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1. (WO2018082953) METHOD FOR PARTIALLY OR FULLY AUTONOMOUSLY DRIVING A MOTOR VEHICLE USING A CONTROL DEVICE, AS WELL AS CONTROL DEVICE AND MOTOR VEHICLE

Pub. No.:    WO/2018/082953    International Application No.:    PCT/EP2017/076973
Publication Date: Sat May 12 01:59:59 CEST 2018 International Filing Date: Tue Oct 24 01:59:59 CEST 2017
IPC: B60W 50/029
Applicants: AUDI AG
Inventors: SCHMITT, Nicholas
MAIWALD, Stefan
Title: METHOD FOR PARTIALLY OR FULLY AUTONOMOUSLY DRIVING A MOTOR VEHICLE USING A CONTROL DEVICE, AS WELL AS CONTROL DEVICE AND MOTOR VEHICLE
Abstract:
The invention relates to a method for autonomously driving a motor vehicle (10) using a control device (22), wherein the control device (22) is coupled to vehicle components (11, 12, 13) for longitudinal control and/or lateral control of the motor vehicle (10), and provides a controller unit (26) for generating control signals (23) for the vehicle components (11, 12, 13) based on a controller model (27, 30). According to the invention, the control device (22) provides a failure controller model (30), via which a failure situation (34) is modelled, in which at least one of the vehicle components (11, 12, 13) is non-functional, and a failure signal (29) signalling the failure situation (34) is received from a detection unit (28) during a driving of the motor vehicle (10), and, depending on the failure signal (29), in the controller unit (26), a standard controller model (27) which assumes that the vehicle components (11, 12, 13) are functional is switched to the failure controller model (30), and the motor vehicle (10) is manoeuvred into a safe state (36) by means of the switched controller unit (26) by generating the control signals (23).