DE102018210341B4 - Vehicle and method for autonomously picking up a target object by a vehicle - Google Patents

Abstract

Vehicle (1) for picking up a target object (2) designed as a swap body, wherein the vehicle (1) is provided with single-track elements (6a, 6b, 6c, 6d) which are designed to track into a single-track tunnel (7) provided on the swap body (2), further comprising a system for autonomously picking up the target object (2) by the vehicle (1), wherein the system has position determination means (3) which are designed to determine the position of the vehicle (1) in relation to a stationary coordinate system, and orientation determination means (4) which are designed to determine an orientation of the vehicle (1) in relation to the target object (2), further comprising a control device (5) which is designed to receive position information from the position determination means (3) and orientation information from the orientation determination means (4) and to operate the vehicle (1) autonomously, characterized in that the control device (5) controls the autonomous operation of the vehicle (1) in a section between a starting position and an intermediate position of the vehicle (1) on the basis of the orientation information and in a section between the intermediate position and a receiving position in addition to or alternatively to the orientation information on the basis of the orientation information.

Description

Technical area

The present invention relates to a system and a method for autonomously picking up a target object by a vehicle. In particular, the present invention relates to a system for autonomously picking up a target object designed as an exchangeable load carrier by a vehicle, wherein a plurality of detection devices are used to determine position and orientation.

State of the art

In connection with vehicles that are intended to accommodate swap bodies as interchangeable load carriers, systems for supporting the alignment of the vehicle under the swap body are already known from the state of the art. For example, the document EN 10 2006 057 610 A1 a system in which the merging of a vehicle under a swap body is supported by image-based sensors. This system can determine distance information between the vehicle and the swap body, allowing the merging process to be appropriately intervened in.

When a vehicle is aligning itself to accommodate a swap body, only minor deviations in the route are permitted, particularly during the actual aligning process. It is therefore necessary to provide a system for extremely precise position and orientation determination, particularly when the vehicle is aligning itself under the swap body, particularly in autonomous operation.

The EN 10 2016 011 324 A1 discloses a method for controlling a towing vehicle when approaching and coupling it to a trailer vehicle.

The EN 10 2012 022 336 A1 discloses a method for carrying out an at least semi-autonomous parking process of a motor vehicle in a garage.

The EP 3 260 357 A1 discloses a vehicle having a maneuvering system for maneuvering a predetermined portion of the vehicle into a target position given by a target object.

Description of the invention

A system for autonomously recording a target object by a vehicle has position determination means which are set up to determine the position of the vehicle in relation to a stationary coordinate system, and orientation determination means which are set up to determine an orientation of the vehicle in relation to the target object. The system can have a control device which is set up to record position information from the position determination means and orientation information from the orientation determination means and to operate the vehicle autonomously. The control device can control the autonomous operation of the vehicle on the basis of the position determination information in a section between a starting position and an intermediate position of the vehicle and, in addition or as an alternative to the position determination information, on the basis of the orientation information in a section between the intermediate position and a recording position of the vehicle.

The position of the vehicle in relation to the fixed coordinate system can include the position of a reference point of the vehicle as well as the spatial orientation of the vehicle relative to the fixed coordinate system. The fixed coordinate system can be freely selected as long as the position determination means can be used to clearly determine the position of the vehicle. The orientation of the vehicle in relation to the target object concerns the position of the vehicle in relation to the position of the target object and can be determined dynamically.

The system can have a GPS-based positioning system as a means of determining the position. A predetermined device can be installed in the system that uses the GPS system to provide the position of the vehicle as position information. Any system that is currently or will be available in the future can be used as a GPS-based positioning system.

In the system, the position determination means can comprise a sensor system of a control system for detecting reference elements provided in the area of the vehicle's travel path. In this case, the position information can be determined with reference to a fixed coordinate system using the control system if reference elements with a known position with reference to the fixed coordinate system are provided. In particular, RFID elements can be used in the sensor system for detecting reference elements provided in the area of the travel path. The RFID elements can be attached to known positions in the area of the travel path. The sensor system can comprise detection elements for detecting the position of the RFID elements, so that on the basis of the known positions of the RFID elements, the position in relation to the fixed coordinate system can be made available as position information. Elements other than RFID elements can be used as reference elements, as long as the position of the vehicle in relation to the fixed coordinate system can be made available as position information

In the system, the orientation determination means can comprise a laser-based sensor system. The laser-based sensor system can be mounted on the vehicle and can be set up to detect the orientation of the vehicle relative to the target object. Any type of laser-based sensor system can be used as long as a geometric size, in particular a distance, between at least one reference position of the vehicle and at least one reference position of the target object can be quantitatively detected. When using the laser-based sensor system, several sensor elements can be provided so that a large amount of information can be made available.

In the system, the laser-based sensor system can interact with elements of the target object and generate a distance signal that indicates the distance between the target object and the vehicle in the longitudinal direction. For this purpose, the sensor system can be arranged on the vehicle in such a way that elements of the target object can be detected.

