Regulating vehicle speed involves determining course offsets of preceding vehicle in cycles, delaying by defined time, deriving historical course offset from curvature of vehicle trajectory

摘要

The method involves detecting the yaw or rotation rate of the controlled vehicle (1) to determine the curvature of its trajectory and detecting a preceding vehicle or other object within sensing range (7), especially with respect to a course offset. Course offsets of a preceding vehicle (5) determined in defined cycles are delayed by a defined time span and a historical course offset is determined using the current vehicle trajectory curvature.