Vehicle control system and associated methods for continuous path control of the vehicle taking into consideration cross currents that influence the vehicle trajectory

摘要

A method for generating a path trajectory of a vehicle, taking into consideration cross currents influencing the vehicle path, which is based on a starting point, a path point as a target point, the relevant vehicle properties, as well as a current field influencing the path of vehicle. A current trajectory is formed as an integral of time over a current vector, wherein the time is the travel time, so that each point on the current trajectory corresponds to a time point, over which the vehicle path control at any time point can be related to a corresponding point on the current trajectory, and wherein the direction of the instantaneous actual position with respect to the instantaneous current point is used as a theoretical quantity for each control time point. A continuous path control system for conducting the method is provided.