| 摘要 |
The present invention relates to a method for determining a direction of travel for a following vehicle (10) in order to ensure that the following vehicle (10) follows a path that is indicative of a vehicle path of a target vehicle (12). The target vehicle (10) extends in a longitudinal direction (X) and a lateral direction (Y) wherein the longitudinal direction (X) corresponds to an intended direction of travel of the following vehicle (10). The method comprises:
€¢ determining a measured lateral offset (”Y measure ) between the following vehicle (10) and the target vehicle (12);
€¢ measuring at least one lateral position change parameter corresponding to an actual performed and/or ongoing and/or impending lateral position change of said following vehicle (10), an actual performed and/or ongoing and/or impending lateral position change of said target vehicle (12), or a combination thereof;
€¢ determining a lateral offset modification measure (O Y ) using said lateral position change parameter, and
€¢ using the measured lateral offset (”Y measure ) and the lateral offset modification measure (O Y ) when determining the direction of travel. |
