EP4728243A1

EP4728243A1 - Computer system and method for determining at least one new drivable path in a confined area

Info

Publication number: EP4728243A1
Application number: EP23733345.5A
Authority: EP
Inventors: Wilhelm WIBERG; Rajashekar CHANDRU; Josef Kindberg; Rikard WADMAN; Oskar Ljungqvist; Jonas GUSTIN
Original assignee: Volvo Autonomous Solutions AB
Current assignee: Volvo Autonomous Solutions AB
Priority date: 2023-06-19
Filing date: 2023-06-19
Publication date: 2026-04-22
Also published as: AU2023458664A1; WO2024260539A1

Abstract

The disclosure relates to a computer system (100) for determining at least one new drivable path (Pnew) in a confined area (A) for one or more vehicles (1), the computer system comprising processing circuitry (110) configured to: - obtain a first digital topographical map (Ml) of the confined area (A) which represents a first state (Stl) of the confined area (A), - obtain a second digital topographical map (M2) of the confined area (A) which represents a second state (St2) of the confined area (A), - determine the at least one new drivable path (Pnew), by estimating a change of the confined area (A) from the first state (Stl) to the second state (St2). The disclosure also relates to a method, a vehicle, a computer program product and a non-transitory computer-readable storage medium.

Description

COMPUTER SYSTEM AND METHOD FOR DETERMINING AT LEAST ONE NEW

DRIVABLE PATH IN A CONFINED AREA

TECHNICAL FIELD

[1] The disclosure relates generally to vehicles operating in confined areas. In particular aspects, the disclosure relates to a computer system for determining at least one new drivable path in a confined area for one or more vehicles, a computer-implemented method for determining at least one new drivable path in a confined area for one or more vehicles, a vehicle, a computer program product, and a non-transitory computer-readable storage medium. The disclosure can be applied to heavy-duty vehicles, such as trucks, buses, and construction equipment, among other vehicle types. Although the disclosure may be described with respect to a particular vehicle, the disclosure is not restricted to any particular vehicle.

BACKGROUND

[2] Vehicles may be operating in a confined area, such as a mining site, a construction site, and a logistics center. For example, the vehicles may be adapted to move material in the confined area. Accordingly, the vehicles may have a load bay or load platform onto which material may be loaded and thereafter moved. The vehicles may be manually operated, such as by an on-board driver or remotely controlled by an off-board driver, and/or automatically operated. An automatically operated vehicle may automatically operate at least one of steering, braking and propulsion of the vehicle. A vehicle operating in a confined area may comprise a localization system for localizing the vehicle in the confined area. By the localization system, it may be determined where the vehicle is located in the confined area. Further, the localization system may be used for navigating the vehicle in the confined area.

[3] A representation of the confined area may be used to manage traffic and how the vehicles are moving in the confined area. For example, the representation may comprise information about drivable paths in the confined area where the vehicles may drive.

[4] There is a strive to develop improved technology relating to vehicles operating in a confined area. SUMMARY

[5] According to a first aspect of the disclosure, there is provided a computer system for determining at least one new drivable path in a confined area for one or more vehicles, the computer system comprising processing circuitry configured to:

- obtain a first digital topographical map of the confined area which represents a first state of the confined area at a first point in time, comprising drivable paths for the one or more vehicles in the confined area,

- obtain a second digital topographical map of the confined area which represents a second state of the confined area at a second point in time, comprising at least one new drivable path for the one or more vehicles in the confined area which represents an expansion of a drivable area in the confined area, wherein the second point in time is a later point in time than the first point in time,

- determine the at least one new drivable path, by estimating a change of the confined area from the first state to the second state, wherein the change of the confined area is estimated based on data representing movement of material in the confined area by the one or more vehicles. The first aspect of the disclosure may seek to determine new drivable paths in a confined area in an efficient manner. A technical benefit may include that new drivable paths are determined which can be used by the vehicle(s) operating in the area. This may e.g., imply a reduced need of manually determining new drivable paths. This may in turn imply increased efficiency and productivity of the vehicle(s) operating in the confined area.

[6] Estimating a change of the confined area from the first state to the second state may comprise modelling a change of the confined area from the first state to the second state based on data representing movement of material in the confined area by the one or more vehicles. Modelling the change may comprise providing a two-dimensional and/or a three- dimensional model of the first state of the confined area and of the second state of the confined area.

[7] Optionally in some examples, including in at least one preferred example, the data representing movement of material in the confined area comprises data about an amount of material moved by the one or more vehicles and position of the moved material. A technical benefit may include increased confidence in the determination of the new drivable paths.

[8] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to determine the at least one new drivable path based on data representing material type of the moved material. A technical benefit may include increased confidence in the determination of the new drivable paths. For example, material type may be indicative of a load bearing capacity of the moved material, a shape of the moved material, or any other property of the moved material which may be used for the determination of the at least one new drivable path.

[9] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to determine the at least one new drivable path based on data representing an expected load bearing capacity of the moved material. A technical benefit may include increased confidence in the determination of the new drivable paths.

[10] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to determine the at least one new drivable path based on data representing at least one property of a driving surface of the at least one new drivable path, such as surface inclination and/or a surface friction coefficient. A technical benefit may include increased confidence in the determination of the new drivable paths. For example, data representing material type of the moved material may be indicative of or used for determining a surface friction coefficient. As yet another example, data about an amount of material moved by the one or more vehicles and position of the moved material may be indicative of or used for determining a surface inclination.

