DE102005058628A1 - Navigation system for e.g. lorry, has evaluation unit provided for combining position data sets of vehicle, where combination includes comparison of two data sets for verification and/or determination of result-position data set - Google Patents

Abstract

The system has two independent sensor devices (3) for determination of independent position data sets of a vehicle (1) in a global coordinate system (5). An evaluation unit (4) is provided for combining the position data sets of the vehicle with one another for providing a result-position data set in a programming and/or wired manner, where the combination of the data sets includes a comparison of two data sets from the position data sets for verification and/or determination of the result-position data set. An independent claim is also included for a method for verification and/or determination of a result-position data set of a vehicle using a navigation system.

Description

The The invention relates to a navigation system and a corresponding Procedure for a mobile with N independent Sensor devices for determining N independent location data sets of Mobils in a world coordinate system and with an evaluation device, the program technology and / or circuitry for linking the N place records the mobile is trained to form a result location record is.

For vehicles and mobile systems are a variety of solutions for driver assistance systems and even for autonomous driving systems known. usual Devices use GPS systems, transponder IDs or others Sensor systems for position determination and / or collision avoidance with other vehicles.

From the publication DE 100 312 44 A1 For example, a position and attitude system is known. The disclosed in this document system is intended for a truck with trailer, the truck has a fixed satellite navigation receiver, the truck and the trailer each have a compass and the trailer a kink angle sensor. By complementing the determined measurement data, the position and the position for the truck and the trailer is continuously determined.

The publication DE 19717829 A1 describes a method for position determination for the purpose of navigation of a motor vehicle in traffic. In this method, a satellite navigation system and additional sensors is used, wherein a precise position of the motor vehicle is carried out by averaging the various position values.

The publication JP 09072746 A1 describes a method for position determination, wherein the position of a vehicle is determined by a GPS system and independently by evaluation of motion sensors of the vehicle. The positions of the motor vehicle determined by the two sensor systems are averaged taking into account statistical variables.

The The object underlying the invention is the known devices and to improve procedures, in particular intended for mobile and autonomous and / or Free-moving systems assist a solution to reliable Position determination can be found.

These Task is achieved by a navigation system with the features of the claim 1 and solved by a method having the features of claim 18. The under claims relate to advantageous and / or preferred embodiments of the invention.

Of the inventive object can generally for any mobile, mobile systems or objects are used, e.g. For Trucks, buses or passenger cars. In particular the navigation system for Autonomy and / or Assistance functions in vehicles, in particular commercial vehicles, for shunting or docking functions for Lorries, lorries with semi-trailers (lorry) or lorries with trailer (Articulated train) can be used. Preferably, the navigation system is on depots or factory premises used.

The Navigation system has N, ie a natural number of sensor devices each sensor device being independent of another sensor device as a device for determining the position of the own position and / or the position of the mobile is formed. Based on the position determination are place records of the mobile determinable. Each of the N sensor devices is for determination a location data set formed, where N independent and / or independently determined Place records are determinable. The location records describe the location of the mobile in a world coordinate system, which in particular as a stationary coordinate system is trained.

The Evaluation device is designed to the N local data sets with each other to link, in particular such that each location record preferably is in the link is evaluated quantitatively, and to a result location record create. The result location record describes in particular the actual or the most likely location of the mobile in the world coordinate system.

According to the invention the link in addition one Comparison of at least two of the N location records for Verification and / or determination of the result location record. Preferably, the comparison is carried out in a real subset of all N local data sets, wherein the subset has a number and / or thickness less than N of location records. The subset preferably has at least two of the N location data sets. Of the Comparison is therefore preferably as at least two times more independent, So a 2-out-N, comparison formed.

In particular, the solution according to the invention consists in arranging N, but at least two independent devices for position determination, that is to say sensor devices, eg antennas or sensors, so as to be spatially separated on the vehicle such that they are independent of one another (active or non-stationary) passive) pick up signals from the environment and determine their own position. In this way, the positions of the coordinate systems of the sensor devices in the world coordinate system are detected. By utilizing the knowledge of the relative positions of the coordinate systems of the sensor devices on the one hand and the vehicle coordinate system on the other hand, the position of the vehicle coordinate system with respect to the world coordinate system is determined in each case in a sensor device-specific manner. By at least two independent comparison of independently determined in this way vehicle positions and sufficiently accurate match the at least two position results is based on a reliable position determination. In other words, it is a diversified and / or redundant determination of the vehicle position in the world coordinate system.

