The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 15, 2026
Filed:
Jun. 20, 2022
Bayerische Motoren Werke Aktiengesellschaft, Munich, DE;
Christina Dietrich, Unterdiessen, DE;
Michael Habermeier, Weilheim, DE;
Niko Kirsamer, Munich, DE;
Christian Rathgeber, Munich, DE;
Philip Wolze, Hersbruck, DE;
Bayerische Motoren Werke Aktiengesellschaft, Munich, DE;
Abstract
Methods, systems, and apparatuses are provided for controlling longitudinal and/or lateral guidance of a vehicle. A trajectory planner is configured to ascertain setpoint trajectory variables for a trajectory of the vehicle. The setpoint trajectory variables include a first trajectory state and a second trajectory state. The second trajectory state corresponds to a change in the first trajectory state over time. A feed-forward controller is configured to calculate a feed-forward control variable from the setpoint trajectory variables and from a model of dynamic behavior of the vehicle. The feed-forward control variable and the first trajectory state are variables of the same type. The device is configured to use the feed-forward control variable as a basis for determining a manipulated variable for a controlled system within the scope of the longitudinal and/or lateral guidance. The manipulated variable and the feed-forward control variable are variables of the same type.