[11] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to associate the at least one new drivable path with a vehicle type having specific driving capabilities which are adapted for the at least one new drivable path. A technical benefit may include that only vehicles which are adapted for the at least one new drivable path may be allowed and/or instructed to drive on the at least one new drivable path. For example, the specific driving capabilities may comprise traction capabilities and/or movement capabilities, such as maximum possible turning radius of the vehicle.

[12] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to associate the at least one new drivable path with a vehicle having a weight being below a threshold. A technical benefit may include that only vehicles with a weight which can be accommodated by the at least one new drivable path may be allowed and/or instructed to drive on the at least one new drivable path. [13] Optionally in some examples, including in at least one preferred example, the data representing movement of material in the confined area comprises data about an expected shape of the moved material as a consequence of the one or more vehicles unloading the material at unloading spots. A technical benefit may include increased confidence in the determination of the new drivable paths. For example, the expected shape of the moved material as a consequence of the one or more vehicles unloading the material at unloading spots may be defined based on an expected angle of repose of the moved material. The angle of repose may be estimated based on the type of material moved.

[14] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to determine the at least one new drivable path based on sensor readings from one of more environment perception sensors which represent a field of view of the at least one new drivable path. A technical benefit may include increased confidence in the determination of the new drivable paths.

[15] Optionally in some examples, including in at least one preferred example, the data representing movement of material in the confined area by the one or more vehicles is based on material moved as determined by each respective vehicle of the one or more vehicles. A technical benefit may include improved estimation of the at least one new drivable path. For example, each vehicle may comprise one or more sensors for determining an amount of material moved and position of the moved material. For example, each vehicle may comprise a sensor for measuring a weight of material loaded on the vehicle, and/or a sensor for determining a position of where material is unloaded. As such, by way of example, the computer system may be configured to receive data from each vehicle about material moved by the respective vehicle in the confined area.

[16] Optionally in some examples, including in at least one preferred example, estimating a change of the confined area from the first state to the second state further comprises that the processing circuitry is configured to estimate a movement of one or more loading and/or unloading spots in the confined area. A technical benefit may include that new loading and/or unloading spots are determined which are associated with the at least one new drivable path. These loading and/or unloading spots may in turn be used by the one or more vehicles for loading and/or unloading material, e.g., for generating new drivable paths over time. The loading and/or unloading spots may be provided at an edge of the at least one new drivable path. [17] Optionally in some examples, including in at least one preferred example, the second digital topographical map of the confined area is an expected state of the confined area as a consequence of the material moved in the confined area by the one or more vehicles. A technical benefit may include that an expected state of the confined area is obtained by the determination of the at least one new drivable path.

[18] Optionally in some examples, including in at least one preferred example, the second digital topographical map of the confined area is a target future state of the confined area.

[19] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to instruct the one or more vehicles to move material such that the target future state of the confined area is achieved. A technical benefit may include that the target future state of the confined area is achieved.

[20] Optionally in some examples, including in at least one preferred example, instructing the one or more vehicles to move material such that the target future state of the confined area is achieved comprises that the processing circuitry is further configured to determine new unloading spots for the one or more vehicles such that the at least one new drivable path is generated, and to instruct the one or more vehicles to unload material at the new unloading spots. A technical benefit may include that the at least one new drivable path is more efficiently generated, implying increased productivity. For example, the new unloading spots may be determined based on a target width of the at least one new drivable path. The target width of the at least one new drivable path may be based on a width of the one or more vehicles, i.e., so that the one or more vehicles are able to drive on the at least one new drivable path.

[21] According to a second aspect of the disclosure, there is provided a vehicle comprising the computer system according to any one of the examples of the first aspect of the disclosure, and/or being configured to receive instructions from and/or transmit data to the computer system according to any one of the examples of the first aspect of the disclosure. The second aspect of the disclosure may seek to determine new drivable paths in a confined area in an efficient manner. A technical benefit may include that new drivable paths are determined which can be used by the vehicle. This may e.g., imply a reduced need of manually determining new drivable paths. This may in turn imply increased efficiency and productivity of the vehicle operating in the confined area. [22] Optionally in some examples, including in at least one preferred example, the instructions comprise instructions to move material in a confined area between loading and unloading spots. A technical benefit may include more efficient generation of a target future state of the confined area.

[23] Optionally in some examples, including in at least one preferred example, the data transmitted to the computer system are data representing movement of material in the confined area by the vehicle. A technical benefit may include improved determination of the at least one new drivable path.

[24] According to a third aspect of the disclosure, there is provided a computer- implemented method for determining at least one new drivable path in a confined area for one or more vehicles, the method comprising:

- obtaining, by processing circuitry of a computer system, a first digital topographical map of the confined area which represents a first state of the confined area at a first point in time, comprising drivable paths for the one or more vehicles in the confined area,

- obtaining, by the processing circuitry, a second digital topographical map of the confined area which represents a second state of the confined area at a second point in time, comprising at least one new drivable path for the one or more vehicles in the confined area which represents an expansion of a drivable area in the confined area, wherein the second point in time is a later point in time than the first point in time,

- determining, by the processing circuitry, the at least one new drivable path, by estimating a change of the confined area from the first state to the second state, wherein the change of the confined area is estimated based on data representing movement of material in the confined area by the one or more vehicles. Advantages and effects of the third aspect of the disclosure are analogous to the advantages and effects of the first and second aspects of the disclosure, and vice versa.