Of the Invention is the consideration reason that so far no solution for one indeed reliable Positioning a mobile, becoming autonomous or assisted freely moving system exists.

It is preferably provided that the location records each location information of the mobile and its orientation in world coordinates. Preferably is each of the N place records structured identically in the data structure.

at A preferred embodiment of the invention are the sensor devices for active and / or passive recording of signals from the environment formed, wherein a passive recording of signals preferably as receive mode and active recording as transmit and receive operation are formed. In the simplest case, the sensor devices comprise independent Antenna / receiver combinations, the independent Receive position signals from suitable transmitters and from the calculate your own position. Examples are GPS, DGPS or the so-called Laser GPS, with several permanently installed laser transmitters in the area, For example, in a depot or factory premises, installed be and constantly Send signals.

alternative The sensor devices are designed to be independent of features to capture the environment, to compare with characteristics of a map, to measure their position to the sensor device and from the Determine position of the vehicle in world coordinates. The characteristics can as natural Characteristics or as artificial features such as. Reflector marks be formed.

Prefers the sensor devices are designed as collision sensors, which are provided in the mobile and are used in this way twice can. Alternative or supplementary the sensor devices are each designed as a laser measuring system, the independent and in parallel as multifunctional sensors, e.g. as environmental sensors and Collision sensors for vehicle-related obstacle detection, angle measurement or similar, work.

at An advantageous development is at least one of the sensor devices as a group of at least two sensor systems. This groupwise combination of sensor systems is preferred a sensor system for the global positioning and another sensor system for the local Refinement of the position determinations. One with a combination of sensor systems as a sensor device specific location record becomes analogous to a location record of another sensor device In particular, the location record with the location records of the N-1 other sensor devices connected.

Especially preferred is a group-wise combination of a tracking receiver, in particular a GPS receiver, with a laser measuring system. In this combination is the navigation system in particular per group designed so that the coarse determination the position over the locator and the fine determination of the position via at least one laser sensor for example by means of artificial Reflective marks and / or from the determination of natural landmarks or contours he follows. In this way, a cost-effective, centimeter-accurate and secure position determination allows.

at In a preferred development, the sensor devices comprise and / or the combination of sensor systems comprises a sensor system with a receiving device for local position signals used to receive signals from local position transmitters can be (DGPS supplement). The said local position transmitters are, for example, along particularly critical roads or driving surfaces (intersections, maneuvering, automated depots etc.) installed. This training leads to a higher level of security or allows a higher Speed of the vehicle with undiminished driving safety.

Preferably, the evaluation device is designed so that the verification and / or determination of the result location data set by majority vote and / or vote takes place in particular within the subset. The reliable position determination is thus realized by an independent voting of independently determined position results and / or location records. This training is based on the advantage that due to the diverse, independent Positionsbe It can be assumed with very high probability that if at least two independently and sufficiently accurately determined position values also agree sufficiently precisely, these position values with high probability correspond to the actual position values. Sufficient good match exists, for example, if the difference between the determined position values is on the order of magnitude of the sensor inaccuracy.

at a preferred embodiment the evaluation device is realized, so that several subsets are formed and determined as the respective overall result Position values of the individual subsets are brought into an ordered sequence be (ranking). The order of the order is preferred the differences between the position values in a subset determined, wherein the subset with the least differences and / or the most likely position result the foremost place in is assigned to the order.

at a development of the navigation system is the evaluation trained so that the voting, so the majority vote and / or vote and / or the comparison, in several, in particular two levels, takes place, wherein in a first level a voting for a global, in particular rough position determination and in a second level a local, in particular fine positioning is carried out. This is implemented for example, by giving A at least two global position signals and B, however, at least two local position signals are detected and a two-level Voring with a 2-out-of-a-voting for the rough, but reliable Position determination for determining an environment or map context and building on this in the local map context a 2-out-of-B voting for the Ultimately, exactly reliable position determination he follows. Are preferred as A sensor devices GPS / DGPS receiver and as B sensor devices laser sensors used.

at an advantageous development of the navigation system is the Evaluation device for checking position and / or location-related defaults with respect to the result location record formed. Such specifications are especially as attributes to geometric Descriptions of the environment deposited in world coordinates. For example are the geometric descriptions with the attributes as points, Lines, trajectories, lanes, polygons, driveways, boundaries, virtual walls, Runway, -spaces Polyhedra with specifications deposited.

at the review of Preferences will preferably be in addition to the mobile position and orientation the mobile configuration, ie the spatial dimension of the mobile and the driving geometry, as well as optionally a definable safety distance considered for the mobile.

