DE102018205578B4 - Method for forming a convoy comprising at least one unmanned, autonomously movable object, as well as a correspondingly designed movable object - Google Patents

Abstract

A method for forming a convoy (14) comprising at least one unmanned, autonomously movable object (12, 18), comprising the following steps: a) determining a planned route for the at least one unmanned, autonomously movable object (12, 18) (step S1) ; b) receiving a planned route of at least one other movable object (10; 12; 18) (step S2); c) comparing the planned route of the at least one unmanned, autonomously movable object (12, 18) with the planned route of the at least one other movable object (10; 12; 18) (step S3); d) if the planned route of the at least one unmanned, autonomously movable object (12, 18) and the planned route of the at least one other movable object (10; 12; 18 ) meet at least one predeterminable similarity criterion: forming a convoy (14) from the at least one unmanned, autonomously movable object (12, 18) and the at least one other movable object (10; 12; 18) (step S4), with the least At least one other movable object is provided, an unmanned, autonomously movable object (12, 18), characterized in that the convoy (14) is formed by a plurality of unmanned, autonomously movable objects (12, 18), the unmanned, Arrange autonomously movable objects (12, 18) in such a way that they form a vehicle silhouette (24).

Description

The present invention relates to a method for forming a convoy comprising at least one unmanned, autonomously movable object. It also relates to a movable object designed for such a method.

An unmanned, autonomously movable object is primarily understood to mean drones and delivery robots. Such unmanned, autonomously movable objects are increasingly in demand in business and private environments. The number of drones sold worldwide was around two million in 2016. In 2020, sales are forecast to reach nearly six million. Various concepts for deliveries of food or objects are already known today. In addition, the demand for deliveries is steadily increasing. A so-called predictive navigation is already known today and, for example, technically implemented by the applicant. There is no longer any need to start specific navigation manually. Analogous to Google Now, the car predicts a route or a destination on the basis of historical data.

Furthermore, most of today's vehicles already have a WiFi hotspot and in the future they should implement additional WiFi standards for Car2X communication in order to communicate with their surroundings. Many drones already have a WLAN receiver and transmitter, for example to transmit control signals or video data.

Sometimes drones are very limited in their carrying capacity. This means that in urban areas, where several deliveries will be made per day in the future, there could be a kind of “air pollution” from drones. Thousands of deliveries a day could mean thousands of drones. So there will be traffic jams in the sky. More and more bans in the airspace are already being demanded and implemented. Even with rolling / moving delivery robots, there can then be increased traffic jams and utilization on sidewalks or even on roadways.

From the DE 10 2015 008 353 A1 it is known to use inter-vehicle communication to select at least one suitable partner vehicle for a convoy ride with slipstream. The choice of partner is based on the space available. The autonomously driving vehicle transmits data relating to a navigation destination to other vehicles in the vicinity via a communication interface, the autonomously driving vehicle joining up with the other vehicles to form a convoy. An economic balance between a slipstream generator and a slipstream taker is proposed.

From the DE 20 2017 101 730 U1 a drone with a signal output unit is known in order to provide signals and messages that are easily perceptible even in difficult to access terrain and at great distances. The unmanned flying object can track a target object. A mechanical and electrical coupling between a land vehicle and an unmanned flying object is also proposed. The vehicle represents the basis or the evaluation station. An operator can be in the vehicle who monitors or controls the use of the unmanned aircraft. The system can be designed so that the operator can terminate an autonomous or semi-autonomous operating mode of the unmanned aircraft and take over control at any time.

The DE 10 2010 042 089 A1 relates to a navigation system and a method for route guidance for a motor vehicle. A planned navigation route of a first vehicle is compared with a navigation route of another vehicle, with a driver of the first vehicle being requested to follow the other vehicle if the navigation routes of both vehicles match. As a result, the following does not have to concentrate on the instructions on the navigation system, but only on following another vehicle.

The US 9 940 840 B1 discloses a computer system for forming a vehicle convoy. Based on navigation data from vehicles, a subset of vehicles is determined that are within a threshold distance from one another and have respective, at least partially overlapping driving routes. On the basis of selection parameters, two or more vehicles are selected from the subset of vehicles to form the vehicle convoy.

The object of the present invention is to reduce the risk of traffic jams arising from unmanned, autonomously movable objects.

This object is achieved by a method with the features of patent claim 1 and by a movable object designed for such a method.

