Robust dead time and dynamic compensation for trajectory tracking

摘要

The invention relates to a transverse control structure with one or more controlled variables for generating a steering input of a power steering system of a motor vehicle. A device for regulating the lateral guidance of a vehicle is described. The device comprises a presetting unit which is set up to specify a driving task with regard to the transverse guidance of the vehicle and to advance the driving task by a dead time in order to determine a temporally advanced driving task. Furthermore, the device comprises a trajectory planner which is set up to determine one or more desired trajectory variables for a trajectory of the vehicle as a function of the temporally advanced driving task. In addition, the device comprises a controller, which is set up, based on the one or more desired trajectory quantities for the trajectory of the vehicle, to determine a steering input for a power steering system of the vehicle as a controller output variable. The dead time is dependent on a time delay in the implementation of the steering input by the power steering and / or by a bus communication.