METHOD, CONTROL UNIT, AND SYSTEM FOR CONTROLLING AN AUTOMATED VEHICLE

A method for controlling an automated vehicle. In a first method part, the instantaneous surroundings of the automated vehicle are detected using an on-board surroundings sensor system. A localization of the automated vehicle takes place based on a comparison of the data of the surroundings sensor system to a previously provided HD localization map. A map-based surroundings model is generated, in a second method part representing a normal mode, and is used for planning the behavior and the trajectory of the automated vehicle. In a third method part representing a safety mode, carried out in parallel to or as an alternative to the first method part, the instantaneous surroundings of the automated vehicle are detected using the on-board surroundings sensor system. Based on the data ascertained in the process, a map-less surroundings model is generated and used for planning the behavior and the trajectory of the automated vehicle.