On Based on the results of the verified item-related Presets are preferred setpoints for the control of the mobile and / or warnings for generates an operator of the mobile. In other words, will the verified and / or determined result record constantly and independent in Considering the positional constraints under consideration the geometric dimensions evaluated the mobile and from it the necessary control of the Mobils to comply with the specifications. In a preferred embodiment will be forthcoming by the review identify any violations of the defaults by going to Mobile Configuration and / or driving geometry calculates the current envelope in space, updated with expected values and checked with the specifications.

With this development of the invention, it is possible for the mobile, autonomous currently available to the mobile standing running area / driving space efficient in compliance with positional requirements or To use boundary conditions. This applies in particular to the consideration of invisible virtual walls, running surfaces or adherence to virtual tracks. Thus, the invention allows the Adherence to spatial - also from temporary, So temporary - specifications to implement autonomy and assistance functions and creates thus the basis for the practical and safe use of navigation systems in particular in depots, Factory farms and in factory halls.

In a further embodiment of the invention, the navigation system is designed for use with a mobile realized as a kinematic chain. These kinematic chains are mechanically coupled systems of varying geometric dimensions, such as articulated or articulated trains, and have a variable overall vehicle configuration. Their driving geometry, envelope contours and / or envelopes are taken into account in the review of the current and intended position and their temporal continuation by considering the kinematically variable contour and the resulting variable envelope for the predictively planned and / or calculated movement of the entire kinetic chain. The trained as kinematic chains mobile so are included in the navigation system by the evaluation is designed to ensure safe monitoring of the envelope contour and / or the envelope and / or the development over time of the envelope with regard to location-specific specifications, in particular with regard to collisions of predetermined virtual walls, driveways, security areas, work spaces, etc.

The supervision the trained as a kinematic chain is done in the simplest Case preferably in that the evaluation device is designed that the mechanically coupled members, e.g. Vehicle and Pendant, like individual, independent Mobile are treated and for Each vehicle a position determination according to the invention is carried out. Preference is given to the envelope contour and / or from the individual position determinations envelope of the entire vehicle and this with the location-related specifications compared.

alternative only one partial vehicle has at least one sensor device according to the invention on and the location of a second, coupled sub-vehicle is determined by a kink angle sensor, wherein the kink angle sensor designed as a redundant and / or diversified measuring system is.

When another alternative, each sub-vehicle has exactly or at least an inventive sensor system for determining the position, the safety of the position determination is increased by a kink angle sensor. Within the meaning of the invention becomes a first sensor device from a combination of the sensor system a first partial vehicle formed with the bending angle sensor and the Position and orientation of the kinematic chain determined and a second sensor device from a combination of the sensor system a second sub-vehicle formed with the same kink angle sensor and the position and orientation of the kinematic chain again certainly. In a further step, the results are compared.

at a continuation This idea is the mobile as a kinematic chain with vehicle attachments such as. cranes, Robotic arms, manipulators or similar educated. Preferably, the determination of the position and orientation the actual mobile over several sensor devices preferably in 3D space. The determination and monitoring of the TCP (Tool Center Points) of the vehicle attachments is carried out by Evaluation of redundant encoder systems in the kinematic Chain in the vehicle attachments.

The The invention also relates to a method for reliable position determination and optionally secure compliance with location-specific vehicle-specific control and safety-relevant specifications under intended use of the navigation system according to the invention.

Further is a navigation system with a navigation system according to the invention and transmitters and / or reflector marks and / or mobile as described above as well as a mobile with a navigation system disclosed.

Further Features or advantages or invention will be apparent from the following DESCRIPTION OF PREFERRED EMBODIMENTS as well as the figures. Showing:

1 a schematic plan view of a traffic situation for illustrating an embodiment of the device and the method according to the invention;

2 Illustrates in a flow chart the operation of the embodiment in 1 ;

3 shows a further embodiment of the device according to the invention;

4 and 5 show in each case further modifications of the device according to the invention for the task "backward maneuvering";

6a to k different configurations for the sensor devices;

7 a flowchart for the embodiment of the group-wise position determination;

8th a flowchart illustrating the embodiment of the two-level position determination.

In the figures are the same or corresponding parts or sizes respectively provided with the same reference numerals.