In the system, the laser-based sensor system can interact with elements of the target object and generate an alignment signal that indicates an alignment between the target object and the vehicle with respect to a relative rotation, in particular about a vertical axis of the vehicle and/or a relative lateral offset. For this purpose, a plurality of laser sensors can be provided, each of which generates a distance signal. From the plurality of distance signals, an alignment between the target object and the vehicle can be assessed on the basis of knowledge of the geometry of the target object.

In the system, the orientation determination means can comprise a camera system. The camera system can be directed rearward with respect to the direction of travel of the vehicle. Furthermore, the camera system can generate at least one distance signal by scanning the field of view to produce an image, which indicates the distance between the target object and the vehicle in the longitudinal direction. The camera system can generate an orientation signal that indicates an orientation between the target object and the vehicle with respect to a relative rotation, in particular around a vertical axis of the vehicle and/or a relative lateral offset. For this purpose, the image information of the camera system can be evaluated and information regarding the orientation between the target object and the vehicle can be generated from the image information using a predetermined algorithm.

In particular, it is possible to use a camera system with two camera elements, wherein the cameras are mounted on the vehicle offset in the direction of the main field of view direction or the longitudinal direction of the vehicle. In particular, one camera element is mounted on a front portion of the vehicle and another camera element is mounted on a rear portion of the vehicle. The information generated by the camera elements is combined with a predetermined algorithm to generate an alignment signal.

The system can be provided with a level detection system that generates a level signal. The level signal indicates a distance of a reference element of the vehicle in relation to a surface on which the vehicle is located. The level detection system can have a laser-based sensor system. The reference element of the vehicle can be a frame or a section of the frame of the vehicle. Furthermore, the reference element of the vehicle can have elements that are used to record the target object, such as single-track elements.

In the system, the reaching of the intermediate position of the vehicle in autonomous operation of the vehicle can be detected by the orientation determination means. The orientation determination means detect the reaching of the intermediate position of the vehicle when the orientation determination means detects elements of the target object. The alternatives for the orientation determination means discussed above include camera-based systems, laser-based sensor systems and the like. Due to the different technology of the systems that can be used, there are differences in terms of the detection range. In particular, a technically determined maximum detection distance can be specified for each of the systems used. The intermediate position of the vehicle is thus defined as the position of the vehicle relative to the target object at which at least one of the detection systems of the orientation determination means can carry out a detection by interacting with elements of the target object. The orientation determination means can generate a signal that indicates that the intermediate position has been reached. The reaching of the intermediate position can be determined alternatively or additionally by the position determination means.

In the system, the control device can be set up to fuse available alignment information and/or position information with one another and to generate an overall alignment signal. The information from the detection devices is brought together and evaluated in the control device using a predetermined algorithm. Due to the differing accuracy and/or reliability of the output signals of the detection systems, a correction and/or plausibility check can be carried out by merging. Using the entirety of the information, a reliable and accurate overall alignment signal can thus be generated.

A vehicle for receiving a target object designed as a swap body can be provided with single-track elements that are designed to track into a single-track tunnel provided on the interchangeable load carrier. The vehicle can also have a control device that can be designed to receive position information from the position determination means of the vehicle and orientation information from the orientation determination means of the vehicle and to operate the vehicle autonomously. The vehicle can also be equipped with a system with one or more of the features described above.

In the vehicle, the track elements can be provided in such a way that the vehicle can be aligned into the track tunnel of the interchangeable load carrier by reversing under the interchangeable load carrier. When aligning, the journey is essentially straight ahead. The vehicle can also be equipped with a system for setting a level, with which the distance between the track elements in relation to the ground can be adjusted. In particular, a level control system can be provided on the vehicle for this purpose.

• Bestimmen von Lageinformationen an einer Ausgangsposition des Fahrzeugs;
• Ermitteln einer Trajektorie zum Anfahren einer Zwischenposition, an der das Fahrzeug mit einer vorbestimmten Ausrichtung an dem Zielobjekt positioniert ist, auf der Grundlage der bestimmten Lageinformationen und Steuern eines autonomen Betriebs des Fahrzeugs zum Bewegen des Fahrzeugs an die Zwischenposition;
• Bestimmen von Ausrichtungsinformationen, nachdem das Fahrzeug die Zwischenposition erreicht hat;
• Herbeiführen eines Aufnahmezustands des Fahrzeugs auf der Grundlage der Ausrichtungsinformationen;

A method for autonomously capturing a target object by a vehicle comprises the following steps:

• Determining location information at an initial position of the vehicle;
• Determining a trajectory for approaching an intermediate position at which the vehicle is positioned with a predetermined orientation to the target object based on the determined location information and controlling an autonomous operation of the vehicle to move the vehicle to the intermediate position;
• Determining orientation information after the vehicle reaches the intermediate position;
• Establishing a vehicle pickup state based on the orientation information;

Controlling an autonomous operation of the vehicle to move the vehicle from the intermediate position to the pickup position at which the target object can be picked up by the vehicle.

