Method for controlling an automated or autonomous locomotive device, and evaluation unit

US11358612B2 · kind B2 · utility

Assignee

• Robert Bosch GmbH · DE

Inventors

• Maximilian Manderla · Ludwigsburg, DE
• Philip Holzwarth · Stuttgart, DE
• Roktim Bruder · Stuttgart, DE
• Steffen Joos · Murr, DE
• Thomas Specker · Shanghai, CN
• Stefan Grodde · Stuttgart, DE

Key dates

• Filing date: Dec 20, 2019
• Grant date: Jun 14, 2022
• Expiry date: Aug 11, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2710/20
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A method for controlling an automated or autonomous locomotive device, including automatically ascertaining a deviation from a predefined trajectory, the deviation requiring a return of the locomotive device to the predefined trajectory; automatically calculating a jerk as an input variable, as a function of the deviation from the predefined trajectory; automatically calculating an unconstrained correcting variable for the return to the predefined trajectory, as a function of a weighted sum that includes a weighted summand of the input variable and a weighted summand of the state for the return path; automatically calculating a constrained correcting variable regarding the jerk; the unconstrained correcting variable being manipulated via a cascade that includes multiple stages having one saturation function per stage; integrating the constrained correcting variable, to obtain a constrained return trajectory to the predefined trajectory; automatically steering the locomotive device to the predefined trajectory by way of the constrained return trajectory.