Motor vehicle control device and method for determining avoidance trajectories for a collision-free avoidance maneuver of several motor vehicles

摘要

The invention relates to a method for determining avoidance trajectories (13) for a collision-free evasive maneuver (12) of motor vehicles (1, 2, 3), wherein trajectory data (8) are generated from at least one trajectory generator (5) for each motor vehicle (1, 2, 3) ), which describe a family (10) of possible driving trajectories (11), and for each motor vehicle (1, 2, 3) a set evasion trajectory (13) is determined on the basis of its family (10) of possible driving trajectories (10). This should be done in real time. The invention provides that for each motor vehicle (1, 2, 3) the driving trajectories (11) of its family (10) are divided into groups (15) and each group (15) is represented by a single respective group trajectory (16) and in each case one of the group trajectories (16) of each motor vehicle (1, 2, 3) is selected in at least one combination step, and a resulting driving maneuver is checked on the basis of the selected group trajectories (16) to determine whether the driving maneuver satisfies a predetermined optimization criterion (14); the group trajectories (16) of a combination step with the optimization criterion (14) met, the avoidance trajectories (13) are determined.