The method can be applied to a vehicle that has the features of the vehicle described above. In particular, the method is applicable to a vehicle that has one or more of the features of the system described above. In particular, the method is used to pick up an interchangeable load carrier as a target object by a vehicle provided with single-track elements. The single-track elements are designed to track into a single-track tunnel provided on the interchangeable load carrier.

In the method, the position information is used to determine a trajectory for approaching an intermediate position. The position of the target object in relation to the fixed coordinate system is taken into account. The intermediate position can be a position at which the vehicle has approached the target object. In the event that an interchangeable load carrier is used as the target object, the intermediate position is a position of the vehicle at which the longitudinal axis of the vehicle approximately coincides with the longitudinal axis of the interchangeable load carrier. The distance between the vehicle and the interchangeable load carrier can be variable, as long as the orientation of the vehicle in relation to the interchangeable load carrier can be determined by the orientation determination means when the intermediate position is reached. Thus, when determining the trajectory, the intermediate position can be estimated and the reaching of the intermediate position can be confirmed by appropriate measures.

In the method, the position information is determined by determining the position and orientation of the vehicle in a fixed coordinate system and is used to control the autonomous operation of the vehicle to move the vehicle to the intermediate position. In the method, it can be assumed that the intermediate position is reached when the vehicle is positioned with an approximate longitudinal alignment to the interchangeable load carrier and alignment information can be determined by alignment determination means provided on the vehicle through interactions between the alignment determination means and elements of the interchangeable load carrier. The alignment determination means can thus generate and emit a corresponding signal so that it can be assumed for further operation that the intermediate position has been reached.

In the method, it can be assumed that the pick-up state is reached when the vehicle's single-track elements are fully aligned with the single-track tunnel of the interchangeable load carrier. This state is reached when the vehicle has driven under the interchangeable load carrier by reversing and the interchangeable load carrier can be picked up in this state by subsequently lifting the vehicle's single-track elements. Picking up here means that the interchangeable load carrier, which is placed on support elements when the vehicle's single-track elements are aligned with the single-track tunnel of the interchangeable load carrier, is lifted in such a way that the support elements are lifted off the ground and the interchangeable load carrier is completely carried by the vehicle.

• Eine laserbasierte Abstandserfassungseinrichtung zur Erfassung einer Längs- und/oder Querausrichtung des Fahrzeugs relativ zum austauschbaren Lastenträger,
• ein Kamerasystem zur Erfassung von Bildinformationen zur Bestimmung von Ausrichtungsinformationen;
• eine laserbasierte Niveauerfassungseinrichtung zur Erfassung eines Abstands der Einspurelemente relativ zum Untergrund.

The method may use one or more of the following detection devices provided on the vehicle when determining the alignment information:

• A laser-based distance detection device for detecting a longitudinal and/or transverse orientation of the vehicle relative to the interchangeable load carrier,
• a camera system for capturing image information to determine alignment information;
• a laser-based level detection device for detecting the distance of the single-track elements relative to the ground.

• Verwendung des Kamerasystems bei Rückwärtsfahrt des Fahrzeugs von der Zwischenposition zumindest bis zum Einspuren der Einspurelemente in den Einspurtunnel;
• Verwendung der laserbasierten Abstandserfassungseinrichtung zur Erfassung der Längsausrichtung des Fahrzeugs relativ zum austauschbaren Lastenträger von der Zwischenposition bis zur Aufnahmeposition;
• Verwendung der laserbasierten Niveauerfassungseinrichtung vor dem Einspuren der Einspurelemente in den Einspurtunnel;
• Verwendung der laserbasierten Abstandserfassungseinrichtung zur Erfassung der Querausrichtung des Fahrzeugs relativ zum austauschbaren Lastenträger während des Einspurens der Einspurelemente in den Einspurtunnel. Bei dem Verfahren können somit die einzelnen Erfassungseinrichtungen dann zum Einsatz kommen, wenn es technisch möglich und zweckdienlich ist.

The systems mentioned in the above description of the system can be used as detection devices. In the method, the alignment information can be determined by fusing signals from the detection devices provided on the vehicle, starting from the intermediate position when the single-track elements are aligned in the single-track tunnel until the recording position is reached. The detection devices can be used as follows:

• Use of the camera system when reversing the vehicle from the intermediate position at least until the single-track elements line up in the single-track tunnel;
• Use of the laser-based distance detection device to detect the longitudinal alignment of the vehicle relative to the interchangeable load carrier from the intermediate position to the receiving position;
• Use of the laser-based level detection device before the single-track elements are aligned in the single-track tunnel;
• Use of the laser-based distance detection device to detect the transverse alignment of the vehicle relative to the interchangeable load carrier while the single-track elements are being aligned in the single-track tunnel. In the process, the individual detection devices can therefore be used when it is technically possible and expedient.

