| 摘要 |
A method for predicting the expected travel path of a moving vehicle by numerical integration of a dynamic vehicle model using at least one rotational travel state and at least one longitudinal travel state is disclosed. To provide a prediction of the expected travel path, which does not depend on map information and provides the maximum possible accuracy even for non-steady-state travel states of a vehicle, time-related function rules for the rotational travel state φPre(t) and/or for the longitudinal travel state vPre(t) are determined, and values for the travel state concerned φPre, vPre are predicted at specific points in time by integration using said function rule φPre(t), vPre(t). In this process, the time-related function rule of the travel state concerned is determined by obtaining respective (rotational or longitudinal) input variables for at least two time-derivatives of the travel state concerned from measured values. |