[25] Optionally in some examples, including in at least one preferred example, the data representing movement of material in the confined area comprises data about an amount of material moved by the one or more vehicles and position of the moved material.

[26] Optionally in some examples, including in at least one preferred example, the method further comprises determining the at least one new drivable path based on data representing material type of the moved material. [27] Optionally in some examples, including in at least one preferred example, the method further comprises determining the at least one new drivable path based on data representing an expected load bearing capacity of the moved material.

[28] Optionally in some examples, including in at least one preferred example, the method further comprises determining the at least one new drivable path based on data representing at least one property of a driving surface of the at least one new drivable path, such as surface inclination and/or a surface friction coefficient.

[29] Optionally in some examples, including in at least one preferred example, the method further comprises associating the at least one new drivable path with a vehicle type having specific driving capabilities which are adapted for the at least one new drivable path.

[30] Optionally in some examples, including in at least one preferred example, the method further comprises associating the at least one new drivable path with a vehicle having a weight being below a threshold.

[31] Optionally in some examples, including in at least one preferred example, the data representing movement of material in the confined area comprises data about an expected shape of the moved material as a consequence of the one or more vehicles unloading the material at unloading spots.

[32] Optionally in some examples, including in at least one preferred example, the method further comprises determining the at least one new drivable path based on sensor readings from one of more environment perception sensors which represent a field of view of the at least one new drivable path.

[33] Optionally in some examples, including in at least one preferred example, the data representing movement of material in the confined area by the one or more vehicles is based on material moved as determined by each respective vehicle of the one or more vehicles.

[34] Optionally in some examples, including in at least one preferred example, estimating a change of the confined area from the first state to the second state further comprises estimating a movement of one or more loading and/or unloading spots in the confined area.

[35] Optionally in some examples, including in at least one preferred example, the second digital topographical map of the confined area is an expected state of the confined area as a consequence of the material moved in the confined area by the one or more vehicles. [36] Optionally in some examples, including in at least one preferred example, the second digital topographical map of the confined area is a target future state of the confined area.

[37] Optionally in some examples, including in at least one preferred example, the method further comprises instructing the one or more vehicles to move material such that the target future state of the confined area is achieved.

[38] Optionally in some examples, including in at least one preferred example, instructing the one or more vehicles to move material such that the target future state of the confined area is achieved comprises determining new unloading spots for the one or more vehicles such that the at least one new drivable path is generated, and instructing the one or more vehicles to unload material at the new unloading spots.

[39] According to a fourth aspect of the disclosure, there is provided a computer program product comprising program code for performing, when executed by the processing circuitry, the method of any of the examples of the third aspect of the disclosure.

[40] According to a fifth aspect of the disclosure, there is provided a non-transitory computer-readable storage medium comprising instructions, which when executed by the processing circuitry, cause the processing circuitry to perform the method of any of the examples of the third aspect of the disclosure.

[41] The disclosed aspects, examples (including any preferred examples), and/or accompanying claims may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein.

[42] There are also disclosed herein computer systems, control units, code modules, computer-implemented methods, computer readable media, and computer program products associated with the above discussed technical benefits.

BRIEF DESCRIPTION OF THE DRAWINGS

[43] Examples are described in more detail below with reference to the appended drawings.

[44] FIG. la is a schematic view of a confined area according to an example.

[45] FIG. lb is a schematic view of a confined area according to an example. [46] FIG. 2 is a schematic view of an exemplary computer system in communicative contact with vehicles in a confined area according to an example.

[47] FIG. 3 is a schematic view of an exemplary drivable path in a confined area according to an example.

[48] FIG. 4 is a flowchart of an exemplary method according to an example.

[49] FIG. 5 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein, according to an example.

DETAILED DESCRIPTION

[50] The detailed description set forth below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the disclosure.

[51] The present disclosure relates to vehicles which are adapted to operate in confined areas, such as mining sites, construction sites, etc. The confined area may comprise drivable paths for the vehicles. A drivable path as used herein means a path for a vehicle which is safe to drive on, i.e., a path which will be able to accommodate the load of the vehicle and prevent the vehicle from getting stuck and/or from overturning. An aim of the present disclosure is to provide an improved computer system for determining at least one new drivable path in a confined area for one or more vehicles, which at least partially alleviates one or more drawbacks of the prior art, or which at least provides a suitable alternative. Another aim of the present disclosure is to provide an improved method for determining at least one new drivable path in a confined area for one or more vehicles, which at least partially alleviates one or more drawbacks of the prior art, or which at least provides a suitable alternative. Other aims of the present disclosure are to provide an improved vehicle, a computer program product and/or a non-transitory computer-readable storage medium, which at least partially alleviate one or more drawbacks of the prior art, or which at least provides suitable alternatives.

[52] The vehicles as disclosed herein may be autonomous vehicles which operate in the confined area based on instructions from e.g., a remote server, i.e., a remote computer system. The instructions may for example comprise instructions for performing specific missions, such as loading and unloading of material in the confined area at specific loading and unloading spots. The material may be earth material, such as gravel, sand, soil, stones of different sizes generated from blasting, etc.

