WO2020165063A1 - Procédé de fonctionnement d'un véhicule automatisé - Google Patents

Procédé de fonctionnement d'un véhicule automatisé Download PDF

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Publication number
WO2020165063A1
WO2020165063A1 PCT/EP2020/053242 EP2020053242W WO2020165063A1 WO 2020165063 A1 WO2020165063 A1 WO 2020165063A1 EP 2020053242 W EP2020053242 W EP 2020053242W WO 2020165063 A1 WO2020165063 A1 WO 2020165063A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
planting
border
control device
distance
Prior art date
Application number
PCT/EP2020/053242
Other languages
German (de)
English (en)
Inventor
Michael Tappeiner
David NIETO LARA
Benedict Strohmaier
Original Assignee
Zf Friedrichshafen Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2020165063A1 publication Critical patent/WO2020165063A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors

Definitions

  • the present invention relates to a method for operating an automated vehicle with the features according to claim 1, a control device with the features according to claim 4, a computer program product with the features according to claim 5, a vehicle with the features according to claim 6 and a system for defining a Work area with the features according to claim 8.
  • GNSS Global Navigation Satellite Systems
  • Other localization methods can also be used.
  • the localization must ensure that autonomously driving agricultural vehicles do not leave the assigned work area.
  • the area in which the agricultural vehicle moves and which it is not allowed to leave is also called the Safe Autonomous Operation Zone.
  • safeguarding the algorithms and techniques required for this is very costly. For example, in the field of garden maintenance, a wire is buried at the property boundary and the property boundary is recognized with a suitable sensor and the vehicle is stopped or turned.
  • the present invention is based on the object of proposing an alternative method for operating a vehicle within a work area, which the above. Avoids problems.
  • the present invention proposes a method for operating an automated vehicle according to claim 1, a control device according to claim 4, a computer program product according to claim 5, a vehicle according to claim 6 and a system for establishing a work area Reichs according to claim 8 before. Further advantageous refinements and developments emerge from the subclaims.
  • the border planting is detected by means of at least one environment sensor.
  • a distance is determined between the vehicle and the border planting.
  • a trajectory planning of the vehicle is controlled based on the distance. The trajectory of the vehicle is automatically adjusted when the distance reaches a threshold value so that the vehicle remains within the working area.
  • the vehicle here is an off-road utility vehicle, e.g. B. an agricultural or forestry vehicle, e.g. B. an agricultural machine.
  • the vehicle is designed in such a way that it can perform automated functions.
  • the vehicle can execute automated functions from SAE J3016 autonomy level 2.
  • automated functions of the vehicle can be autonomous or semi-autonomous driving.
  • automated functions can be: an application of seeds, grit, bulk material, fertilizer tel, herbicides, pesticides, fungicides or the like; harvesting, pruning or clearing plants or the like; turning, loosening or removing soil; a transport of goods.
  • the off-road area refers to the area that is located away from roads and paths, for example areas used for agriculture or forestry, or the like.
  • the work area is the area within which the vehicle should be in order to do its work.
  • the work area can be an agricultural area to be processed, z. B. be a field or a plantation.
  • the work area has a boundary that separates it from its surroundings. This limitation can for example be determined by a property boundary, field boundary or field boundary. Alternatively, the boundary in the direction of the working area can run parallel to the property boundary, field boundary or field boundary. This allows a “safety distance” to be created between the work area and the property boundary, field boundary or floor boundary.
  • a border planting is arranged along the border.
  • This border planting is planted in single or multiple rows along the border.
  • the border planting is formed from a large number of plants that differ from the useful plants of the useful planting that are planted within the boundary on the work area.
  • the border planting forms a kind of barrier.
  • Useful plants are those plants with which the agricultural or forestry area is planted and is used to, for. B. for the production of food or luxury foods, as a medicinal plant, forage plant, as a renewable raw material, or as an ornamental plant. These crops are processed by means of the vehicle, e.g. B. sown, pruned, poured, fertilized etc.
  • the border planting is formed by means of a large number of plants of a fast-growing type.
  • a plant of a fast-growing type of border planting grows faster than the actual useful plants that are located within the boundary.
  • the plants of the border planting preferably have a higher stature than the useful plants in each growth phase. Especially when fully grown, the plants in the border planting have a higher stature than the useful plants.