In the method, the position information determined by the position determination means can also be used to determine the alignment information. It should be noted that the position information relates to the position of the vehicle in relation to a fixed coordinate system, while the alignment information relates to the relative alignment between the vehicle and the interchangeable load carrier. Due to the different characteristics of the position information and the alignment information, this procedure results in an extremely precise determination of the alignment between the vehicle and the interchangeable load carrier. It can be taken into account that the position information is only used in this method if there is sufficient accuracy, for example of a GPS-based system used.

In the method, when fusing the signals from the detection devices provided on the vehicle, a plausibility check of the signals from the detection devices provided on the vehicle and, if necessary, a corresponding correction of the signals when determining the alignment information can be carried out. The fusion involves the evaluation of the available signals using a predetermined algorithm. Since the available signals partly refer to the same size, redundant results can occur. For example, a distance signal can be generated by both the camera system and the laser-based sensor system. In this case, the signals can be mutually corrected. If a signal deviates excessively from several redundant signals, the signal can be corrected. nals, the plausibility check can be used to determine whether this signal is excessively inaccurate. A signal classified as inaccurate can be disregarded for further action.

In the method, the position information can be used to check the plausibility of the signals. The position information is recorded using the position determination means, which determine the position of the vehicle in relation to the fixed coordinate system. This can prevent a source of error, for example a position deviation of a reference element on the exchangeable load carrier, from affecting several redundant signals and the deviation from remaining undetected by the plausibility check.

Short description of the drawings

• 1 shows a vehicle and a swap body to which embodiments of the invention are applicable;
• 2 shows in a schematic plan view an arrangement of sensors on a vehicle to which embodiments of the invention are applicable;
• 3 shows a lower section of a swap body that can be carried by the vehicle;
• 4 shows in a schematic representation various relative positions of a vehicle to the swap body to explain the inventive concept;
• 5 shows a schematic representation of the arrangement of sensors on a vehicle according to a further embodiment;
• 6 shows the vehicle and the swap body in a schematic view from the rear according to the 5 embodiment shown;
• 7 shows a schematic flow diagram for explaining the method according to an embodiment of the invention;

Description of the embodiments

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 shows a vehicle 1 which is suitable for picking up a target object. Furthermore, 1 a swap body 2, which is designed as an interchangeable load carrier and is defined as the target object in this description. 1 The swap body 2 shown can be picked up by the vehicle 1. The swap body 2 is designed to accommodate loads. For this purpose, an optional case 10 for holding the load is provided on the swap body 2. The vehicle 1 has a driver's cab at the front section and a frame 8 at the rear section. In the illustration, the vehicle 1 is shown with one front axle and two rear axles, but various arrangements with more or fewer axles are conceivable.

In the longitudinal direction behind the vehicle 1, in the illustration of 1 the swap body 2 is placed on support elements 9. In the 1 In the configuration shown, the vehicle 1 is prepared to pick up the swap body 2. The picking up of the swap body 2 is carried out after the vehicle 1 has driven under the swap body 2 by lifting the vehicle 1. The process for picking up the swap body is discussed further below.

In 2 is a schematic plan view of the arrangement of single-track elements 6a, 6b, 6c, 6d on the frame 8 of the vehicle 1. In particular, single-track elements 6a, 6b are attached to a rear section of the frame 8 of the vehicle 1 and are spaced apart from one another in the transverse direction of the vehicle 1. Single-track elements 6c, 6d are shown on the front region of the frame 8 of the vehicle 1 and are also spaced apart in the transverse direction of the vehicle 1. The single-track elements 6a, 6b, which are mounted on the rear region of the frame 8, form a first pair of guide elements. The single-track elements 6c, 6d, which are attached to the front region of the frame 8, form a second pair of single-track elements. The first pair of single-track elements 6a, 6b is spaced apart in the longitudinal direction from the second pair of single-track elements 6c, 6d. In the present embodiment, four track elements 6a, 6b, 6c, 6d are provided on the frame 8, each of which is mounted at four corners of an imaginary rectangle.

In 3 The design of the swap body 2 is shown. In particular, the view of 3 the area of the lower surface of the swap body 2 can be seen. In the present embodiment, the swap body 2 has the optional case 10, which is intended for holding cargo. A single-track tunnel 7 is provided on the lower surface of the swap body 2. The single-track tunnel 7 is limited at the top by the lower surface of the swap body 2. To the left and to the right, the single-track tunnel 7 is formed by a right guide element 7a and a left guide element 7b. The right guide element 7a and the left guide element 7b are each designed as guide rails, which are continuous are provided on the underside of the swap body 2. The distance between the left guide rail 7a and the right guide rail 7b is set up such that the single-track elements 6a, 6b, 6c, 6d can track into the single-track tunnel 7 thus formed.

The swap body also has support elements 9, whereby in the present embodiment four support elements 9 are provided. The support elements 9 support the swap body on the ground so that the swap body 2 is held at a predetermined distance from the ground. The support elements 9 are in 3 shown state and can be folded in and locked in the folded position after the swap body 2 has been picked up by the vehicle 1, in particular after the swap body 2 has been lifted off the ground.