The present invention is based on the knowledge that unmanned, autonomously movable objects join forces with other movable objects for at least a large part of their distance to be covered in convoys and thereby reduce a perceived traffic density can. The unmanned, autonomously movable object can thus move alongside, close above or even below the other movable object, ie it can fly, roll or ride with it. If a large number of unmanned, autonomously movable objects implement this method, a large number of unmanned, autonomously movable objects move with the same other movable object. Accordingly, if several unmanned, autonomously movable objects form a convoy with another movable object, the airspace is kept clearer in the case of drones, and the streets in the case of delivery robots. Of course, drones can also form a convoy with a motor vehicle as a further movable object.

Given the large number of motor vehicles that are on the road on our roads, the formation of a convoy is possible in a simple manner using the method according to the invention, i. that especially in cities where there is a high density of traffic, each unmanned, autonomously movable object covers at least a large part of a route to be covered in the form of a convoy. Since a convoy is perceived as a single moving object, on the one hand the perceived traffic density is reduced and on the other hand the freely usable space between the convoys is increased many times over. Although just as many unmanned, autonomously movable objects use the streets or the airspace, the perceived utilization of the traffic routes, i.e. the airspace, the sidewalks or even the roadways.

Accordingly, a planned route for the at least one unmanned, autonomously movable object is first determined in a step a). This can be done by entering a starting point and a destination into a navigation system of the unmanned, autonomously movable object. Alternatively, the route can also be created externally in a central server and transmitted to the unmanned, autonomously movable object. In a subsequent step b), a planned route of at least one other movable object is received. Then, in a step c), the planned route of the at least one unmanned, autonomously movable object is compared with the planned route of the at least one other object, and in a step d), if the planned route of the at least one unmanned, autonomously movable object and the planned Route of the at least one other movable object fulfilling at least one predeterminable similarity criterion, a convoy formed from the at least one unmanned, autonomously movable object and the at least one other movable object.

In spite of the increased number of unmanned, autonomously movable objects, additional traffic jams can be avoided. The similarity criterion can consist in the fact that the two planned routes coincide over a predeterminable route length or at least, even if they do not match, the unmanned, autonomously movable object is brought closer to its destination if it follows the route of the other movable object over a predeterminable route length . The route length can be at least 200 m, in particular 500 m, more preferably at least 1 km, for example in densely populated areas. Only when the route of the other movable object, i.e. of the “host”, meaning a greater deviation from the planned route of the unmanned, autonomously movable object, the unmanned, autonomously movable object leaves its “host” and joins the next “host”.

In this way, as the number of unmanned, autonomously movable objects increases, the traffic area, in particular sidewalks, lanes and the airspace, is kept freer. In the event of a potential ban on aerial drones at high altitudes, the existing traffic routes, for example roads, can be better used and, in particular, with an arrangement above or below a motor vehicle as a further movable object, no “space” is lost.

An unmanned, autonomously movable object is provided as the at least one further movable object. In other words, several unmanned, autonomously movable objects can come together to form a convoy, in particular if there is no suitable motor vehicle as a further movable object. Even if several unmanned, autonomously movable objects form a convoy, the perceived traffic density can be reduced.

In this context, it has been found to be advantageous if the convoy is formed by a multiplicity of unmanned, autonomously movable objects, the unmanned, autonomously movable objects being arranged in such a way that they form a vehicle silhouette. At a greater distance, a large number of unmanned, autonomously movable objects create the familiar appearance of a motor vehicle. In this way, the multitude of unmanned, autonomously movable objects that are arranged in this way appear extremely disruptive.

As already mentioned, a drone or a delivery robot is preferably provided as the at least one unmanned, autonomously movable object. In this context, mixed convoys, i.e. Convoys comprising drones and delivery robots are formed.

As already mentioned, a motor vehicle can be provided as the at least one further movable object. Motor vehicles are particularly well suited since the size of the unmanned, autonomously movable objects is usually almost negligible compared to the size of a motor vehicle. Viewed from a certain distance, the convoy consisting of a motor vehicle and at least one unmanned, autonomously movable object still only looks like a motor vehicle.

In this context, it is preferred if the convoy is formed in such a way that the at least one unmanned, autonomously movable object assumes a position above, behind and / or below the motor vehicle, in particular at a distance from the motor vehicle that is smaller than a predeterminable maximum distance . The predeterminable maximum distance can be, for example, 1 m, preferably 50 cm. Unmanned, autonomously movable objects arranged behind or under the motor vehicle are almost invisible. The convoy looks like a motor vehicle alone. In addition, the at least one unmanned, autonomously movable object can utilize the slipstream of the motor vehicle, so that the energy requirement for moving the unmanned, autonomously movable object is reduced.