  • the plants of the fast-growing type of border planting are preferably energy plants.
  • Energy crops are plants that are specially grown for energetic use. In other words, these energy crops can be used to provide energy.
  • a biogenic liquid fuel, a biogenic solid fuel or a biogenic fuel gas can be generated from the energy plants, by means of which energy can be provided in an energy provision method.
  • energy crops can be found in a biogas plant can be used to provide energy.
  • Such energy plants can be, for example, perennial plants.
  • the plants in the border planting are annual.
  • these border plants can belong to the genus Silphium, Zea, Sorghum, Saccharum, Miscanthus, Sida, Jatropha, Fallopia, or Pennisetum.
  • the border planting can be formed by means of plants of the species Silphium perfoliatum, Zea mays, Saccharum officinarum, Jatropha curcas, Fallopia sachalinensis, Igniscum, by means of plants of a type of sorghum, Miscanthus, Sida (z. B. Sida hermaphrodita), or the Pennisetum. These are characterized by rapid growth.
  • the border planting detected by means of at least one environment sensor can have more than one environment sensor.
  • the at least one environment sensor can be arranged on a front of the vehicle. If there are several surroundings sensors, these can be arranged at the front, at the rear and, if necessary, on the sides of the vehicle.
  • the environment sensor can be designed, for example, as a camera, a radar sensor, a lidar sensor, an ultrasound sensor, or as another suitable environment sensor. With several environment sensors, a combination of several environment sensors, each characterized by a different sensor technology, can be used.
  • the border planting is recognized by means of the at least one environment sensor. This recognition depends on the sensor technology of the at least one environment sensor. If the at least one environment sensor is designed as a camera, for example, the border planting can be recognized by means of image recognition. For example, an appearance of the plants of the border planting can be recognized by means of an artificial intelligence which uses a trained artificial neural network (ANN).
  • ANN artificial neural network
  • This ANN is trained by means of images of the typical border planting plants and can distinguish them from useful planting. For example, the ANN can be trained with images of the typical border planting plants in different stages of growth. This means that a reliable distinction can be made between useful and border planting even at different times of the year.
  • the at least one environment sensor is designed as a radar sensor, as an ultrasound sensor or as a lidar sensor
  • the height of the planting border can be detected. This is significantly higher than that of useful planting, since the plants of the border planting show faster growth than those of the useful planting.
  • it can be stored in a database what heights of growth the plants of the border planting have on average in the course of their growth phases over an annual vegetation cycle.
  • the annual vegetation cycle denotes the cycle from planting a plant to its growth and harvesting it.
  • the border planting can be identified by comparing it with the values stored in the database.
  • the growth height of the useful planting can be determined. This can be used when the at least one environment sensor is designed as a radar sensor, as an ultrasound sensor or as a lidar sensor. The height of growth of the Nutzbe planting and the height of growth of the border planting can then be compared. Those plants that have the higher growth height belong to the border planting. In this case, the border planting is recognized relative to the useful planting. The comparison with the database can therefore be omitted.
  • the distance between the vehicle and the border planting is determined.
  • the distance between a vehicle front and the border vegetation is preferably determined.
  • the distance between the rear of the vehicle or a side of the vehicle and the border vegetation can be determined.
  • the distance can be determined, for example, by means of the at least one environment sensor.
  • a trajectory planning of the vehicle is controlled based on the distance.
  • the trajectory planning of the vehicle is carried out by means of a control device.
  • the control device thus serves, among other things, to plan a trajectory for the Carry out the vehicle so that it can move autonomously within the work area. For this purpose, it can use a computer program product.
  • the control device defines which route the vehicle is to cover, at what speed and at what acceleration.
  • the control device can also plan the further automated functions, for example when which work steps are to be carried out.
  • the result of the trajectory planning is a trajectory for the vehicle, along which the vehicle should move at a certain speed and with a certain acceleration.
  • the control device has at least one interface via which it can be connected to a drive system of the vehicle so that data and signals can be exchanged.
  • the control device can control the drive system of the vehicle.
  • This drive system has z. B. a motor, a transmission, a steering system, a braking system o. ⁇ .
  • the steering angle can be adapted to the wheels of the vehicle.
  • steering, braking force and energy supply are influenced by the control device based on the requirements.
  • the control device controls the drive system of the vehicle so that the vehicle moves according to its trajectory. For example, steering, braking force and energy supply are influenced.