This in 2 further comprises a number of sensors and measuring devices. The sensors and measuring devices mounted on the vehicle 1 of the present embodiment will be described below.

A distance detection device 4a is provided on a front area of the frame 8. The distance detection device 4a has a laser-based sensor system. The distance detection device 4a directs a laser beam backwards with respect to the direction of travel of the vehicle. The laser beam directed backwards by the distance detection device 4a can strike an element of the swap body 2. In the present embodiment, the element that the rearward laser beam can strike is a cross member of the swap body 2 at the front area of the swap body 2. The distance detection device 4a has a measuring device with which the distance between the distance detection device 4a and the element of the swap body 2 that the laser beam strikes can be determined using known methods. The distance detection device 4a can thus determine the relative position between the vehicle 1 and the swap body 2 in the longitudinal direction. The distance detection device 4a emits a corresponding signal for further processing.

At the 2 The vehicle shown also has a camera system which comprises two cameras 4c, 4d directed rearward with respect to the direction of travel of the vehicle. A front camera 4c is arranged on the front section of the frame 8, whereas a rear camera 4d is arranged on the rear section of the frame 8. Both cameras are set up in such a way that they capture an area located in the corresponding field of view and pass on the captured information for processing. In particular, the information captured by the cameras 4c, 4d is converted in the present embodiment into a signal which allows conclusions to be drawn about the orientation of the swap body 2 located behind the vehicle 1.

At the 2 In the vehicle shown, a GPS-based position detection system 3a is provided as the position determination means 3 in the present embodiment. The GPS-based position detection system 3a is set up to determine the position and orientation of the vehicle 1 in relation to a fixed coordinate system. The GPS-based position determination system 3a emits corresponding signals for further processing.

On the vehicle in 2 a level detection device 4e is also provided. In the present embodiment, the level detection device 4e has a laser-based sensor which detects a distance to the ground on which the vehicle is located in relation to a reference position on the frame 8. The level detection device 4e emits a corresponding signal for further processing.

This in 2 The vehicle shown further comprises a laser-based single-track sensor system 4b which is designed for laser-assisted detection of the orientation of the vehicle 1 relative to the swap body 2. The laser-based single-track sensor system 4b has four laser-based sensors 4b1, 4b2, 4b3, 4b4, which are each arranged in pairs on the frame 8 of the vehicle 1. A first pair of laser-based sensors 4b1, 4b2 is arranged on the rear section of the vehicle 8. In particular, the first pair of laser-based sensors 4b1, 4b2 is provided behind the first pair of single-track elements 6a, 6b. The laser-based single-track sensor system 4b also comprises a second pair of laser-based sensors 4b3, 4b4, which are arranged in the central region of the frame 8 of the vehicle 1 in relation to the longitudinal direction. In particular, the second pair of laser-based sensors 4b3, 4b4 is arranged between the first pair of single-track elements 6a, 6b and the second pair of single-track elements 6c, 6d. The laser-based sensors 4b1, 4b2, 4b3, 4b4 are designed to detect the orientation and position of the swap body 2 relative to the vehicle 1.

The laser-based single-track sensor system 4b is in 5 and 6 shown in more detail. As in 5 As can be seen, laser beams of the laser-based sensors 4b1, 4b2, which are arranged on the rear section of the frame 8, are aligned so that they are directed onto elements of the interchangeable bridge cke 2. The laser beams of the laser-based sensors 4b1, 4b2 are aligned so that they cross each other, 6 shows in a cross-section the relative orientations of the laser-based sensors 4b1, 4b2 in relation to the right guide element 7a and the left guide element 7b of the single-track tunnel 7.

By detecting the distances between the laser-based sensor 4b1 on the right-hand side of the vehicle and an element of the swap body 2 on the left-hand side or between the laser-based sensor 4b2 on the left-hand side of the vehicle 1 and an element of the swap body 2 on the right-hand side, the alignment of the vehicle 1 relative to the swap body 2 can be detected even before the first pair of alignment elements 6a, 6b are aligned. After the vehicle 1 has driven further under the swap body 2, the laser-based sensors 4b3, 4b4, which are arranged in the middle area of the frame 8, can detect the distance to elements of the swap body 2, in particular to the left guide rail 7b and the right guide rail 7a. The alignment between the vehicle 1 and the swap body 2 can also be carried out by this detection. By combining the measurement results from the four laser-based sensors 4b1, 4b2, 4b3, 4b4 provided in the present embodiment while the vehicle 1 is driving under the swap body 2, a lateral offset of the vehicle 1 relative to the swap body 2 and an angular offset of the vehicle 1 relative to the swap body 2 can be detected. Corresponding signals are generated by the laser-based single-track sensor system 4b for further processing.

In 4 The process for aligning and picking up the swap body 2 by the vehicle 1 is shown schematically. In 4 In the view marked A, vehicle 1 is positioned longitudinally in front of swap body 2. Vehicle 1 is still spaced apart from swap body 2 in the longitudinal direction. This position can be defined as an intermediate position, which will be discussed below.