It is further preferred if the at least one unmanned, autonomously movable object and the motor vehicle are at least mechanically coupled to one another. In this way, during the time in which the unmanned, autonomously movable object and the motor vehicle are moving in a convoy, the energy expenditure for driving the unmanned, autonomously movable object can be reduced to zero. It can be provided that such a mechanical coupling, in particular also a mechanical and electrical coupling, is detected by means of a detection device and the owner of the motor vehicle receives financial compensation in order to create an incentive for owners of motor vehicles to allow such a mechanical coupling.

A drone or a delivery robot can be provided as the at least one further movable object.

In connection with the at least two unmanned, autonomously movable objects, it is preferred if the convoy is formed in such a way that the at least two unmanned, autonomously movable objects move at a distance that is smaller than a predeterminable maximum distance. The predeterminable maximum distance can be 1 m, preferably 50 cm, even more preferably 30 cm. In this way, a large number of unmanned, autonomously movable objects that form a convoy are perceived as just one object.

A central data processing device is also preferably provided, wherein the at least one unmanned, autonomously movable object and the at least one further movable object transmit their planned routes to the central data processing device, the data processing device at least the routes transmitted to it, in particular further identification and / or Provides position data on the objects of the transmitted routes to objects interested in convoy. In this way, unmanned, autonomously movable objects can find and identify suitable movable objects particularly easily. Position data can be determined in that each movable object is equipped with a position determination system, for example based on GPS. Other identification data can be the color of the further movable object, the brand and the like.

As an alternative or in addition, it can be provided that the at least one unmanned, autonomously movable object and the at least one further object transmit their planned routes to one another, in particular wirelessly, preferably via WLAN, Bluetooth or NFC. In this way, a central data processing device and communication with it can be avoided. This opens up the possibility of decentralized interaction locally on site. In this decentralized variant, an unmanned, autonomously movable object waits for another movable object to drive past, the routes being exchanged when the other movable object approaches the unmanned, autonomously movable object. If a predeterminable similarity criterion is met, the unmanned, autonomously movable object then still has sufficient time to form a convoy with the other movable object.

The movable objects preferably communicate their respective positions in the convoy, in particular their relative and / or absolute positions, to the other movable objects in the convoy. In this way, the movable objects can form a convoy which is as densely packed as possible and which takes up the smallest possible space without running the risk of the movable objects inadvertently colliding with one another and thereby being damaged.

Further preferred embodiments emerge from the subclaims.

The preferred embodiments presented in connection with the method according to the invention for forming a convoy and their advantages apply accordingly, if applicable, for a movable object according to the invention designed for such a method.

• 1 eine schematische Darstellung zur Erläuterung eines Aspekts des erfindungsgemäßen Verfahrens zum Bilden eines Konvois;
• 2 unterschiedliche Konvois gebildet nach dem erfindungsgemäßen Verfahren; und
• 3 ein Signalflussdiagramm zur Erläuterung eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens zum Bilden eines Konvois.

In the following, embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. These show in:

• 1 a schematic illustration to explain an aspect of the inventive method for forming a convoy;
• 2 different convoys formed according to the method according to the invention; and
• 3 a signal flow diagram to explain an embodiment of a method according to the invention for forming a convoy.

1 shows a schematic illustration to explain an aspect of the method according to the invention for forming a convoy. A motor vehicle is shown 10 as well as a first and a second drone 12a , 12b . Each of these three objects wants to move towards a specific destination, the motor vehicle to destination A, the drone 12a to destination B and the drone 12b to destination C. In order to reach the respective destinations, each of the three participants plans a route there. As by the arrows P1 , P2 , P3 In other words, the three objects transmit their planned routes wirelessly to each other, in particular via WLAN, Bluetooth or NFC. The motor vehicle continues to transmit 10 to the drones 12a and 12b Identification data and / or position data relating to the motor vehicle 10 .

• Stellt die Drohne 12a fest, dass sie auf der vom Kraftfahrzeug 10 geplanten Route einem Ziel näher kommt, wenngleich die vom Kraftfahrzeug 10 geplante Route die Drohne 12a nicht bis zum Zielort der Drohne 12a führt, so kann die Drohne 12a ihre ursprünglich geplante Route modifizieren. Sofern auch die Drohne 12b beim Vergleich der von ihr geplanten Route mit der vom Kraftfahrzeug 10 geplanten Route zu dem Ergebnis kommt, dass ein Ähnlichkeitskriterium erfüllt ist, schließt sie sich dem Konvoi aus Kraftfahrzeug 10 und Drohne 12a an. Der Konvoi umfasst demnach bereits drei bewegbare Objekte.

