Situation-adapted control for driver assistance systems and systems for at least partially automated driving of vehicles

摘要

Method (100) for forming a control signal (5) for a driver assistance system (1a) and/or a system (1b) for at least partially automated driving of a vehicle, with the steps: • Suggestions (2a-2d) for trajectories to be traveled by the vehicle ( 2), and / or for other actions to be triggered (2 '), which affect the driving dynamics of the vehicle, are provided (110); • the proposals (2a-2d) are evaluated with a cost function (3) (120), wherein Cost function (3) includes a weighted sum (3*) of several cost terms (3a-3c) and each cost term (3a-3c) represents a requirement and/or an optimization goal for the behavior of the vehicle;• using the with the evaluations (4a-4d) determined from the cost function (3), at least one trajectory (2) or action (2') is selected (130) from the proposals (2a-2d); • at least one control signal (5) is formed ( 140), which, if it is the driving assistance system (1a), or the sys tem (1b) for at least partially automatically driving the vehicle, causes the respective system (1a, 1b) to drive the vehicle along the selected trajectory (2), or to trigger the proposed action (2'), wherein the Weights of the cost terms (3a-3c) are dynamically adapted to each other in the weighted sum (3*) to the current driving situation of the vehicle (121).