  • the control device also has at least one interface via which it can be connected to the at least one environment sensor of the vehicle so that data and signals can be exchanged.
  • the evaluation of the environment data that are generated by the at least one environment sensor with regard to the detection of the border planting and regarding the distance to the border planting can be carried out by means of the control device.
  • the evaluation of the environment data, which are generated by the at least one environment sensor with regard to the detection of the useful vegetation and with regard to the distance to the useful vegetation can take place by means of the control device.
  • the control device can use a computer program product for this purpose, for example.
  • the computer program product can, for example, comprise an artificial intelligence that has a trained ANN.
  • the trajectory of the vehicle is automatically adjusted by the control device when the distance between the vehicle and the border vegetation reaches the threshold value, so that the vehicle remains within the working area.
  • the threshold value can be preset at the factory, for example. Alternatively, the threshold value can be set by means of an input device before the vehicle starts to work in the work area. This input device can be, for example, an on-board computer of the vehicle or a mobile terminal.
  • the threshold value denotes a distance between the vehicle and the border vegetation, which must not be undercut. So there is a minimum distance between the border planting and the vehicle.
  • the trajectory is adapted, that is to say rescheduled, by the trajectory planning of the control device.
  • the control device can initiate a turning maneuver of the vehicle or reverse the vehicle.
  • the vehicle can be stopped.
  • further specifications are of course taken into account, which are specified, for example, on the basis of an automated function that is running and / or by security aspects.
  • the advantage of the method presented here is that even if a GNSS fails, the vehicle can localize its working area. It is also advantageous that the method can be used even in unfavorable weather conditions, both at night and during the day. Furthermore, the border planting is inexpensive to produce. In addition, border planting can have an economic benefit. As a result, areas of agricultural land that are usually not used can be used economically. According to a further developing embodiment, useful planting is arranged within the work area. The useful planting is recognized by means of the at least one environment sensor. A distance between the vehicle and the crop is determined. The trajectory planning of the vehicle is controlled based on this distance. The trajectory of the vehicle is automatically adjusted when the distance reaches a limit value, so that the vehicle protects vegetation.
  • the useful planting can be recognized by means of the same methods by which the border planting is recognized. This recognition therefore depends on the sensor technology of the at least one environment sensor. If the at least one environment sensor is designed as a camera, for example, the useful planting can be recognized by means of image recognition.
  • the appearance of the plants in the useful planting can be recognized by means of an artificial intelligence which uses a trained artificial neural network (ANN).
  • ANN artificial neural network
  • This ANN is trained by means of images of the typical useful planting plants and can distinguish them from the border planting.
  • the ANN can be trained with images of the typical useful planting plants in different growth stages. This means that a reliable distinction can be made between useful and border planting even at different times of the year.
  • the at least one environment sensor is designed as a radar sensor, as an ultrasound sensor or as a lidar sensor
  • the height of the crop can be detected. This is significantly lower than that of the border planting, since the plants of the useful planting show a slower growth than those of the border planting.
  • it can be stored in a database what heights of growth the plants of the useful planting have on average in the course of their growth phases over an annual vegetation cycle.
  • the useful planting can be identified by comparing it with the values stored in the database.
  • the useful planting can be recognized relative to the border planting.
  • the distance between the vehicle and the individual plants of the useful planting is determined.
  • the distance between the front of the vehicle and the useful vegetation is preferably determined.
  • the distance between the rear of the vehicle or a side of the vehicle and the vegetation can be determined. The distance can be determined, for example, by means of the at least one environment sensor.
  • the trajectory planning of the vehicle is controlled based on this distance between the vehicle and the vegetation.
  • the trajectory of the vehicle is automatically adapted when the distance reaches a limit value so that the vehicle protects the vegetation.
  • the boundary value of this distance is selected such that the vehicle always maintains a minimum distance from the useful vegetation.
  • the limit value defines a lower limit of the distance that the vehicle should not fall below.
  • the limit value of the distance between the vehicle and the useful vegetation is preferably less than the threshold value of the distance between the vehicle and the boundary vegetation.
  • the limit value can for example be preset at the factory.
  • the limit value can be set by means of the input device before starting work on the vehicle in the work area.
  • the limit value can be selected in such a way that it is possible to edit the useful plants without destroying them, for example fertilizing, pruning, watering or the like.
