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

Claim 0:
1. A method for controlling the movement of a vehicle in an automatic driving operation, the method comprising:
during the automatic driving operation
guiding the vehicle automatically along a regular target trajectory to a predetermined target position in a regular operating mode;
determining a functional impairment of the regular operating mode; and
guiding the vehicle, responsive to the determination of a functional impairment of the regular operating mode, automatically to an emergency stop position in an emergency operating mode,
wherein, in the emergency operating mode
the vehicle is initially guided further automatically along the regular target trajectory in a prediction phase and the vehicle is then braked with a deceleration profile containing 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.