METHOD AND DEVICE FOR THE LONGITUDINALCONTROL OF A VEHICLE

The invention relates to a method for the longitudinal control of a vehicle (1) according to a target trajectory (Tsoll), which specifies a series of target positions (Pk-n to Pk+m) to be adopted by the vehicle (1) over time (t), wherein, based on a current status (Z) of the vehicle (1), a controller control acceleration (actrl) for trajectory control is determined, with which the vehicle (1) is to be accelerated according to specifications of the target trajectory (Tsoll). While the vehicle (1) is travelling over the target trajectory (Tsoll), a curvature (K) of the target trajectory (Tsoll) in a current position of the vehicle is determined from a local curve of the target trajectory (Tsoll), wherein, based on the curvature (K), a declining acceleration offset (aoffset) with increasing curvature (K) is determined. In addition, while the target trajectory (Tsoll) is being travelled, in the current position of the vehicle (1), a longitudinal acceleration resulting from the target trajectory (Tsoll) is determined as the current trajectory acceleration (arefPtOrth) and the controller control acceleration (actrl) is limited to a value corresponding to the sum of the current trajectory acceleration (arefPtOrth) and acceleration offset (aoffset) as a maximum. The vehicle (1) is accelerated according to the limited controller control acceleration (actrl_lim). The invention also relates to a device (2) for the longitudinal control of a vehicle (1).