[53] FIG. la is an exemplary schematic view of a confined area A according to an example. The confined area A is in this example a construction site and comprises drivable paths Pl-n for one or more vehicles 1. The vehicle 1 in FIG. la is in this example a truck with a load bay 2 for carrying material. The confined area A may as shown further comprise additional vehicles 3 for loading material onto the vehicles 1. In the shown example, the additional vehicles 3 are excavators. In other examples, the additional vehicles may be wheel loaders or any other vehicle which can load material onto another vehicle.

[54] The drivable paths Pl-n form a drivable area Adrive for the vehicles 1. Accordingly, the vehicles 1 may not be able to drive outside the drivable area Adrive, it may not be safe to drive outside the drivable area Adrive, or it may not be confirmed that the area not forming part of the drivable area Adrive is safe to drive on.

[55] The drivable paths Pl-n may be paths which are visually identifiable and/or it may be paths which are defined as being safe to drive on. Accordingly, in other examples, the drivable paths Pl-n may not be visually identifiable. Additionally, or alternatively, the drivable paths Pl-n may be defined by e.g., coordinates in the confined area A to be used for navigating the vehicle 1 along the drivable paths Pl-n.

[56] FIG. la is further an example of a first digital topographical map Ml of the confined area A according to an example of the disclosure. Accordingly, the information shown in FIG. la is at least partially digitally stored in a memory. The first digital topographical map Ml of the confined area A represents a first state Stl of the confined area A at a first point in time, comprising the drivable paths Pl-n for the one or more vehicles 1 in the confined area A.

[57] FIG. lb is an exemplary schematic view of the confined area A according to another example. FIG. lb is further an example of a second digital topographical map M2 of the confined area A which represents a second state St2 of the confined area A at a second point in time, comprising at least one new drivable path Pnew for the one or more vehicles 1 in the confined area A which represents an expansion of the drivable area Adrive in the confined area A. In the shown example, the second state St2 further comprises the previous drivable paths Pl-n as shown in FIG. la. It shall however be noted that some drivable paths may have disappeared in the second state. The second point in time is a later point in time than the first point in time. Accordingly, from the first point in time to the second point in time, the one or more vehicles 1 may have moved material in the confined area A.

[58] FIG. 2 is a schematic view of an exemplary computer system 100 in communicative contact with vehicles 1 in a confined area A according to an example. Accordingly, the vehicles 1 shown in FIG. 2 may correspond to the one or more vehicles 1 in FIGS. la-b.

[59] The communicative contact between the computer system 100 and the vehicles 1, indicated by arrows, may be in the form of wireless communication, such as by use of WiFi, Bluetooth, telecommunication, etc. The computer system 100 may be located in the confined area A, in the proximity of the confined area A, or remotely from the confined area A. In some examples, the computer system 100 may be a server, such as a cloud server.

[60] The vehicles 1 shown in FIG. 2 are autonomous vehicles. In other examples, the vehicles 1 may be at least partially driven by a user, such as an on-board or off-board driver.

[61] In the shown example, the vehicles 1 comprises an environment perception sensor 10. For example, the environment perception sensor 10 may be a camera, a LIDAR (light detection and ranging) sensor, a RADAR (radio detection and ranging) sensor, an ultrasonic sensor, a SONAR (sound navigation and ranging) sensor, or any combination of such sensors. The environment perception sensor 10 has a field of view F, represented by a dashed triangle. The environment perception sensor 10 may for example be used for guiding the vehicle 1 in the confined area A, for detecting obstacles along its driving path, and/or for identifying the drivable paths Pl-n.

[62] As further depicted in FIG. 2, the vehicles 1 may comprise a sensor 12, or one or more sensors, for detecting a load provided on the vehicle 1, i.e., material loaded on the vehicle 1. The sensor 12 may for example be a weight sensor which measures a weight of the load. As another example, the sensor 12 may be a camera which identifies the material loaded onto the vehicle 1. As a yet further example, detecting the load provided on the vehicle 1 may be performed by estimating the load using engine torque and surface inclination while driving. Accordingly, one or more sensors may be used for detecting the load provided on the vehicle.

[63] As further depicted in FIG. 2, the vehicles 1 may comprise a sensor 14 for identifying a position of the vehicle 1 in the confined area A. The sensor 14 may for example be a GNSS (global navigation satellite system) sensor. Additionally, or alternatively, other sensors may be used for localizing the vehicle 1 in the confined area A, such as by use of the above mentioned environment perception sensor 10.

[64] The vehicles 1 may further comprise one or more control units, or computer systems, (not shown) for controlling the operation of the vehicle 1, for communicating with the computer system 100, and/or for processing the sensor information from the sensors 10, 12, 14.

[65] With reference to e.g., FIGS, la, lb and 2, an example of a computer system 100 for determining at least one new drivable path Pnew in a confined area A for one or more vehicles 1 according to the disclosure will be described. The computer system 100 comprises processing circuitry 110 configured to:

- obtain a first digital topographical map Ml of the confined area A which represents a first state Stl of the confined area A at a first point in time, comprising drivable paths Pl-n for the one or more vehicles 1 in the confined area A. According to an example, the first digital topographical map Ml may be in the form of a three-dimensional model of the confined area A. For example, the first digital topographical map Ml of the confined area A may be provided by at least one of manual input with information about the shape of the confined area A, input from sensor readings of the confined area A, such as by sensors provided on vehicles driving around in the confined area A, sensors provided on drones flying over the confined area A, or any other sensor reading which can obtain information about the shape of the confined area A.