In the view marked B, the rear section of the vehicle 1 has already driven under the swap body 2. The first pair of single-track elements 6a, 6b has already been aligned in the single-track tunnel 7 between the right guide element 7a and the left guide element 7b.

In the view marked C, the vehicle 1 has driven completely under the swap body 2. Both the first pair of single-track elements 6a, 6b and the second pair of single-track elements 6c, 6d are aligned in the single-track tunnel between the right guide element 7a and the left guide element 7b. In this situation, the vehicle 1 is in a receiving position, which is discussed further below.

Thus, the position determination means 3 generates and provides information regarding the position and orientation of the vehicle 1 in relation to a stationary coordinate system. Furthermore, the orientation determination means 4 provides information regarding the orientation of the vehicle 1 in relation to the swap body 2 as soon as detection by the corresponding detection means is possible. In the present embodiment, the orientation determination means 4 comprise the distance detection device 4a, the laser-based single-lane sensor system 4b with the laser-based sensors 4b1, 4b2, 4b3, 4b4, the camera system 4c, 4d with the front camera 4c and the rear camera 4d and the level detection device 4e. The detection means thus combined in the orientation determination means 4 generate signals that are made available for further processing.

The vehicle of the present embodiment is equipped with a control device 5 which is designed, among other things, to carry out autonomous operation of the vehicle 1. For this purpose, the control device 5 has corresponding means which are provided for receiving sensor signals, for emitting control signals and the like. The control device also has a processing unit in which a predetermined program can be executed. The control device 5 receives in particular the position information from the position determination means 3 and the orientation information from the orientation determination means 4. Furthermore, the control device 5 is supplied with further signals which are required for autonomous operation.

The control device 5 is further configured to control actuators via control outputs, such as an actuator for adjusting a steering angle of steerable wheels, an actuator for actuating a drive with a predetermined operating state, an actuator for actuating a braking device and an actuator for actuating a level control system of the vehicle 1.

In the following, the method for autonomously picking up the target object by the vehicle according to an embodiment is explained. In the present embodiment, the method for picking up the swap body 2 by the vehicle. The structure and functions of the vehicle 1 and the swap body 2 are assumed to be as described above.

In an initial situation, vehicle 1 is in a starting position. Furthermore, the swap body 2 to be recorded is in a recording position. Both the starting position and the recording position are defined by information that includes the position and orientation of vehicle 1 or swap body 2.

While the pickup position of the swap body 2 can be known through a previous parking process of the swap body 2, the starting position of the vehicle 1 is determined and made available by the GPS-based positioning system 3a.

Based on this situation and the need to pick up the swap body 2 by the vehicle 1 through an autonomous operation, the 7 The schematically shown flow chart is started at START.

After carrying out initial processes, the position information at the starting position of the vehicle 1 is determined in step S1. For this purpose, as described above, the GPS-based positioning system 3a is used in the present embodiment.

In step S2, a trajectory T is determined. The trajectory T is determined to approach an intermediate position. The intermediate position is defined such that the vehicle 1 is positioned at this position with a predetermined alignment on the swap body 2. According to the present embodiment, the intermediate position is located near the swap body 2 at the receiving position, with the vehicle 1 and the swap body 2 already being approximately aligned in the longitudinal direction in the intermediate position.

On the basis of the determined trajectory T, in the present embodiment, the vehicle 1 is driven from the starting position to the intermediate position by the autonomous operation, taking into account the position information. In the present embodiment, the continuously available position information is used by the GPS-based positioning system for the autonomous operation of the vehicle 1.

In step S3, alignment information is determined after the vehicle 1 has reached the intermediate position. In the present embodiment, alignment information may be generated by one or more of the detection devices comprising the alignment determination means 4. For example, once the rear camera 4d detects the front portion of the swap body 2 and can generate information on the alignment between the vehicle 1 and the swap body 2, it can be determined that the vehicle 1 has reached the intermediate position. In this situation, all detection elements of the alignment determination means 4 are used to continuously generate alignment information.

In step S4, a recording state of the vehicle 1 is brought about on the basis of the alignment information. In the present embodiment, on the basis of the signal from the level detection device 4e and using the level control system provided on the vehicle 1, the level of the frame 8 and in particular of the single-track elements 6a, 6b, 6c, 6d is adjusted relative to the ground so that the single-track elements 6a, 6b, 6c, 6d can track into the single-track tunnel 7 of the swap body 2. The presence of the recording state is confirmed by the camera system 4c, 4d. In addition, in the present embodiment, information created in advance regarding the geometry of the swap body 2 and the vehicle 1 is also used.

In step S5, the autonomous operation of the vehicle 1 is carried out to move the vehicle 1 from the intermediate position to the receiving position. In the receiving position, the swap body 2 can be picked up by the vehicle 1. In particular, the vehicle 1 in the receiving position has driven completely under the swap body 2 and all single-track elements 6a, 6b, 6c, 6d are aligned in the single-track tunnel 7. In this situation, the 7 The procedure described is essentially terminated.

