Patent ID: 11945470
Assignee: MERCEDES-BENZ GROUP AG
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 12:
13. A device for controlling the movement of a vehicle in an automatic driving operation, the device comprising:
a main control device that continuously determines a regular target trajectory leading to a predetermined target position and an emergency operation target trajectory leading to an emergency stop position, wherein the main control device is configured to take over vehicle guidance in a regular operating mode of the device and to guide the vehicle in accordance with the determined regular target trajectory; and
an additional control device that stores the emergency operation target trajectory determined by the main control device, wherein the additional control device is configured to take over the driving guidance when a functional impairment of the main control device occurs and to guide the vehicle in accordance with the emergency operation target trajectory, and wherein the additional control device is furthermore configured to first further guide the vehicle in a prediction phase automatically along the regular target trajectory and then to brake with a deceleration profile, which contains first, second, and third, deceleration phases, wherein
the first deceleration phase involves braking for a first period of time within a first deceleration range,
the second deceleration phase involves braking for a second period of time within a second deceleration range, and
the third deceleration phase involves a braking for a third period of time within a deceleration range until the vehicle has come to a standstill or until a driver of the vehicle takes over guidance of the vehicle,
a maximum value of the first deceleration range is greater than a maximum value of the second deceleration range,
the maximum value of the second deceleration range is less than a maximum value of the third deceleration range,

a minimum value of the second and third deceleration ranges is greater than zero.