First, the drone compares 12a those from the motor vehicle 10 received planned route with its planned route. The comparison shows that the planned route of the drone 12a and the planned route of the motor vehicle 10 meet at least one predefinable similarity criterion, the drone closes 12a the motor vehicle 10 and thus forms a convoy with him. As a similarity criterion, it can be checked, for example, whether the two planned routes match in an initial area or over a minimum length or over a minimum number of matching driving maneuvers. The drone can do this 12a be designed, the route originally planned by her to that of the motor vehicle 10 adapt the transmitted route in order to meet a predeterminable similarity criterion. In other words:

• Provides the drone 12a notes that they are on the from the motor vehicle 10 planned route comes closer to a destination, albeit that of the motor vehicle 10 planned route the drone 12a not to the destination of the drone 12a leads, so can the drone 12a modify their originally planned route. Unless the drone is too 12b when comparing the route planned by you with that of the motor vehicle 10 If the planned route comes to the conclusion that a similarity criterion is met, it joins the convoy of motor vehicles 10 and drone 12a at. The convoy therefore already includes three movable objects.

If one of the specified similarity criteria is not met with that of the motor vehicle in any of these ways 10 The drone compares the planned route 12a the ones from the drone 12b transmitted planned route with the route planned by you. If a similarity criterion is met here, the drone forms 12a with the drone 12b a convoy. While in the formation of a convoy from the motor vehicle 10 and the drone 12a the drone 12a the motor vehicle 10 joins, so it follows, is in the case that the drones 12a and 12b form a convoy, a mutual coordination between the two drones 12a , 12b necessary. Are both drones 12a , 12b agree to the formation of a convoy, they move together away from the starting point. To form a convoy, the objects involved move at a distance that is less than a predeterminable maximum distance, for example 0.5 m.

In the event that the drones 12a , 12b form a convoy and this convoy in the further course by further drones 12i is expanded, the drones arrange themselves in such a way that they form a vehicle silhouette and, in particular, behave like a vehicle. So that there are no collisions, the movable objects transmit their respective positions in the convoy, in particular their relative and / or absolute positions, to the other movable objects in the convoy. In this context, a specifiable minimum distance must not be undershot.

As an alternative to this decentralized solution, a central data processing device can be used 22nd are provided, the motor vehicle 10 and the drones 12a , 12b their planned routes to the central data processing device 22nd to transfer. The data processing device 22nd provides the routes transmitted to them, in particular further identification and / or position data on the motor vehicle 10 and the drones 12a , 12b , ready for convoy-interested objects.

2 shows four ways of forming a convoy 14th . With the variants of 2a) to c ) is always a motor vehicle 10 Part of the convoy 14th , while the variant of 2d ) a multitude of unmanned, autonomously movable objects 12th , in this case drones, to a convoy 14th have joined forces.

With the variant of 2a) four drones fly 12th each one load 16 transport, at a short distance above the motor vehicle 10 . With the variant of 2 B) flies a drone 12th and drive three delivery robots 18th under the motor vehicle 10 .

With the variant of 2c ) is a drone 12th and a delivery robot 18th mechanically with the motor vehicle 10 coupled. The delivery robot 18th is also electric with the motor vehicle 10 coupled, in particular via a plug of a trailer coupling, the delivery robot 18th is designed to use electrical energy to charge its energy store via the plug of the trailer coupling of the motor vehicle 10 from the vehicle electrical system 10 refer to. For a secure hold of the drone 12th on the roof of the motor vehicle 10 can on the roof 20th of the motor vehicle 10 a docking device for at least one drone 12th be provided. Such a docking device can be a plug-in device for drawing electrical energy from the vehicle electrical system 10 for charging an energy storage device in the drone 12th include, wherein the connector is preferably designed so that a drone 12th when landing on the docking device automatically brings a plug on the drone side with a socket on the vehicle side or vice versa in mechanical and electrical contact.

With the variant of 2d ) have a wide variety of drones 12th to a convoy 14th united in such a way that they form a vehicle silhouette 24 form. Any drone 12th transmits their relative and / or absolute position to the other drones 12th of the convoy 14th to avoid collisions. In this way it is ensured that a predeterminable minimum distance is not undershot. At greater distances, such a swarm of drones acts like a motor vehicle.

Furthermore, such a swarm of drones can also behave like a motor vehicle, for example with regard to the lighting or signal lights. This is made possible when the drones 12th are equipped with appropriate lighting devices. This means that such a swarm of drones can generate a “brake light” when stopping, for example in front of a traffic light in the rear area of the swarm of drones, and simulate a low beam in the front area at night. In this case, the drone swarm communicates which drones 12th on the "rear of the vehicle" and which drones 12th are arranged on the "vehicle front" of the vehicle silhouette.