  • the vehicle automatically adjusts its trajectory when the distance between the vehicle and the vegetation reaches the limit value, so that the vehicle maintains a distance from the vegetation within the working area.
  • the control device of the vehicle plans the trajectory of the vehicle by means of its trajectory planning so that the distance between the useful vegetation and the vehicle is above the limit value.
  • the trajectory of the vehicle is changed in such a way that the distance is increased, that is, it is above the limit value.
  • the control device can initiate a correction of a steering angle of the vehicle or a turning in, a turning maneuver or reverse travel of the vehicle.
  • the identified border planting and the identified useful planting can be weighted with respect to one another.
  • an approach to the border planting can be weighted higher than an approach to the useful planting. In other words, it is more important to ensure that the work area is not left than to follow the lane or protect the crops.
  • an approach to the useful planting can be weighted higher than an approach to the border planting. In other words, ensuring that crops are protected is more important than not leaving the work area.
  • the useful planting and the border planting can be weighted equally.
  • the border planting is recognized based on the difference in height between the border planting and the useful planting.
  • the at least one environment sensor can be designed as a radar sensor, lidar sensor, ultrasound sensor or possibly as a camera. How this he knows is carried out has already been described. Over the entire annual vegetation cycle, it can thus be reliably recognized where the limitation of the working area is, even if no GNSS is available.
  • the border planting and / or the useful planting is recognized by means of a trained artificial neural network. This has already been described in the previous description.
  • the control device for the vehicle can be connected to at least one environment sensor via at least one interface.
  • the control device can be connected to the drive system of the vehicle via at least one further interface. Connectable means that the control device is connected to a further element of the vehicle when the control device is used in a vehicle.
  • the control device is set up to control automated functions of the vehicle. By means of the control device, a trajectory of the vehicle can be adapted on the basis of at least one of the methods that have already been described in the previous description.
  • control device has several interfaces via which a connection between the control device and other elements of the vehicle, e.g. B. the drive system or the at least one environment sensor.
  • the connections are in each case such that data and signals can be exchanged.
  • the connections can be wireless or wired.
  • control device can control the drive system of the vehicle when it is used in the vehicle. Furthermore, as already described, the control device can carry out an evaluation of the environment data that are generated by the at least one environment sensor. The control device also carries out the trajectory planning, as already described. To adapt the trajectory of the vehicle, the control device uses a computer program product which is executed on the control device.
  • the computer program product comprises instructions which, when the program is executed by the control device already described, execute the method that has already been described in the previous description.
  • the computer program product can comprise a program code which entails these commands holds.
  • the program code can be embodied, for example, on a data carrier or as a downloadable data stream.
  • the vehicle has a control device that has already been described in the previous description.
  • the vehicle has at least one field sensor and a drive system.
  • the control device is connected to the drive system and the at least one environment sensor.
  • the vehicle is set up to perform automated functions. This has already been described in the previous description.
  • the vehicle can have a position determination system which is connected to the control device.
  • the position determination system is used to determine a global position of the vehicle by means of a GNSS, i. H. determine the coordinates of the vehicle.
  • the vehicle can, for example, navigate by means of the position determination system.
  • the position determination system is connected to the control device of the vehicle.
  • both the position-determining system and the control device have at least one interface.
  • the connection is such that data and signals can be exchanged.
  • the connection can be wireless or wired.
  • the position-determining system can therefore also be used to determine whether and where the vehicle is in the work area.
  • the vehicle also has a dispensing device.
  • the application device has at least two separate reservoirs, wherein a first of the reservoirs can be filled with a seed of a border planting and a second of the reservoirs can be filled with a seed of a useful planting.
  • the border planting and the useful planting can be applied in one work step.
  • the application device is used to sow seeds.
  • the application device has two separate reservoirs. Both Reser voirs have a metering opening, by means of which the located in the reservoir Seed can be applied in a metered manner. Such reservoirs are known from the prior art.
  • the border planting and the useful planting can be applied in one work step.
  • the seeds do not have to be changed first in order to plant the useful plants and the border plants with the same application device. Rather, both can be sown in one work step in the areas where useful planting and border planting are arranged side by side. I.e. both reservoirs are opened by means of the dosing device.
  • the reservoir that contains the seeds of the border planting is kept closed.
  • the reservoir that contains the seeds of the useful planting is kept closed.
