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

Claim 14:
15. 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 a momentary strong braking,
the second deceleration phase involves a longer braking than the first deceleration phase having less force than the first deceleration phase, and
the third deceleration phase involves a braking that has more force than the second deceleration phase and the braking lasts until the vehicle has come to a standstill or until a driver of the vehicle takes over guidance of the vehicle, wherein
in the first deceleration phase is carried out with a deceleration gradient having an amount between 5 m/s3 and 30 m/s3, or is carried out with a maximum deceleration having an amount between 3 m/s2 and 9 m/s2,
in the second deceleration phase is carried out with a deceleration having an amount between 1.5 m/s2 and 9 m/s2, or the braking in the second deceleration phase is carried out over a period of time of 0.3 s to 3 s, and the braking in the third deceleration phase is carried out with a deceleration gradient having amount between 1.5 m/s3 and 10 m/s3, or is carried out with a maximum deceleration having an amount between 3 m/s2 and 10 m/s2.