The 1 shows a vehicle 1 in a schematic plan view, which sections, U-shaped of a real wall 2 is enclosed. The vehicle 1 has at least two sensor systems 3 on, which are spaced from each other, for example, opposite, are arranged. The sensor systems 3 are trained to their own position within a stationary world coordinate system 5 capture. These detected own positions are determined using the relative position of the respective sensor coordinate systems and the vehicle coordinate system 6 which as one with the vehicle 1 co-moving coordinate system is formed, further processed such that sensor-specific information as a record of the position and orientation of the vehicle coordinate system 6 in the world coordinate system 5 is present. This data set or the own positions of the sensor systems 3 are sent to an evaluation unit 4 transfer.

The evaluation unit 4 Checks for violations of position-dependent specifications or boundary conditions based on the transmitted data records. For example, for the situation in 1 checked if the vehicle 2 yourself on a virtual driveway 7 located. The default virtual infrastructure 7 optionally includes eg specifications for the permitted speed and / or a width of the guideway 7 , Alternatively, the position-dependent specifications relate to a virtual wall 8th at a safe distance in front of the real wall 2 is arranged. Another option is a driving surface 9 specified on the vehicle 1 has a movement permit. A combination of these different types of position-dependent specifications is possible. In order to further increase the reliability of the system according to the invention, it is conceivable in a profitable manner the evaluation unit 4 redundant execute.

When checking the position-dependent specifications, the vehicle configuration and / or a safety distance from the vehicle 1 for example in the form of a virtual envelope contour 10 considered.

The 2 shows a flowchart of the embodiment of the inventive method in 1 , In a first step, the sensor systems 3 ( 1 ) Received signals of the environment U, derived positions of the sensor coordinate systems and sensor-specific, the position x1, y1, alpha1 to xN, yN, alphaN of the vehicle coordinate system 6 in the world coordinate system 5 ( 1 ) determined several times. Optional data from maps 11 used for position determination. Overall, there are thus N different, independently determined, diverse data sets available.

In a next step, the N records become a comparator 12 which performs a redundant 2-out-N comparison of the N data sets to obtain as a result a result set xF, yF, alphaF indicating the actual and / or most probable position and orientation of the vehicle coordinate system 6 in the world coordinate system 5 represents.

In a further step is in an examiner 13 the result record compared with place-related presets. The location-related specifications are for example in a second map 11a or another database. Alternatively or additionally, based on the stored vehicle configuration, an instantaneous envelope contour 10 ( 1 ) and / or envelope and taken into account during the test. The envelope extends from the past to the present and is optionally extrapolated into the future. The concept of the envelope and / or the current interference contour is advantageously used in particular in vehicles which are designed as kinematic chains.

Based on or the results of the examiner 13 become setpoints for predictive control 14 and / or a warning device 15 generated, which affect the driving behavior (should). The setpoints are sent to the vehicle actuator 16 pass the vehicle 1 control accordingly. About further measurements 17 and a target-actual comparison 18 Further monitoring of the initiated measures takes place in the form of a closed control loop.

In the illustrated process flow becomes from the N different sensor systems 3 ( 1 ) organized at least one 2-out-N system for reliable position determination. The advantage of this redundant evaluation is that shadowing or interference from some of the N different sensor systems 3 ( 1 ) are tolerated. For example, in a 2-out-of-4 system, at least two of the sensor-specific data sets should match and two may be temporarily disturbed without limiting the performance and accuracy of the navigation system. In particular, the navigation system is also tolerant of a dynamic change of the shadowed sensor systems 3 ( 1 ). The degree of tolerance against sensor shading can be increased by increasing the number N of independent sensor systems. For this purpose, in particular sensor systems can be integrated, which in the vehicle 1 already exist for other reasons, for example, laser sensors can be used for obstacle detection.

Should despite the described redundant position determination no matches of data sets from different sensor systems 3 present, the treatment of such short-term discontinuities takes place in that the interval between two successful measurements via a particular redundant time-limited monitoring of the vehicle's own parameters such as vehicle speed, steering angle, distance, time is done by a comparative calculation.

The current "safety level", that is to say a measure of the reliability of the position determination, is preferably displayed and / or used in the autonomous vehicle guidance This nominal system state via reliable position determination and compliance with the specifications is used, for example, for a higher driving speed in autonomous driving operation or to authorize intervention in the active steering system in assisted driving, in turn, detection of a safe nominal system state will result in ei A refusal of action by the operator resulting in faulty guidance of the vehicle 1 result, such as the violation of a specification, in particular the crossing of a virtual wall. Preferably, such possible driving errors are signaled, communicated and / or visualized.

