CONTROL SYSTEM AND CONTROL METHOD FOR SAMPLING-BASED PLANNING OF POSSIBLE TRAJECTORIES FOR MOTOR VEHICLES

摘要

A control system (10) is suitable for use in an own motor vehicle (12) and is designed and intended to monitor a current driving system of the own motor vehicle and of a further motor vehicle and to determine an optimum trajectory, to be followed by the own motor vehicle (12), for a subsequent driving manoeuvre of the own motor vehicle (12), on the basis of environmental data of the own motor vehicle (12) provided to the controller. The control system is designed and intended to determine information relating to a current driving situation of the own motor vehicle (12) and/or of at least one other motor vehicle on the basis of the provided environmental data. The control system (10) is further designed and intended to determine a plurality of lateral positions and a plurality of longitudinal positions and/or speeds on the basis of the information relating to the current driving system of the own motor vehicle and/or of the other motor vehicle. Finally, the control system (10) is designed and intended to determine, from the plurality of lateral positions and the plurality of longitudinal positions and/or speeds, stop points for an optimum trajectory to be followed by the own motor vehicle (12) when executing a driving manoeuvre and to define the optimum trajectory for the own motor vehicle (12) by means of a spline-based interpolation between the determined stop points and in accordance with the lateral positions at the stop points.