| 摘要 |
A method for determining a cutting trajectory that enables a curve section of a lane to be cut by a vehicle. In the method, information about the curve section is received, and the curve section is divided into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment. This is followed by determination of a cutting trajectory from the at least one curve segment, so that, at a specific point of the curve section, the cutting trajectory has a predetermined offset relative to a center of the lane. |
| 主权项 |
1. A method for operating a lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, the method comprising:
receiving, by the lane keeping system, information about the curve section of the predefined road lane via an interface; dividing, by the lane keeping system, the curve section of the predefined road lane into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment; determining, by the lane keeping system, a cutting trajectory within the predefined road lane from the at least one curve segment, so that, at a specific point of the curve section of the predefined road lane, the cutting trajectory has a predetermined offset relative to a center of the predefined road lane; and providing, by the lane keeping system, a vehicle trajectory guidance along the determined cutting trajectory; wherein the cutting trajectory is divided into a plurality of trajectory segments having a segment length and a start curvature, the start curvature corresponding to the end curvature of a preceding trajectory segment, and the curvature thereof either being constant over the arc length of the trajectory segment in the form of a straight-line segment or circular arc segment or changing linearly with the arc length of the trajectory segment in the form of a clothoid segment; wherein the straight-line segment length, the clothoid segment length, the start curvature of the clothoid segment, a parameter of the clothoid segment, the circular arc segment length and the circular arc curvature are so adjusted that a maximum curvature of the clothoid segment trajectory and a curvature of the circular arc segment trajectory is in each case less than a maximum curvature of the curve section, and in which a straight-line trajectory is determined which is associated with the straight-line segment, a clothoid trajectory is determined which is associated with the clothoid segment, and a circular arc trajectory is determined which is associated with the circular arc segment, and in which the cutting trajectory is determined from the straight-line trajectory, the clothoid trajectory and the circular arc trajectory; wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are determined taking into consideration a vehicle speed and a curve section curvature. |