In the present embodiment, by lifting the vehicle using the level control system after reaching the pickup position, the swap body 2 is raised by the frame so that the support elements 9 are lifted off the ground. The support elements 9 are now folded up and can be locked in this position. In the present embodiment, this process can also be carried out automatically using appropriate actuating means. In this situation, the vehicle 1 with the swap body 2 is ready to drive off and can be driven autonomously or with driver assistance to a predetermined destination.

In the present embodiment, the signals provided by the detection elements of the alignment means 4 are fused and evaluated. tet. When the vehicle 1 approaches the intermediate position, the camera system 4c, 4d is first used to determine the alignment between the vehicle 1 and the swap body 2. After further reversing and while the alignment between the vehicle 1 and the swap body 2 is being recorded by the camera system 4c, 4d, the distance detection device 4a is used to precisely determine the distance between the vehicle 1 and the swap body 2. Then, before the single-track elements 6a, 6b, 6c, 6d begin to line up in the single-track tunnel 7, the distance of the vehicle frame 8 in relation to the ground is determined by the level detection device 4e. After continued reversing of the vehicle 1 in the direction of the swap body 2, the laser-based sensors 4b1, 4b2, which are mounted at the rear end of the frame 8, detect the guide elements 7a, 7b of the swap body 2. After further reversing, the laser-based sensors 4b3, 4b4, which are arranged in the middle area of the frame 8, detect the guide elements 7a, 7b of the single-track tunnel 7.

Thus, in a logical sequence, the detection elements of the alignment determination means 4 are inserted under the swap body 2 depending on the entry state of the vehicle 1 in order to regulate the alignment by the autonomous operation of the vehicle 1.

In the present embodiment, the GPS-based positioning system 3a is used as the position determination means. In a modified embodiment, sensors of a guidance system 3b are alternatively or additionally provided on the vehicle 1, which can detect elements embedded in the roadway, such as RFID elements, whose position is known. In this way, the vehicle 1 can be controlled autonomously between the starting position and the intermediate position.

Reference symbols

1

vehicle

2

Target object (swap body)

3

Position determination means

3b

Positioning system

3c

Guidance system

4

Alignment determination means

4a

Distance detection device

4b

Single-track sensor system

4b1, 4b2, 4b3, 4b4

Laser-based sensors

4c, 4d

Camera system

4e

Level detection device

5

Control device

6a, 6b, 6c, 6d

Single track element

7

Single-lane tunnel

7a, 7b

Guide element

8th

Frame

9

Support element

10

Suitcase

T

Trajectory

S1

Determining location information

S2

Determining a trajectory

S3

Determining alignment information

S4

Inducing a recording state

S5

Controlling an autonomous operation

Claims (20)