[66] The processing circuitry 110 is further configured to:

- obtain a second digital topographical map M2 of the confined area A which represents a second state St2 of the confined area A at a second point in time, comprising at least one new drivable path Pnew (indicated by a dashed line) for the one or more vehicles 1 in the confined area A which represents an expansion of a drivable area A in the confined area A, wherein the second point in time is a later point in time than the first point in time.

[67] The processing circuitry 110 is further configured to:

- determine the at least one new drivable path Pnew, by estimating a change of the confined area A from the first state Stl to the second state St2, wherein the change of the confined area A is estimated based on data representing movement of material in the confined area A by the one or more vehicles 1. [68] The data representing movement of material in the confined area A may comprise data about an amount of material moved by the one or more vehicles 1 and position of the moved material. The amount of material moved may for example be a volume of material. For example, an amount of material moved by the one or more vehicles 1 may be estimated based on information from the sensor 12 as mentioned in the above. As a yet further example, the position of the moved material may be estimated based on information from the sensor 14 as mentioned in the above. For example, when a vehicle 1 is tipping material from its load bay 2, the sensor 14 may be used for determining the tipping position, or the unloading spot U, in the confined area A.

[69] The processing circuitry 110 may further be configured to determine the at least one new drivable path Pnew based on data representing material type of the moved material. For example, the material type in the confined area A may be predetermined, it may be determined based on sensor readings by, e.g., the vehicles 1, which identifies the material type. For example, the material type may be an indication of a load bearing capacity of the moved material.

[70] The processing circuitry 110 may further be configured to determine the at least one new drivable path Pnew based on data representing an expected load bearing capacity of the moved material. The data representing an expected load bearing capacity of the moved material may for example be obtained by use of information about the amount of material moved, the position of the moved material, the type of material, and/or an expected angle of repose of the moved material. For example, the amount of material, i.e. volume, may be determined based on detecting the load provided on the vehicle and the type of material. Additionally, or alternatively, the data representing an expected load bearing capacity of the moved material may for example be obtained by use of information about a compacting operation performed on the moved material, such as by use of a compactor machine (not shown) driving on the moved material. For example, a compactor machine may provide information to the computer system 100 about such a compacting operation on the moved material.

[71] FIG. 3 depicts a schematic view of an exemplary drivable path Px in a confined area A according to an example. For example, the drivable path Px may be one of the drivable paths Pl-n shown in FIGS. la-b. FIG. 3 further depicts a new drivable path Pnew according to an example of the disclosure. As shown, the new drivable path Pnew may be an extension of the drivable path Px.

[72] With reference to e.g., FIGS. 2 and 3, the processing circuitry 110 may further be configured to determine the at least one new drivable path Pnew based on data representing at least one property of a driving surface Ps of the at least one new drivable path Pnew, such as surface inclination and/or a surface friction coefficient. For example, surface inclination and/or a surface friction coefficient may be estimated by use of information of the amount of material moved, the position of the moved material, and/or by the type of material moved. Additionally, or alternatively, surface inclination and/or a surface friction coefficient may be estimated by use of information from sensor readings of the driving surface Ps, such as by sensor readings of the above mentioned environment perception sensor 10.

[73] The processing circuitry 110 may further be configured to associate the at least one new drivable path Pnew with a vehicle type 1 having specific driving capabilities which are adapted for the at least one new drivable path Pnew. For example, the specific driving capabilities may comprise traction capabilities and/or movement capabilities, such as maximum possible turning radius of the vehicle 1. Therefore, according to an example, the processing circuitry 110 may further be configured to estimate a path width of the at least one new drivable path Pnew based on the data representing movement of material in the confined area A by the one or more vehicles 1.

[74] The processing circuitry 110 may further be configured to associate the at least one new drivable path Pnew with a vehicle 1 having a weight being below a threshold.

[75] The data representing movement of material in the confined area A may comprise data about an expected shape of the moved material as a consequence of the one or more vehicles 1 unloading the material at unloading spots Ul-n, see FIG. 3.

[76] The processing circuitry 110 may further be configured to determine the at least one new drivable path Pnew based on sensor readings from one of more environment perception sensors 10 which represent a field of view F of the at least one new drivable path Pnew.

[77] The data representing movement of material in the confined area A by the one or more vehicles 1 may be based on material moved as determined by each respective vehicle of the one or more vehicles 1, e.g. as determined by use of at least one of the aforementioned sensors 10, 12, 14. [78] Estimating a change of the confined area A from the first state Stl to the second state St2 may further comprise that the processing circuitry 110 is configured to estimate a movement of one or more loading spots L and/or unloading spots U in the confined area A.

[79] The second digital topographical map M2 of the confined area A may be an expected state of the confined area A as a consequence of the material moved in the confined area A by the one or more vehicles 1.

[80] Additionally, or alternatively, the second digital topographical map M2 of the confined area A may be a target future state of the confined area A.

[81] As such, according to an example, the processing circuitry 110 may further be configured to instruct the one or more vehicles 1 to move material such that the target future state of the confined area A is achieved.

