DE102019204661A1 - Localization and mapping for an off-road vehicle - Google Patents

Abstract

A method for updating a map of the surroundings for an off-road vehicle (50) and / or for locating the vehicle (50), comprising: reading in sensor data from a room (60) on a ceiling (62) of a vehicle (50) attached environment sensors (20) are generated when capturing the room (60); Reading in a pre-stored map of the surroundings relating to the room (60); and updating the surroundings map and / or localizing the vehicle (50) located in the room (60) based on the sensor data.

Description

TECHNICAL AREA

The present invention relates to the field of autonomously or partially autonomously driving off-road vehicles. In particular, the present invention relates to a device, a method, a computer program product, a computer-readable storage medium and a data carrier signal.

TECHNICAL BACKGROUND

In the case of autonomous or semi-autonomous vehicles, it is a desirable functionality and at the same time a challenge for the environment detection and vehicle control to localize the vehicle with the required accuracy and speed. This is used to navigate the vehicle. In particular for off-road vehicles, such as industrial and land vehicles, which travel on regulated and often predefined routes, the transport, construction and agricultural management processes can be made safer and more efficient by means of precise and fast vehicle localization.

It is known from the prior art to read in map data sets that have been created for a specific environment or terrain and to update them based on a detection of the environment by means of an environment sensor system. A method for updating a map data set of a limited environment traveled through by mobile devices with environment sensors is, for example, from DE 10 2014 015 073 A1 known. The method there uses environment sensors that are arranged directly on the mobile devices such as driverless transport systems (AGVs, or Automated Guided Vehicles, AGV) in order to record the surroundings of the AGV and to detect objects and people located there. With the sensor data obtained in this way, the existing map data set is updated and the updated map data set is transmitted to a central server device.

However, the known methods are limited in terms of the accuracy of the map update and vehicle localization. The detection range and accuracy of the environment sensor system is limited by the physical nature and can only be expanded to a limited extent and at great expense.

The present invention is therefore based on the object of enabling a more precise map update and vehicle localization without high costs.

The object is achieved by a device, a method, a computer program product, a computer-readable storage medium and a data carrier signal according to the independent claims.

The device for updating a map of the surroundings and / or for locating the vehicle can be a control device or a part thereof. The control unit can act as an electronic control or regulation unit (ECU = Electronic Control Unit), an electronic control or regulation module (ECM = Electronic Control Module) or a control / regulation unit for autonomous driving (e.g. an "autopilot"). The device can be arranged on the vehicle or outside or partially outside the vehicle. Communication between the device and the vehicle can take place wirelessly, for example via Bluetooth, infrared, near-field communication (NFC), radio, internet, intranet, cloud systems and / or wired systems.

The vehicle is an off-road vehicle, preferably an industrial vehicle, a construction vehicle or a land vehicle. In particular, this is a driverless transport system, a self-propelled robot, a mobile crane, a forklift or a tractor. The off-road vehicle is preferably an autonomous or partially autonomous vehicle.

The environment sensor system for generating environment data can comprise one or more environment sensors. The environment sensors preferably include a radar sensor (e.g. a broadband radar sensor or a ground penetrating radar sensor, GPR), a lidar sensor, an ultrasonic sensor and / or a camera, for example a stereo camera or 3D camera or an infrared camera. The environment sensor system is arranged, preferably fastened, on a ceiling of a space that the off-road vehicle can drive into. The room can be a department store, an industrial hall or a parking garage. The environment sensors can belong to a central monitoring device for monitoring the room. The multiple environment sensors of the environment sensor system can be arranged at different positions on the ceiling. The sensor data can be read in by the environment sensors themselves, a storage medium or a server, a cloud system, a blockchain system.

The environment map can be generated by the above-mentioned environment sensor system or another sensor system. The environment map can be read in by the sensor system itself, a storage medium or a server, a cloud system, a blockchain system.

The evaluation unit can comprise a central processing unit (CPU) or a graphic processing unit (GPU). Alternatively, the evaluation unit can be an ECU or an ECM. In this case, the control device is a device / arrangement that is superordinate to the ECU or the ECM.

The evaluation unit is used to update the map of the surroundings that has been read and / or to localize the off-road vehicle in space. Updating data is also understood to mean expanding or changing the map of the surroundings based on the sensor data. The localization of the off-road vehicle relates to the original map of the surroundings, which has not yet been updated based on the sensor data that has been read. Alternatively, the localization of the off-road vehicle can refer to the updated map of the surroundings. The vehicle localization and / or map updating is preferably based on Simultaneous Localizing and Mapping (SLAM) or Monte Carlo Localization (MCL). Alternatively or additionally, the off-road vehicle can be localized by means of triangulation.