In the case, that the position determination is not sufficiently reliable or can be determined safely and, for example, a predetermined time limit goes without secure position determination, that works System in one for that certain fallback level back in safe condition. The time limit, for example, as a time-out over a time Watchdog monitors. Especially for the case of autonomous operation becomes the fallback by slow driving, Braking the vehicle to a standstill, emergency stop or signaling the termination of the safe state to a monitoring entity, if necessary with manual takeover represented in the non-safe state. Especially for in the case of assisted driving, a signal is sent to the operator, that the safe state can no longer be guaranteed so that the operator takes over the active and complete vehicle control.

The 3 shows a second embodiment of the device or the method according to the invention in the same representation as in 1 , In deviation to the 1 points the vehicle 1 four sensor systems 3 on, each opposite on all four sides of the vehicle 1 are distributed. The sensor systems each have a viewing angle 20 of 180 °, allowing for the sensor system 3 on the left narrow side of the vehicle 1 a field of vision 21 that results in 3 is shown in dashed lines. The sensor systems 3 For example, they are designed as imaging sensors that independently analyze natural or artificial features of the environment. Such features can be considered environmental contours 19 and / or as characteristic spatial contour segments and / or as artificial reflector marks on the environmental contours 19 be educated. For the evaluation of the registered features, maps are used for determining the position in which feature-relevant data are stored and which may originate, for example, from CAD data. For a position determination only a minimal sufficient number of features is necessary. The degree of accuracy and / or reliability of the position determination can be used for a dynamic adaptation of safety distances to attributed prescriptions in the case of imminent injuries.

The 4 shows a further embodiment of the device according to the invention or the method according to the invention in connection with a articulated train 21 , The articulated train to be navigated 21 is designed as a mechanically coupled system, ie as a vehicle with variable geometric dimensions, in the form of a kinematic chain. The articulated train 21 has a towing vehicle 22 and a trailer 23 on that over a coupling member 24 coupled together.

The towing vehicle 22 includes two sensor systems 3 for determining the position, so that the position of the towing vehicle 22 reliable, for example, according to the method according to 4 is detectable. For detecting the trailer and drawbar angle between towing vehicle 22 and followers 23 is a redundant angle encoder system 25 provided so that the trailer and drawbar angle redundant at least twice independently can be measured. In the illustrated situation, initially only for the towing vehicle 22 an independent secure position determination. However, the position of the kinematic chain is safe and redundant via the redundant angle encoder system 25 determinable. Knowing the geometry and the spatial dimensions of the articulated train 21 Consequently, its position and orientation in world coordinates can be determined and an envelope contour and / or envelope for the monitoring of the location-related requirements generated. The angular position of the trailer 23 to the towing vehicle 22 should be detected redundantly to include a passive trailer with secure positioning in the navigation system, for example, and as in 4 shown the collision freedom of the rear trailer front with virtual walls 8th in the room as well as to ensure a speed control safely. With the dashed arrows is in the 4 each one to be monitored distance of the envelope 10 of the articulated train 21 illustrated, the solid arrows illustrate the distances between link train 21 and the virtual or real walls 8th respectively. 2 ,

The 5 shows the articulated train 21 in 4 in the same representation, but the configuration of the sensor systems is deviating. In the 5 is at the free end of the towing vehicle 22 or the trailer 23 a sensor system 3 arranged. In addition, an angle encoder system is used to measure the trailer and drawbar angle 26 , which is optionally redundant, provided. For a reliable determination of the position and orientation of the articulated train 21 on the one hand, the sensor system 3 of the towing vehicle 22 and the angle encoder system 26 certain position and on the other hand by the sensor system 3 of the trailer 23 and the angle encoder system 26 certain position compared. This embodiment of the sensor configuration is intrinsically safe when the angle encoder system is arranged between at least two independent means for position determination, as by the mutual comparison of the results a Fehlfunkti on a sensor of the angle encoder system or one of the sensor systems 3 reliably detected.

