Method for trajectory calculation and regulation for a driver assistance system and a control unit and motor vehicle

摘要

The invention relates to a method for trajectory calculation and regulation for a driver assistance system, wherein an initial condition S (t0), comprising an initial velocity v (t0) and an initial acceleration a (t0), and an end condition S (te) by a control unit (1), comprising a total route length L and a terminal speed v (te). The control unit calculates a trajectory S (t) which satisfies the initial condition S (t0) and the end condition S (te). Here, times ti on the trajectory S (t), which have a time interval dT to each other, a respective target condition S (ti), comprising a target position s (ti), a target speed v (ti) and a target acceleration a (ti), assigned. Characteristic of the method is that the control unit (1) adjusts a profile of the trajectory S (t) in such a way that the trajectory S (t) satisfies marginal parameters, comprising a predetermined maximum acceleration amax and a predetermined maximum pressure jmax, and an acceleration a ( t) over the trajectory S (t) has a steady course. The trajectory S (t) consists of at least one subsection which has a constant jerk. The control unit (1) controls a motor vehicle (motor vehicle) in such a way that it travels along the trajectory S (t).