at least one disturbance variable which causes a deviation of the vehicle lateral guidance from the reference trajectory.