[82] Instructing the one or more vehicles 1 to move material such that the target future state of the confined area A is achieved may comprise that the processing circuitry 110 is further configured to determine new unloading spots Ul-n for the one or more vehicles 1 such that the at least one new drivable path Pnew is generated, and to instruct the one or more vehicles 1 to unload material at the new unloading spots Ul-n. For example, the unloading spots U, Ul-n, may be expressed by coordinates in the confined area A.

[83] The computer system 100 is in the above examples remote from the one or more vehicles 1. However, in alternative examples, the computer system may be provided on-board at least one of the one or more vehicles 1. The vehicles 1 as shown in FIG. 2 are configured to receive instructions from the computer system 100 and to transmit data to the computer system 100 according to examples disclosed herein. The instructions may as mentioned in the above comprise instructions to move material in the confined area A between loading spots L and unloading spots U. The loading spots L and the unloading spots U may be expressed by coordinates in the confined area A. The data transmitted to the computer system 100 may be data representing movement of material in the confined area A by the vehicle 1.

[84] The disclosure further relates to a computer-implemented method for determining at least one new drivable path Pnew in a confined area A for one or more vehicles 1. FIG. 4 depicts a flowchart of an exemplary method according to the disclosure.

[85] The method comprises:

SI : obtaining, by processing circuitry 110 of a computer system 100, a first digital topographical map Ml of the confined area A which represents a first state Stl of the confined area A at a first point in time, comprising drivable paths Pl-n for the one or more vehicles 1 in the confined area A,

S2: obtaining S2, by the processing circuitry 110, a second digital topographical map M2 of the confined area A which represents a second state St2 of the confined area A at a second point in time, comprising at least one new drivable path Pnew for the one or more vehicles 1 in the confined area A which represents an expansion of a drivable area Adrive in the confined area A, wherein the second point in time is a later point in time than the first point in time,

S3: determining, by the processing circuitry 110, the at least one new drivable path Pnew, by estimating a change of the confined area A from the first state Stl to the second state St2, wherein the change of the confined area A is estimated based on data representing movement of material in the confined area A by the one or more vehicles 1.

[86] The data representing movement of material in the confined area A may comprise data about an amount of material moved by the one or more vehicles 1 and position of the moved material.

[87] The method may comprise determining the at least one new drivable path Pnew based on data representing material type of the moved material.

[88] The method may comprise determining the at least one new drivable path Pnew based on data representing an expected load bearing capacity of the moved material.

[89] The method may comprise determining the at least one new drivable path Pnew based on data representing at least one property of a driving surface Ps of the at least one new drivable path Pnew, such as surface inclination and/or a surface friction coefficient.

[90] The method may comprise associating the at least one new drivable path Pnew with a vehicle type 1 having specific driving capabilities which are adapted for the at least one new drivable path Pnew.

[91] The method may comprise associating the at least one new drivable path Pnew with a vehicle 1 having a weight being below a threshold.

[92] The data representing movement of material in the confined area A may comprise data about an expected shape of the moved material as a consequence of the one or more vehicles 1 unloading the material at unloading spots U. [93] The method may comprise determining the at least one new drivable path Pnew based on sensor readings from one of more environment perception sensors 10 which represent a field of view F of the at least one new drivable path Pnew.

[94] The data representing movement of material in the confined area A by the one or more vehicles 1 may be based on material moved as determined by each respective vehicle of the one or more vehicles 1.

[95] Estimating a change of the confined area A from the first state Stl to the second state St2 may further comprise estimating a movement of one or more loading spots L and/or unloading spots U in the confined area A.

[96] The second digital topographical map M2 of the confined area A may be an expected state of the confined area A as a consequence of the material moved in the confined area A by the one or more vehicles 1.

[97] The second digital topographical map M2 of the confined area A may be a target future state of the confined area A.

[98] The method may further comprise (indicated by a dashed box in FIG. 4):

S4: instructing the one or more vehicles 1 to move material such that the target future state of the confined area A is achieved. Instructing the one or more vehicles 1 to move material such that the target future state of the confined area A is achieved may comprise determining new unloading spots Ul-n for the one or more vehicles 1 such that the at least one new drivable path Pnew is generated, and instructing the one or more vehicles 1 to unload material at the new unloading spots Ul-n.

[99] FIG. 5 is a schematic diagram of a computer system 600 for implementing examples disclosed herein. The computer system 600 is adapted to execute instructions from a computer-readable medium to perform these and/or any of the functions or processing described herein. The computer system 600 may be connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 600 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and/or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, processing circuitry, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.

[100] The computer system 600 may comprise at least one computing device or electronic device capable of including firmware, hardware, and/or executing software instructions to implement the functionality described herein. The computer system 600 may include processing circuitry 602 (e.g., processing circuitry including one or more processor devices or control units), a memory 604, and a system bus 606. The computer system 600 may include at least one computing device having the processing circuitry 602. The system bus 606 provides an interface for system components including, but not limited to, the memory 604 and the processing circuitry 602. The processing circuitry 602 may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory 604. The processing circuitry 602 may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processing circuitry 602 may further include computer executable code that controls operation of the programmable device.