Vehicle (1) for picking up a target object (2) designed as a swap body, wherein the vehicle (1) is provided with single-track elements (6a, 6b, 6c, 6d) which are designed to track into a single-track tunnel (7) provided on the swap body (2), further comprising a system for autonomously picking up the target object (2) by the vehicle (1), wherein the system has position determination means (3) which are designed to determine the position of the vehicle (1) in relation to a stationary coordinate system, and orientation determination means (4) which are designed to determine an orientation of the vehicle (1) in relation to the target object (2), further comprising a control device (5) which is designed to receive position information from the position determination means (3) and orientation information from the orientation determination means (4) and to operate the vehicle (1) autonomously, characterized in that the control device (5) controls the autonomous operation of the vehicle (1) in a Section between a starting position and an intermediate position of the vehicle (1) on the basis of the orientation information and in a section between the intermediate position and a receiving position in addition to or alternatively to the orientation information on the basis of the orientation information. Vehicle (1) to Claim 1 , characterized in that the position determining means (3) comprise a GPS-based positioning system (3a). Vehicle (1) to Claim 1 , characterized in that the position determining means (3) have a sensor system (3b) for detecting reference elements (3c) provided in the region of the travel path. Vehicle (1) according to one of the Claims 1 - 3 , characterized in that the orientation determining means (4) comprise a laser-based sensor system which is mounted on the vehicle (1) and is arranged to detect the orientation of the vehicle (1) relative to the target object (2). Vehicle (1) to Claim 4 , characterized in that the laser-based sensor system comprises a single-track sensor system (4b) which interacts with elements of the target object (2) and generates a distance signal which indicates the distance between the target object (2) and the vehicle (1) in the longitudinal direction. Vehicle (1) to Claim 4 or 5 , characterized in that the laser-based sensor system comprises a distance detection device (4a) which interacts with a plurality of elements of the target object (2) and generates an alignment signal which indicates an alignment between the target object (2) and the vehicle (1) with respect to a relative rotation and/or a relative lateral offset. Vehicle (1) according to one of the Claims 1 - 6 , characterized in that the orientation determination means (4) comprise a camera system (4c, 4d) which is directed rearward with respect to the direction of travel of the vehicle (1) and, by imaging scanning of the field of view, generates a distance signal which indicates the distance of the target object (2) and the vehicle (1) in the longitudinal direction, and generates an orientation signal which indicates an orientation between the target object (2) and the vehicle (1) with respect to a relative rotation and/or a relative lateral offset. Vehicle (1) according to one of the Claims 1 - 6 , characterized in that the system comprises a level detection device (4e) which generates a level signal which indicates a distance of a reference element of the vehicle (1) relative to the ground on which the vehicle (1) is located. Vehicle (1) according to one of the preceding claims, characterized in that the reaching of the intermediate position of the vehicle (1) during autonomous operation of the vehicle (1) is detected by the orientation determination means (4), wherein the orientation determination means (4) detect the reaching of the intermediate position of the vehicle (1) when elements of the target object (2) are detected by the orientation determination means (4). Vehicle (1) according to one of the preceding claims, characterized in that the control device (5) is arranged to fuse available alignment information and/or position information with one another and to generate an overall alignment signal. Method for autonomously picking up a target object (2) designed as a swap body by a vehicle (1) according to one of the Claims 1 - 10 , the method comprising the following steps: (S1) determining position information at a starting position of the vehicle (1); (S2) determining a trajectory (T) for approaching an intermediate position at which the vehicle (1) is positioned with a predetermined orientation to the target object (2) on the basis of the determined position information and controlling an autonomous operation of the vehicle (1) to move the vehicle (1) to the intermediate position; (S3) determining orientation information after the vehicle (1) has reached the intermediate position; (S4) bringing about a recording state of the vehicle (1) on the basis of the orientation information; (S5) controlling an autonomous operation of the vehicle (1) to move the vehicle (1) from the intermediate position to the recording position in which the target object (2) can be recorded by the vehicle (1). Procedure according to Claim 11 , characterized in that the method for picking up a swap body as a target object (2) is applied by a vehicle (1) provided with single-track elements (6a, 6b, 6c, 6d), wherein the single-track elements (6a, 6b, 6c, 6d) are designed to track into a single-track tunnel (7) provided on the swap body (2). Procedure according to one of the Claims 11 or 12 , characterized in that the position information is determined by determining the position and orientation of the vehicle (1) in a fixed coordinate system and used to control the autonomous operation of the vehicle (1) to move the vehicle (1) to the intermediate position. Procedure according to Claim 12 , characterized in that the intermediate position is reached when the vehicle (1) is positioned with an approximate longitudinal alignment to the swap body (2) and alignment information can be determined by alignment determination means (4) provided on the vehicle (1) through interactions between the alignment determination means (4) and elements of the swap body (2). Procedure according to one of the Claims 12 - 14 , characterized in that the receiving state is reached when the single-track elements (6a, 6b, 6c, 6d) of the vehicle (1) are completely aligned in the single-track tunnel (7) of the swap body (2). Procedure according to one of the Claims 12 - 15 , characterized in that when determining the alignment information, one or more of the following alignment detection devices provided on the vehicle (1) are used: - a single-track sensor system (4b) for detecting a distance of the vehicle (1) relative to the swap body (2) in the longitudinal direction; - a distance detection device (4a) for detecting a longitudinal and/or transverse alignment of the vehicle (1) relative to the swap body (2); - a camera system (4c, 4d) for detecting image information for determining alignment information; - a level detection device (4e) for detecting a level of the single-track elements (6a, 6b, 6c, 6d) relative to the ground. Procedure according to one of the Claims 12 - 16 , characterized in that the alignment information is determined by fusing signals from the detection devices provided on the vehicle (1), starting from the intermediate position when the single-track elements (6a, 6b, 6c, 6d) are aligned in the single-track tunnel (7) until the recording position is reached, the alignment devices being used as follows: - use of the camera system (4c, 4d) when the vehicle (1) is reversing from the intermediate position at least until the single-track elements (6a, 6b, 6c, 6d) are aligned in the single-track tunnel (7); - use of the single-track sensor system (4b) to detect the longitudinal alignment of the vehicle (1) relative to the swap body (2) from the intermediate position to the recording position; - use of the level detection device (4e) before the single-track elements (6a, 6b, 6c, 6d) are aligned in the single-track tunnel (7); - Use of the distance detection device (4a) to detect the longitudinal and/or transverse orientation of the vehicle (1) relative to the swap body (2). Procedure according to Claim 17 , characterized in that the position information determined by the position determining means (3) is further used for determining the orientation information. Procedure according to one of the Claims 17 - 18 , characterized in that when fusing the signals of the alignment detection devices provided on the vehicle (1), a plausibility check of the signals of the alignment detection devices provided on the vehicle (1) and, if necessary, a corresponding correction of the signals is carried out when determining the alignment information. Procedure according to Claim 19 , characterized in that the position information of the position determining means (3) is used in the plausibility check of the signals.

Images