The 6a to k shows a variety of possible arrangements of laser sensors 3 or other sensors for reliable position determination as they can be used in embodiments of the device according to the invention and / or the method according to the invention. The half-round or three-quarter round filling circuits each correspond to a sensor system 3 , in particular a laser sensor system. The 6a In each case, possible sensor configurations for a vehicle are shown 1 , wherein the embodiment 6a a field of view of 4 * about 180 °, the embodiment 6c a field of view of 2 * about 270 ° and the 6d has a field of view of 3 or 4 * about 270 °. The 6e -G show possible sensor configurations for a vehicle with semi-trailer (semitrailer) and the 6h -K for a vehicle with trailer (articulated train).

The 7 illustrates an embodiment of the method according to the invention for a group-wise position determination. Each of the groups 27 has a combination of a device for coarse position determination 28 and a device for fine positioning 29 on. Based on the results of each group 27 will - as already closed 1 explained - performed a redundant 2-out-N comparison.

The 8th illustrates an embodiment of the method according to the invention for a two-level position determination, wherein in a first plane 30 a coarse position determination takes place via a redundant 2-out-A comparison and a target area in the form of a map section is selected on the basis of the result of the comparison. Within this target area then takes place in a second level 31 the determination of the fine position via a redundant 2-out-of-B comparison.

It should be noted that the invention is in no way limited to the Ausführungsbei games shown in detail. Hereinafter, further possible applications and embodiments of the invention are listed by way of example:
The invention is for autonomy and assistance functions in vehicles, especially commercial vehicles, for maneuvering and docking functions for trucks, trucks with semitrailer (semitrailer) and trucks with trailer (train) on depots or factory premises, for buses, cars, driverless transport systems, beyond general applicable to all mobile systems requiring compliance with location constraints for vehicle control variables and behavior, particularly for vehicles that move or move freely autonomously or assisted in behavioral and safety requirements environments.

The Invention is used i.a. to comply with lanes and driving profiles on lanes, for safe approach of parking positions or for Maneuvering on limited open spaces in position-controlled free navigation, fully automated as an autonomy function or partially as an assistance function. It serves spatial-temporal Security requirements independent to strictly comply with purely vehicle-related safety specifications. such Behavioral requirements are represented, for example, by: virtual routes, Virtual walls, Runway with security requirements.

Below is a collection of application examples:

in the autonomous operating case, i. For autonomous, the position self-changing systems, serves the solution for preventing errors of the machine. The nominal automated Expiration is opposite disorders hedged.

in the semi-autonomous operating case, i. for semi-autonomous systems, the Commanded by a human, the solution also serves for preventing operator error in terms of behavior in the spatial Environment of the vehicle. A driver can not do a comparable job accurate and reliable Position determination afford. The system prevents incorrect operation and incorrect commanding of the vehicle as well as faulty vehicle guidance so far this invention with specifications are hedged.

location-based restriction Operation: Only commands permissible at the respective location are executed, only Autonomy or assistance functions that are allowed.

virtual Trajectories, trajectories, tracking allows the observance of preferential tracks, directional traces, adherence to a Spur hose, return on Preferential tracks through attraction and active steering, restriction of Degrees of freedom of control, e.g. Steering angle, location-specific speed specifications v (t, s), driving profiles and profile safety, braking ramp specifications etc., Trajektorienabschnitte on which lane change allowed or not allowed are.

virtual Walls, Virtual limits of driving surfaces, compliance with maneuvering areas, guide funnels in front of target objects, loading ramps, car washes, etc. for simplified Assisted approach, docking, underride, especially of fixed non-mobile facilities.

Ride areas, regions: autonomous free navigation with location-specific specifications in a given area of the road with safe virtual terrain limitation. Comply with spatio-temporal requirements on defined driving surfaces and along their edges for autonomy and assistance functions, functional restrictions, such as maneuvering permission, parking permit, minimum, top speed and maximum speed (restrictions on autonomous functions for maneuvering areas in depots, etc.). Similar to adhering to velocity profiles on tracks, the adherence to 2D velocity profiles can be used on surfaces. Movement space limitations (2D or 3D) for vehicles with kinematic chains.

territoriality different requirements: public transport support with GPS accuracy on depot with laser sensor accuracy. Connection of the functions according to the invention with reliable Position determination and monitoring the place-related only in relevant or vulnerable Areas, depot, tank farm, refinery, only where necessary. Herewith let yourself Realize that a system in different places different Safety requirements met, location-dependent Top speed, safety distances Steering angle limitations.

different Vehicles with different safety requirements at the same Places: e.g. Underride dependent of vehicle width, vehicle height or superstructures (solo truck or articulated train, etc.). The place can be different Making individualized specifications for different vehicles. Security attributes can generally apply or be assigned to vehicles individually, location-related different safety distance.