[101] The system bus 606 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and/or a local bus using any of a variety of bus architectures. The memory 604 may be one or more devices for storing data and/or computer code for completing or facilitating methods described herein. The memory 604 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 604 may be communicably connected to the processing circuitry 602 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 604 may include non-volatile memory 608 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory 610 (e.g., randomaccess memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with processing circuitry 602. A basic input/output system (BIOS) 612 may be stored in the non-volatile memory 608 and can include the basic routines that help to transfer information between elements within the computer system 600.

[102] The computer system 600 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 614, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 614 and other drives associated with computer-readable media and computer-usable media may provide nonvolatile storage of data, data structures, computer-executable instructions, and the like.

[103] Computer-code which is hard or soft coded may be provided in the form of one or more modules. The module(s) can be implemented as software and/or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device 614 and/or in the volatile memory 610, which may include an operating system 616 and/or one or more program modules 618. All or a portion of the examples disclosed herein may be implemented as a computer program 620 stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 614, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processing circuitry 602 to carry out actions described herein. Thus, the computer-readable program code of the computer program 620 can comprise software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 602. In some examples, the storage device 614 may be a computer program product (e.g., readable storage medium) storing the computer program 620 thereon, where at least a portion of a computer program 620 may be loadable (e.g., into a processor) for implementing the functionality of the examples described herein when executed by the processing circuitry 602. The processing circuitry 602 may serve as a controller or control system for the computer system 600 that is to implement the functionality described herein.

[104] The computer system 600 may include an input device interface 622 configured to receive input and selections to be communicated to the computer system 600 when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processing circuitry 602 through the input device interface 622 coupled to the system bus 606 but can be connected through other interfaces, such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 600 may include an output device interface 624 configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 600 may include a communications interface 626 suitable for communicating with a network as appropriate or desired.

[105] The operational actions described in any of the exemplary aspects herein are described to provide examples and discussion. The actions may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the actions, or may be performed by a combination of hardware and software. Although a specific order of method actions may be shown or described, the order of the actions may differ. In addition, two or more actions may be performed concurrently or with partial concurrence.

[106] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises", "comprising", "includes" and/or "including" when used herein specify the presence of stated features, integers, actions, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, components, and/or groups thereof. [107] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[108] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[109] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[HO] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the disclosure being set forth in the following claims.

Claims

Claims What is claimed is:

1. A computer system (100) for determining at least one new drivable path (Pnew) in a confined area (A) for one or more vehicles (1), the computer system (100) comprising processing circuitry (110) configured to:

- obtain a first digital topographical map (Ml) of the confined area (A) which represents a first state (Stl) of the confined area (A) at a first point in time, comprising drivable paths (Pl- n) for the one or more vehicles (1) in the confined area (A),

- obtain a second digital topographical map (M2) of the confined area (A) which represents a second state (St2) of the confined area (A) at a second point in time, comprising at least one new drivable path (Pnew) for the one or more vehicles (1) in the confined area (A) which represents an expansion of a drivable area (Adrive) in the confined area (A), wherein the second point in time is a later point in time than the first point in time,

- determine the at least one new drivable path (Pnew), by estimating a change of the confined area (A) from the first state (Stl) to the second state (St2), wherein the change of the confined area (A) is estimated based on data representing movement of material in the confined area (A) by the one or more vehicles (1).

2. The computer system (100) according to claim 1, wherein the data representing movement of material in the confined area (A) comprises data about an amount of material moved by the one or more vehicles (1) and position of the moved material.

3. The computer system (100) according to any one of the preceding claims, wherein the processing circuitry (110) is further configured to determine the at least one new drivable path (Pnew) based on data representing material type of the moved material.

4. The computer system (100) according to any one of the preceding claims, wherein the processing circuitry (110) is further configured to determine the at least one new drivable path (Pnew) based on data representing an expected load bearing capacity of the moved material.

5. The computer system (100) according to any one of the preceding claims, wherein the processing circuitry (110) is further configured to determine the at least one new drivable path (Pnew) based on data representing at least one property of a driving surface (P_s) of the at least one new drivable path (Pnew), such as surface inclination and/or a surface friction coefficient.

6. The computer system (100) according to any one of the preceding claims, wherein the processing circuitry (110) is further configured to associate the at least one new drivable path (Pnew) with a vehicle type (1) having specific driving capabilities which are adapted for the at least one new drivable path (Pnew).

7. The computer system (100) according to any one of the preceding claims, wherein the processing circuitry (110) is further configured to associate the at least one new drivable path (Pnew) with a vehicle (1) having a weight being below a threshold.

8. The computer system (100) according to any one of the preceding claims, wherein the data representing movement of material in the confined area (A) comprises data about an expected shape of the moved material as a consequence of the one or more vehicles (1) unloading the material at unloading spots (U).

9. The computer system (100) according to any one of the preceding claims, wherein the processing circuitry (110) is further configured to determine the at least one new drivable path (Pnew) based on sensor readings from one of more environment perception sensors (10) which represent a field of view (F) of the at least one new drivable path (Pnew).

10. The computer system (100) according to any one of the preceding claims, wherein the data representing movement of material in the confined area (A) by the one or more vehicles (1) is based on material moved as determined by each respective vehicle of the one or more vehicles (1).

11. The computer system (100) according to any one of the preceding claims, wherein estimating a change of the confined area (A) from the first state (Stl) to the second state (St2) further comprises that the processing circuitry (110) is configured to estimate a movement of one or more loading and/or unloading spots in the confined area (A).