3 shows a signal flow graph for an embodiment of a method according to the invention for forming a convoy 14th . In step S1 a planned route for an unmanned, autonomously movable object is based on a starting location and a destination 12th , 18th certainly. In step S2 a planned route of at least one other movable object, for example a motor vehicle 10 received. In step S3 the planned routes of the unmanned, autonomously movable object 12th , 18th with the planned route of the other object 10 compared. If the planned route of the at least one unmanned, autonomously movable object 12th , 18th and the planned route of the other movable object 10 do not meet at least one predeterminable similarity criterion, the system branches back to step S2 . However, if at least one predeterminable similarity criterion is met, the method continues to step S4 in which a convoy 14th is formed from the at least one unmanned, autonomously movable object 12th , 18th and the one other object 10 .

During the movement of the convoy 14th will be in step S5 checked whether the similarity criterion is still met, ie maintaining the convoy for the unmanned, autonomously movable object 12th , 18th still makes sense. This can be done by checking whether for the unmanned, autonomously movable object 12th , 18th a predetermined separation point for leaving the convoy 14th has not yet been reached. If the answer is yes, the process branches back to step S4 , however, this is negated, ie the point of separation where the paths of the unmanned, autonomously movable object meet 12th , 18th and the other movable object 10 disconnect is achieved, so can step in S6 the convoy 14th be dissolved or leave the unmanned, autonomously movable object 12th , 18th the convoy (in the event that several unmanned, autonomously movable objects 12th , 18th Part of the convoy 14th are). In this case the procedure branches back to step S2 , ie the unmanned, autonomously movable object 12th , 18th tries to find other "hosts" with routes that meet at least one predefinable similarity criterion.

Claims (11)

A method for forming a convoy (14) comprising at least one unmanned, autonomously movable object (12, 18), comprising the following steps: a) determining a planned route for the at least one unmanned, autonomously movable object (12, 18) (step S1) ; b) receiving a planned route of at least one other movable object (10; 12; 18) (step S2); c) comparing the planned route of the at least one unmanned, autonomously movable object (12, 18) with the planned route of the at least one other movable object (10; 12; 18) (step S3); d) if the planned route of the at least one unmanned, autonomously movable object (12, 18) and the planned route of the at least one other movable object (10; 12; 18) meet at least one predeterminable similarity criterion: formation of a convoy (14) from the at least one unmanned, autonomously movable object (12, 18) and the at least one other movable object (10; 12; 18) (step S4), the at least one other movable object being an unmanned, autonomously movable object (12, 18) is provided, characterized in that the convoy (14) is formed by a plurality of unmanned, autonomously movable objects (12, 18), the unmanned, autonomously movable objects (12, 18) being arranged in such a way that they form a vehicle silhouette ( 24) form. Procedure according to Claim 1 , characterized in that a drone (12) or a delivery robot (18) is provided as the at least one unmanned, autonomously movable object. Method according to one of the preceding claims, characterized in that a motor vehicle (10) is provided as the at least one other movable object. Procedure according to Claim 3 , characterized in that the convoy (14) is formed in such a way that the at least one unmanned, autonomously movable object (12, 18) assumes a position above, behind or below the motor vehicle (10), in particular at a distance from the motor vehicle (10) ), which is smaller than a specifiable maximum distance. Method according to one of the Claims 3 or 4th , characterized in that the at least one unmanned, autonomously movable object (12, 18) and the motor vehicle (10) are at least mechanically coupled to one another. Method according to one of the Claims 1 or 2 , characterized in that a drone (12) or a delivery robot (18) is provided as the at least one further movable object. Method according to one of the preceding claims, characterized in that the convoy (14) is formed in such a way that the at least two unmanned, autonomously movable objects (12, 18) move at a distance that is smaller than a predeterminable maximum distance. Method according to one of the preceding claims, characterized in that a central data processing device (22) is provided, wherein the at least one unmanned, autonomously movable object (12, 18) and the at least one other movable object (10; 12; 18) are planned Transmit routes to the central data processing device (22), the data processing device (22) providing at least the routes transmitted to it, in particular also identification and / or position data on the objects of the transmitted routes, to objects interested in convoy. Method according to one of the preceding claims, characterized in that the at least one unmanned, autonomously movable object (12, 18) and the at least one other movable object (10, 12; 18) mutually transmit their planned routes, in particular wirelessly, preferably via WLAN , Bluetooth or NFC. Method according to one of the preceding claims, characterized in that the movable objects (10; 12; 18) communicate their respective positions in the convoy (14), in particular their relative and / or absolute positions, to the other movable objects in the convoy (14) . Movable object (10; 12; 18) designed for a method according to one of the preceding claims.

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