Because the environment sensor system is not arranged or attached to the off-road vehicle, but rather to the ceiling of the area in which the vehicle is traveling, the detection area is enlarged. In addition, dynamic changes in the objects and people in the room, in particular their movements, can be recorded with greater accuracy and speed. The sensor data obtained from this therefore enable the map of the surroundings to be updated precisely as well as reliable and safe localization of the off-road vehicle.

Advantageous refinements and developments are specified in the subclaims.

According to one embodiment, a first marker is arranged on an upper side of the vehicle facing the ceiling.

The first marker can thus be recorded in a simple manner by the environment sensor system arranged on the ceiling, which results in a more precise localization of the off-road vehicle.

According to a further embodiment, a second marker is arranged on a floor surface of the room or on a surface of an object located in the room.

The object can e.g. a pallet in a warehouse. The second marker can be detected by the environment sensors arranged on the ceiling. The position and / or orientation of the off-road vehicle can therefore be determined particularly precisely relative to the second marker or to a plurality of second markers.

According to a further embodiment, the method further comprises comparing the sensor data with data which are generated by a sensor system attached to the vehicle when the space is recorded.

The environment sensors arranged on the ceiling or the vehicle's own sensors can be calibrated from the comparison. Here, the data from one of the two sensors can be used as a reference for calibrating the other sensor. A warning signal can also be generated in the event of a discrepancy between the two data sets, the discrepancy being based on a variable derived from the data records, such as the position and / or orientation of the off-road vehicle or the distance between the off-road vehicle and one in space located property. The warning signal can only be triggered when the deviation reaches a predefined limit value.

According to a further embodiment, the method further comprises navigating the vehicle using the updated map of the surroundings.

Navigating the off-road vehicle involves locating the vehicle while driving in space. The current position and / or orientation of the vehicle can be highlighted on the updated map of the surroundings. A distance between the current position of the vehicle and a target position can be calculated and displayed. In particular, the environment sensors arranged on the ceiling can detect a change in the occupancy status of a sub-area in the room. The evaluation unit can take this change (e.g. the removal of a pallet from a point in a department store or the change in the density of pallets) into account when the map is updated.

The computer program product according to the invention is designed to be loaded into a memory of a computer and comprises software code sections with which the method steps of the method according to the invention are carried out when the computer program product is running on the computer.

A program belongs to the software of a data processing system, for example an evaluation device or a computer. Software is a collective term for programs and associated data. The complement to software is hardware. Hardware denotes the mechanical and electronic alignment of a data processing system. A computer is an evaluation device.

Computer program products generally comprise a sequence of instructions which, when the program is loaded, cause the hardware to carry out a specific method that leads to a specific result. When the program in question is used on a computer, the computer program product produces the inventive technical effect described above.

The computer program product according to the invention is platform independent. That means it can run on any computing platform. The computer program product is preferably executed on an evaluation device according to the invention for detecting the surroundings of the vehicle.

The software code sections are written in any programming language, for example Python.

The computer-readable storage medium is, for example, an electronic, magnetic, optical or magneto-optical storage medium.

The data carrier signal is a signal which the computer program product from a storage medium on which the computer program product is stored to another entity, for example another storage medium, a server, a cloud system or a data processing facility , transmits.

• 1 eine schematische Darstellung einer Vorrichtung gemäß einer Ausführungsform;
• 2 eine schematische Darstellung eines Offroad-Fahrzeugs mit einer Vorrichtung aus 1 in einem vom Fahrzeug befahrbaren Raum;
• 3 eine schematische Draufsicht eines Warenhauses, in dem sich ein Gabelstapler befindet; und
• 4 eine schematische Darstellung eines Markers.

Embodiments will now be described by way of example and with reference to the accompanying drawings. Show it:

• 1 a schematic representation of a device according to an embodiment;
• 2 a schematic representation of an off-road vehicle with a device 1 in a space that the vehicle can drive;
• 3 a schematic plan view of a warehouse in which a forklift is located; and
• 4th a schematic representation of a marker.

In the figures, the same reference symbols relate to the same or functionally similar reference parts. The relevant reference parts are identified in the individual figures.

1 shows a device in a schematic representation 10 for updating an environment map for an off-road vehicle 50 (please refer 2 ) and / or to locate the vehicle 50 . The device 10 includes a first interface 12 for reading in sensor data from an environmental sensor system 20th when capturing the space 60 are generated. The environment sensors 20th is on a ceiling 62 of the room 60 ( 2 ) arranged, preferably attached. The environment sensors 20th is preferably part of a central monitoring device for the room 60 which can be a department store. The device 10 includes a second interface 14th for reading in a pre-saved map of the surroundings. The environment map is from a sensor device for the room 60 creates and contains two-dimensional or three-dimensional spatial data of the room 60 . The device 10 further comprises an evaluation unit 16 to update the environment map and / or localize yourself in the room 60 current vehicle ( 50 ) based on the read in sensor data.

