Abstract: A method for controlling a vehicle including an actuator along a trajectory, in which the trajectory is planned within a search space, and considers a projection of a manipulated variable of the actuator. The method includes creating an actuator model of the actuator on the basis of the manipulated variable of the actuator; defining time increments of the projection; determining the change in the manipulated variable of the actuator along the time increments on the basis of the actuator model and a limit value for the manipulated variable; limiting the search space on the basis of the limit value of the manipulated variable of the actuator; determining an acceleration value and/or a deceleration value of the vehicle by converting the manipulated variable using the vehicle mass and the wheel radius; and outputting the acceleration value and the deceleration value to limit the search space within which the trajectory is planned.

Abstract: A method for controlling a vehicle including an actuator along a trajectory, in which the trajectory is planned within a search space, and considers a projection of a manipulated variable of the actuator. The method includes creating an actuator model of the actuator on the basis of the manipulated variable of the actuator; defining time increments of the projection; determining the change in the manipulated variable of the actuator along the time increments on the basis of the actuator model and a limit value for the manipulated variable; limiting the search space on the basis of the limit value of the manipulated variable of the actuator; determining an acceleration value and/or a deceleration value of the vehicle by converting the manipulated variable using the vehicle mass and the wheel radius; and outputting the acceleration value and the deceleration value to limit the search space within which the trajectory is planned.

Abstract: A method in which the position of the center of gravity of a moving motor vehicle is ascertained, wherein at least one set of related input variables is taken into consideration, and the set of input variables includes at least a longitudinal acceleration of the motor vehicle, a lateral acceleration of the motor vehicle, a yaw rate of the motor vehicle and at least one wheel rotational speed, in particular four wheel rotational speeds, wherein the set of input variables is ascertained during a steady-state driving maneuver, and a quantity of possible center of gravity positions is defined as classes and, by a learning-based classification method, on the basis of the set of input variables, a class is selected which indicates an estimated center of gravity position. A control unit for carrying out the method is also disclosed.

Abstract: A method in which the position of the center of gravity of a moving motor vehicle is ascertained, wherein at least one set of related input variables is taken into consideration, and the set of input variables includes at least a longitudinal acceleration of the motor vehicle, a lateral acceleration of the motor vehicle, a yaw rate of the motor vehicle and at least one wheel rotational speed, in particular four wheel rotational speeds, wherein the set of input variables is ascertained during a steady-state driving maneuver, and a quantity of possible center of gravity positions is defined as classes and, by a learning-based classification method, on the basis of the set of input variables, a class is selected which indicates an estimated center of gravity position. A control unit for carrying out the method is also disclosed.