Avoidance of objects during trained parking by incorporating backward planning

摘要

The invention relates to a method for fully or partially autonomously driving a reference trajectory (6) with a vehicle (1, 2, 3) Evasion trajectory (7, 8) is approached, with a starting point of the evasive trajectory being chosen as a waypoint that was already traveled against the previous direction of movement of the vehicle (2) and the vehicle (2) against the previous direction of movement back to the starting point of the evasive trajectory (7) and then on the alternative trajectory (7) in the original direction of movement past the obstacle (5) onto the reference trajectory (6).