For some Applications are in addition to the purely spatial requirements in particular also spatio-temporal Specifications of importance. The specifications can be timed, for example change daily (for example, rush hours in depots with changeable daytime restrictions, Etc.). The authorized stored defaults can be safely switched over in time become.

authorization the specifications: All specifications and changes of defaults which are safety requirements, may only be entered and stored in authorized form. It must be comprehensible, who for basic safety requirements.

predictive Behavior: The distances the contours of the vehicles to the specifications of the map and the rating the driving intentions become predictive used to control the vehicle (timely braking, steering, Etc.). For example, important: braking at limits before. The proximity to the decision contour determines the speed (direction dependent). If on a virtual Wall is closed, the speed is vehicle-dependent forcibly Reduced so that the vehicle stops safely in front of this wall comes, in front of a workroom with a certain speed, even these, etc. Compliance is monitored.

positional reliable Attention control, e.g. Alignment of active sensors safety-critical surfaces like pedestrian crossings, Intersections, docking areas on factory premises etc.

assistance on public streets through virtual tracks. Safe adherence to dynamic and individual assigned lanes, for example, monitoring of speed profiles on the tracks, surveillance overtaking ban, for example as a warning system with feedback.

assistance when maneuvering: For example, a truck with a remote control ranked backwards, so the vehicle should not only maintain a safe distance to buildings, but also to other virtual work areas, driving on a predetermined path, gliding on a virtual wall, maneuvering up given limited area, Adherence to speeds, steering angle limitations (for example also with feedback to the driver), signaling proximity to virtual walls and Speed reduction, intuitive warning. Possible reactions: Automated steering angle, limitation of user controllable Degrees of freedom, i. from haptic feedback to steering intervention. attraction on virtual lanes by limiting the controllable degrees of freedom.

automated Depot: With the invention can all safety-related guidelines for maneuvering, driving in, Driving through, docking based on immobile known facilities like loading ramps, building entrances, Car washes, petrol stations as well as given order principles such as lanes, Rangierflächen, the Vehicle specified and safely adhered to, independent and additionally for vehicle-related collision avoidance, especially at depots, factory premises high vehicle density on a limited area. It can also be secure Lanes to parking areas act, in which then a change into a recognizer-based mode for docking with mobile objects such as hangers or swap bodies with visual-servoing procedures he follows. When leaving the area is switched back to safe lanes.

Automated Track Guided Systems: This application of secure lane guidance on virtual lanes is particularly useful in applications such as automated driverless bus traffic or automated Driverless Güterzubringerverkehr advantage, in particular by the inventive reliable position determination over the known disadvantages of inductive or optical tracking. The reliable position determination for track-guided systems (buses, trucks, cars) is a future-oriented application that can be implemented cost-effectively, as compared to known solutions significantly lower infrastructure costs are required. Virtual tracks are easily changeable (but authorized). The virtual tracking system can be used for public transport and its safe influence, for example, on gradually equipped roads, grounds, driveways, bus lines in local traffic, eg by means of GPS / DGPS and reflectors or natural landmarks in the sense described. Suitability concerns public, non-public and alternate traffic. This also applies to automated goods feeder traffic as an extension of automated plant traffic, whereby successive public transport routes can be included between factories. These public driveways can, without additional infrastructure costs, be designed so as to be recognizable in the sense of reliable positioning. Depending on the location, the reliable guidance can also be used with reliable access to a destination, parking, holding position (for example, a bus stop) and also with reliable free navigation for autonomous maneuvers on predetermined driving surfaces. These functions will provide short-term potential for safe autonomy functions on enclosed areas and selected public roads, including an improvement in assistance functions in general public transport, and in the medium term, autonomy functions will gradually be used in public transport.

