Method for assisting autonomous driving of motor vehicle on road, involves detecting irregularities on road and preparing target trajectory in dependence on detected irregularities such that the irregularities are not included

摘要

The method involves detecting the irregularities (7) or bumps on the road (3), and preparing the target trajectory (5) in dependence on the detected irregularities. The target trajectory is prepared such that the irregularities are not included. The target trajectory is prepared as a function of detected irregularities, if the driving comfort criterion (9) of motor vehicle (1) is not violated. The specification of driving comfort criterion is set not to exceed the maximum acceleration, if the vehicle passes through the target trajectory. An independent claim is included for an assistance device for assisting autonomous driving of motor vehicle on road.