Method and system for controlling a motor vehicle
A method is presented for controlling a motor vehicle ( 10 ). Initially, driving maneuver data containing information concerning multiple possible, different driving maneuvers of the motor vehicle ( 10 ) are generated and/or received. Traffic data containing information concerning at least one undisturbed predicted trajectory of at least one further road user ( 20, 22, 24 ) are generated and/or received. An influence of the at least one driving maneuver on the trajectory of the at least one further road user ( 20, 22, 24 ) is determined, based on the driving maneuver data and the traffic data, and a characteristic variable is ascertained that describes the influence of the at least one driving maneuver on the at least one further road user ( 20, 22, 24 ). In addition, a system ( 34 ) for controlling a motor vehicle ( 10 ) is proposed.
1. A method for controlling a motor vehicle ( 10 ) traveling on a roadway ( 12 ) in a current lane ( 14 ), wherein the roadway ( 12 ) has at least one additional lane ( 16 ) that is adjacent to the current lane ( 14 ) of the motor vehicle ( 10 ), having the following steps:
generating and/or receiving driving maneuver data containing information concerning multiple possible, different driving maneuvers of the motor vehicle ( 10 );
generating and/or receiving traffic data containing information concerning at least one undisturbed predicted trajectory of at least one further road user ( 20 , 22 , 24 ) situated in a predefined surroundings of the motor vehicle ( 10 ), in particular information concerning undisturbed predicted trajectories of multiple further road users ( 20 , 22 , 24 ) in the surroundings of the motor vehicle ( 10 );
determining an influence of the at least one driving maneuver on the trajectory of the at least one further road user ( 20 , 22 , 24 ), in particular on the trajectories of the multiple road users ( 20 , 22 , 24 ), based on the driving maneuver data and the traffic data; and
ascertaining a characteristic variable that describes the influence of the at least one driving maneuver on the at least one further road user ( 20 , 22 , 24 ), based on the determined influence.
2. The method according to claim 1 , wherein the characteristic variable is determined for multiple, in particular for all, of the possible driving maneuvers.
3. The method according to claim 1 , wherein based on the ascertained characteristic variable, one of the multiple driving maneuvers is selected and the motor vehicle ( 10 ) is controlled according to the selected driving maneuver, in particular the selected driving maneuver being an optimal driving maneuver.
4. The method according to claim 1 , wherein the characteristic variable includes a cost function that maps the particular driving maneuver and/or a change in the undisturbed predicted trajectory onto a cost factor, in particular the cost factor being greater when the at least one further road user ( 20 , 22 , 24 ) must decelerate, change direction, and/or change lanes.
5. The method according to claim 3 , wherein the cost function is minimized in order to select the driving maneuver.
6. The method according to claim 4 , wherein the cost function includes the kinetic energies of the motor vehicle ( 10 ) and of the at least one further road user ( 20 , 22 , 24 ).
7. The method according to claim 6 , wherein the cost function (J I ) includes a change in the kinetic energies, i.e., the kinetic energy of the motor vehicle ( 10 ) and/or of the at least one further road user ( 20 , 22 , 24 ), between the particular possible driving maneuver and a situation in which the motor vehicle ( 10 ) remains in the current lane with unchanged speed.
8. The method according to claim 6 , wherein for calculating the kinetic energies of different types of road users, a different, normalized mass is used for each type of road user.
9. The method according to claim 4 , wherein the cost function includes a penalty term for forced lane changes by the at least one further road user ( 20 , 22 , 24 ).
10. The method according to claim 1 , wherein at least the current lane ( 14 ) and/or the at least one additional lane ( 16 , 18 ) are/is transformed into a Frenet-Serret coordinate system.
11. The method according to claim 1 , wherein the possible driving maneuvers are optimized individual driving maneuvers.
12. The method according to claim 1 , wherein at least one sensor ( 36 ) detects at least portions of the current lane ( 14 ) and/or of the additional lane ( 16 , 18 ) in order to ascertain the driving maneuvers of the motor vehicle ( 10 ), generate the traffic data, and/or predict the trajectory of the at least one further road user ( 20 , 22 , 24 ).
13. A control unit ( 38 ) for a system ( 34 ) for controlling a motor vehicle ( 10 ), wherein the control unit ( 38 ) is designed to carry out a method according to claim 1 .
14. A system ( 34 ) for controlling a motor vehicle ( 10 ), including a control unit ( 38 ) according to claim 13 .
15. A computer program having program code means for carrying out the steps of a method according to claim 1 , when the computer program is executed on a computer or a corresponding processing unit ( 42 ), in particular a processing unit ( 42 ) of a control unit ( 38 ).
16. A computer-readable data medium ( 40 ) on which a computer program according to claim 15 is stored.