integration Object-related specifications: Mobile objects are usually only through uniform Vehicle-related specifications, such as speed-dependent safety distance treated for collision avoidance. The present invention relates the reliable one Compliance with environmental constraints, i. compliance with authorized Presets with fixed reference in world coordinates. The relevant ones Applications have been described. The invention has certain limitations but also expandable to the additional inclusion of reliable Compliance with object-related specifications of mobile objects, but not on Objects in motion, but objects like parked objects Vehicles, trailers, swap bodies, containers, etc. equipped with an inventive Vehicle can thereby also provide improved safety when considering Mobile objects are achieved by the position of this object redundant with at least two sensors reliably determined in world coordinates is the object-specific specifications temporarily for the process (of shunting, free navigation) in world coordinates and as such with simultaneous reliable position determination according to the invention be used, e.g. as an object with a safety cover already during shunting planning, special virtual walls around the object or as a guide for docking with mobile objects. The authorization of these specifications limited but then on the object reference. With this extension can the approach of the invention to this extent added be that according to the reliable positioning Both the general requirements and the object-related requirements are checked, where the more restrictive requirements prevail. A guide limit in front of an object would For example, limited by a general area limitation.

advantages The invention provides improved driver assistance and shortening of service times, by consideration location-specific guidelines to relieve the driver and thus higher comfort for assistance functions. Damage prevention by higher ones Security and error avoidance, especially error prevention during operation, avoidance of personal injury and property damage. reliable Compliance with security requirements for autonomy and assistance functions for cars and commercial vehicles. The procedures form the basis for new autonomy and assistance functions in passenger and commercial vehicles with extended Applications.

Claims (18)

Navigation system for a mobile ( 1 ; 21 ) with N independent sensor devices ( 3 ) for determining N independent location records of the mobile ( 1 ; 21 ) in a world coordinate system ( 5 ) and with an evaluation device ( 4 ), which programmatically and / or circuitry for linking the N local data sets of the mobile ( 1 ; 21 ) is designed to form a result location data set, characterized in that the link comprises a comparison of at least two of the N location data sets for the verification and / or determination of the result location data set. Navigation system according to claim 1, characterized that for the comparison uses a true subset of the N records. Navigation system according to claim 1 or 2, characterized in that the N location records each location information of the mobile ( 1 ; 21 ) and its orientation in world coordinates. Navigation system according to one of the preceding claims, characterized in that the sensor devices ( 3 ) are designed for active and / or passive recording of signals from the environment. Navigation system according to one of the preceding claims, characterized in that the sensor devices ( 3 ) and spatially separated receiving means for signals and that the sensor means are designed to determine the location records from the received signals. Navigation system according to one of the preceding claims, characterized in that the sensor devices ( 3 ) for the collection of natural and / or artificial characteristics ( 19 ) of the environment and for determining the location records based on the features are formed. Navigation system according to one of the preceding claims, characterized in that at least one of the sensor devices ( 3 ) is designed as an imaging sensor system, laser measurement system, ultrasound system or as a collision sensor present in a mobile. Navigation system according to one of the preceding claims, characterized in that at least one of the sensor devices is a group ( 27 ) of at least two sensor systems ( 3 ), wherein a first sensor system ( 28 ) for a rough determination of the location data sets and a second sensor system ( 29 ) is designed for a fine determination and / or local refinement of the coarse determination of the location data records. Navigation system according to claim 8, characterized in that a group ( 27 ) is formed as a combination of a GPS receiver and a laser measuring system and / or comprises a sensor system with a receiving device for local position signals. Navigation system according to one of the preceding Claims, characterized in that the verification and / or determination of the result location record by majority vote and / or vote he follows. Navigation system according to one of the preceding claims, characterized in that the verification and / or determination of the result location data set by a two- or multi-level majority vote and / or vote and / or comparison takes place, wherein in a stage ( 30 ) global location records and at another stage ( 31 ) local location records are evaluated. Navigation system according to one of the preceding Claims, characterized in that the evaluation device for checking positional constraints related to the result location record is trained. Navigation system according to claim 12, characterized in that the position-related specifications as attributes to geometric descriptions ( 11 ) of the environment are stored in world coordinates. Navigation system according to claim 12 or 13, characterized in that during the check the configuration of the mobile ( 1 ; 21 ) and / or a safety margin ( 10 ) is considered and / or considered by the mobile. Navigation system according to one of claims 12 to 14, characterized in that based on the check setpoints for the control of Mobils are generated and / or generated. Navigation system according to one of claims 12 to 15, characterized in that the evaluation device for the creation an envelope of the Trajectory of the mobile is formed in relation to the positional Specifications is verifiable and / or checked. Navigation system according to one of claims 12 to 16, characterized in that the evaluation device for use with mechanically coupled vehicles ( 21 ) is trained. Method for verifying and / or determining a result location record of a mobile ( 1 ; 21 ) using a navigation system according to one of the preceding claims.