12. The computer system (100) according to any one of the preceding claims, wherein the second digital topographical map (M2) of the confined area (A) is an expected state of the confined area (A) as a consequence of the material moved in the confined area (A) by the one or more vehicles (1).

13. The computer system (100) according to any one of the preceding claims, wherein the second digital topographical map (M2) of the confined area (A) is a target future state of the confined area (A).

14. The computer system (100) according to claim 13, wherein the processing circuitry (110) is further configured to instruct the one or more vehicles (1) to move material such that the target future state of the confined area (A) is achieved.

15. The computer system (100) according to claim 14, wherein instructing the one or more vehicles (1) to move material such that the target future state of the confined area (A) is achieved comprises that the processing circuitry (110) is further configured to determine new unloading spots (Ui-_n) for the one or more vehicles (1) such that the at least one new drivable path (Pnew) is generated, and to instruct the one or more vehicles (1) to unload material at the new unloading spots (Ui-_n).

16. A vehicle (1) comprising the computer system according to any one of the preceding claims, and/or being configured to receive instructions from and/or transmit data to the computer system (100) according to any one of the preceding claims.

17. The vehicle according to claim 16, wherein the instructions comprise instructions to move material in a confined area (A) between loading and unloading spots.

18. The vehicle (1) according to any one of claim 16-17, wherein the data transmitted to the computer system (100) are data representing movement of material in the confined area (A) by the vehicle (1).

19. A computer-implemented method for determining at least one new drivable path (Pnew) in a confined area (A) for one or more vehicles (1), the method comprising:

- obtaining (SI), by processing circuitry (110) of a computer system (100), a first digital topographical map (Ml) of the confined area (A) which represents a first state (Stl) of the confined area (A) at a first point in time, comprising drivable paths (Pi-n) for the one or more vehicles (1) in the confined area (A),

- obtaining (S2), by the processing circuitry (110), a second digital topographical map (M2) of the confined area (A) which represents a second state (St2) of the confined area (A) at a second point in time, comprising at least one new drivable path (Pnew) for the one or more vehicles (1) in the confined area (A) which represents an expansion of a drivable area (Adnve) in the confined area (A), wherein the second point in time is a later point in time than the first point in time,

- determining (S3), by the processing circuitry (110), the at least one new drivable path (Pnew), by estimating a change of the confined area (A) from the first state (Stl) to the second state (St2), wherein the change of the confined area (A) is estimated based on data representing movement of material in the confined area (A) by the one or more vehicles (1).

20. The method according to claim 19, wherein the data representing movement of material in the confined area (A) comprises data about an amount of material moved by the one or more vehicles (1) and position of the moved material.

21. The method according to any one of claims 19-20, further comprising determining the at least one new drivable path (Pnew) based on data representing material type of the moved material.

22. The method according to any one of claims 19-21, further comprising determining the at least one new drivable path (Pnew) based on data representing an expected load bearing capacity of the moved material.

23. The method according to any one of claims 19-22, further comprising determining the at least one new drivable path (Pnew) based on data representing at least one property of a driving surface (Ps) of the at least one new drivable path (Pnew), such as surface inclination and/or a surface friction coefficient.

24. The method according to any one of claims 19-23, further comprising associating the at least one new drivable path (Pnew) with a vehicle type (1) having specific driving capabilities which are adapted for the at least one new drivable path (Pnew).

25. The method according to any one of claims 19-24, further comprising associating the at least one new drivable path (Pnew) with a vehicle (1) having a weight being below a threshold.

26. The method according to any one of claims 19-25, wherein the data representing movement of material in the confined area (A) comprises data about an expected shape of the moved material as a consequence of the one or more vehicles (1) unloading the material at unloading spots (U).

27. The method according to any one of claims 19-26, further comprising determining the at least one new drivable path (Pnew) based on sensor readings from one of more environment perception sensors (10) which represent a field of view (F) of the at least one new drivable path (Pnew).

28. The method according to any one of claims 19-27, wherein the data representing movement of material in the confined area (A) by the one or more vehicles (1) is based on material moved as determined by each respective vehicle of the one or more vehicles (1).

29. The method according to any one of claims 19-28, wherein estimating a change of the confined area (A) from the first state to the second state further comprises estimating a movement of one or more loading and/or unloading spots in the confined area (A).

30. The method according to any one of claims 19-29, wherein the second digital topographical map (M2) of the confined area (A) is an expected state of the confined area (A) as a consequence of the material moved in the confined area (A) by the one or more vehicles (1).

31. The method according to any one of claims 19-30, wherein the second digital topographical map (M2) of the confined area (A) is a target future state of the confined area (A).

32. The method according to claim 31, further comprising instructing (S4) the one or more vehicles (1) to move material such that the target future state of the confined area (A) is achieved.

33. The method according to claim 32, wherein instructing the one or more vehicles (1) to move material such that the target future state of the confined area (A) is achieved comprises determining new unloading spots (Ui-_n) for the one or more vehicles (1) such that the at least one new drivable path (Pnew) is generated, and instructing the one or more vehicles (1) to unload material at the new unloading spots (Ui-_n).

34. A computer program product comprising program code for performing, when executed by the processing circuitry (110), the method of any of claims 19-33.

35. A non-transitory computer-readable storage medium comprising instructions, which when executed by the processing circuitry (110), cause the processing circuitry to perform the method of any of claims 19-33.