2 shows a schematic representation of the room 60 , on its floor area 64 the off-road vehicle 50 is located. The off-road vehicle 50 is for example a forklift in which the device 10 out 1 is arranged. The off-road vehicle 50 is within a detection area 22nd the environment sensors 20th . There is also a sensor system 30th on a top 52 of the off-road vehicle 50 arranged. The sensors 30th serves to capture the room 50 , especially the ceiling 62 of the room 60 . On the ceiling 62 For example, markers can be arranged by the sensors 30th are detectable. Position data of the off-road vehicle can be obtained from this detection 50 that are used to locate the vehicle 50 or update of the environment map can be used.

3 shows schematically a department store 70 which one limit 66 having. Within the limit 66 are located on the floor of the warehouse 70 several pallets 68 . The off-road vehicle 50 , which is a forklift truck here, is in an aisle between the several pallets 68 . There are also several markers 56 on a surface of the pallets 68 upset. These markers 56 can from the one on the ceiling 62 of the department store 70 attached environment sensors 20th are recorded. Based on the sensor data generated from this, a pre-stored map of the area of the department store 70 updated. Alternatively or additionally, the forklift can 50 based on the sensor data.

4th shows an exemplary marker 54 , 56 that is on the pallets 68 in 3 or on the forklift 50 in 2 and 3 is applicable. The marker 54 , 56 preferably comprises one two-dimensional barcode (QR code). The marker 54 , 56 can be colored or colorless.

• - Erzeugen von Sensordaten mittels einer an einer Decke 62 eines vom Fahrzeug 50 befahrbaren Raumes 60 angebrachten Umfeldsensorik 20;
• - Einlesen der Sensordaten;
• - Einlesen einer vorgespeicherten Umfeldkarte betreffend den Raum 60; und
• - Aktualisieren der Umfeldkarte und/oder Lokalisieren des sich im Raum 60 befindlichen Fahrzeugs 50 basierend auf den Sensordaten.

In a further embodiment, the method according to the invention can comprise the following steps:

• - Generation of sensor data by means of a on a ceiling 62 one from the vehicle 50 navigable space 60 attached environment sensors 20th ;
• - Reading in the sensor data;
• - Reading in a pre-stored map of the surroundings relating to the room 60 ; and
• - Updating the environment map and / or locating yourself in the room 60 located vehicle 50 based on the sensor data.

The device according to the invention 10 can be used together with the environment sensors 20th a system for updating an environment map for the off-road vehicle 50 and / or to locate the vehicle 50 form.

List of reference symbols

10

contraption

12

first interface

14th

second interface

16

Evaluation unit

18th

third interface

20th

Environment sensors

22nd

Detection area

30th

in-vehicle sensors

50

vehicle

52

Top

54

first marker

56

second marker

60

room

62

ceiling

64

Floor area

66

Limitation

68

palette

70

Department store

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102014015073 A1 [0003]

Claims (12)

A method for updating a map of the surroundings for an off-road vehicle (50) and / or for locating the vehicle (50), comprising: - Reading in of sensor data which are generated by an environment sensor system (20) attached to a ceiling (62) of a room (60) which the vehicle (50) can drive when the room (60) is detected; - Reading in a pre-stored map of the surroundings relating to the room (60); and - Updating the map of the surroundings and / or localizing the vehicle (50) located in the room (60) based on the sensor data. Procedure according to Claim 1 wherein a first marker (54) is arranged on an upper side (52) of the vehicle (50) facing the ceiling (62). Procedure according to Claim 1 or 2 wherein a second marker (56) is arranged on a floor surface (64) of the room (60) or on a surface of an object (68) located in the room (60). Method according to one of the preceding claims, further comprising comparing the sensor data with data which are generated by a sensor system (30) attached to the vehicle (50) when the space (60) is recorded. Method according to one of the preceding claims, further comprising navigating the vehicle (50) using the updated map of the surroundings. Method according to one of the preceding claims, wherein the vehicle (50) comprises an automated guided vehicle system. A method as claimed in any one of the preceding claims, wherein locating the vehicle (50) uses triangulation. Device (10) for updating a map of the surroundings for an off-road vehicle (50) and / or for locating the vehicle (50), comprising: - A first interface (12) for reading in sensor data which are generated by an environment sensor system (20) attached to a ceiling (62) of a room (60) which the vehicle (50) can drive during the detection of the room (60); - A second interface (14) for reading in a pre-stored map of the surroundings relating to the room (60); and - An evaluation unit (16) for updating the map of the surroundings and / or localizing the vehicle (50) located in the room (60) based on the sensor data. Use of the device (10) after Claim 8 in a vehicle (50). Computer program product, comprising instructions which, when the program is executed by a computer, cause the computer to perform the method according to Claim 1 execute. Computer-readable storage medium on which the computer program product is based Claim 10 is stored. Data carrier signal that the computer program product according to Claim 10 transmits.

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