  • a system for defining the work area for the vehicle has border planting which is arranged along a border of the work area.
  • the border planting is formed by means of a large number of plants of a fast-growing species. This has already been described in the previous description.
  • the plants of the fast-growing type of border planting are energy plants. This has already been described in the previous description.
  • the plants of the border planting belong to the genus Silphium, Zea, Sorghum, Saccharum, Miscanthus, Sida, Jatropha, Fallopia, or Pennisetum.
  • the plants of the border planting are preferably of the species Silphium perfoliatum. These plants can be energy crops. This has already been described in the previous description. In other words, plants belonging to the genus Silphium, Zea, Sorghum, Saccharum, Miscanthus, Sida, Jatropha, Fallopia or Pennisetum can be used as border planting.
  • the plants that belong to the species Silphium perfoliatum can preferably be used as border planting.
  • FIG. 1 shows a schematic representation of a vehicle in a work area according to an exemplary embodiment
  • FIG. 2 shows a schematic representation of a method which is carried out by the vehicle from FIG. 1.
  • Fig. 1 shows a schematic representation of a vehicle F in a Häbe rich 1 according to an embodiment.
  • the vehicle F is an agricultural machine and has a control device 8, a drive system 9, an environment sensor system with at least one environment sensor 4 and a position determination system 10.
  • the control device 8 is connected to the drive system 9 and can control it.
  • the drive system 9 has z. B. a motor for providing a drive torque, a transmission, a braking system and a steering system.
  • the control device 8 can, for example, request a steering angle, a braking process, an acceleration or the like from the drive system 9.
  • the control device 8 serves to carry out trajectory planning for the vehicle F so that it can move automatically within the work area 1.
  • the control device 8 defines the distances that the vehicle F should cover, at what speed and with what acceleration.
  • the control device 8 is designed in such a way that the se enables the vehicle F to perform automated functions, such as. B. to carry out autonomous driving or other autonomous functions from SAE Level 2.
  • the control device 8 is connected to the at least one environment sensor 4.
  • the control device 8 can evaluate environment data that are generated by the at least one environment sensor.
  • the at least one environment sensor 4 is designed, for example, as a camera, a radar sensor, a lidar sensor or an ultrasonic sensor.
  • the environment sensor system is used to detect the environment of the vehicle F.
  • a border planting 3 can be recognized by means of the at least one surroundings sensor 4.
  • useful planting 7 can be detected by means of the at least one environment sensor 4.
  • the control device 8 is also connected to the position determination system 10. By means of this position determination system 10 it is possible to determine a global position of the vehicle F by means of a GNSS.
  • the vehicle F is located within a work area 1.
  • the work area 1 is delimited by a delimitation 2 and thus delimited from the surroundings.
  • the vehicle F can perform automated functions without presenting a hazard.
  • the border planting 3 is planted along the boundary 2. This is formed by plants of a rapidly growing genus.
  • the border planting 3 is preferably formed by means of energy plants, e.g. B. Silphium perfoliatum.
  • the border planting 3 represents a natural barrier.
  • the useful vegetation 7 is arranged within the working area 1. This is z. B. trained by means of useful plants.
  • the useful planting 7 has different plants than the border planting 3.
  • the border planting 3 has a higher height than the useful planting 7. This means that the at least one surrounding field sensor 4 can always be used between the useful planting 7 and the border planting 3 can be distinguished.
  • the border vegetation 3 is recognized by means of the at least one environment sensor 4. This recognition takes place relative to the useful planting 7 on the basis of the difference in growth height.
  • the border planting 3 can be recognized by means of image recognition in that a comparison is made between the image data available in a database on the plants of the border planting 3 and the real environment data of the at least one surrounding area sensors 4 with respect to the border planting 3 takes place.
  • the border planting 3 can be identified by comparing the real growth height of the border planting 3 with the average growth height of the border planting 3 stored in a database in the corresponding growth phase of the annual vegetation cycle.
  • the necessary evaluation of the environment data takes place here by means of the control device 8, which for this purpose can use a computer program product, for example, which can have a trained ANN.
  • a distance 5a between the vehicle F and the border planting 3 is determined. This is done e.g. B. by means of at least one environment sensor 4.
  • the vehicle F retains its current trajectory. However, if the distance 5a is at or below the threshold value X, the trajectory 6 of the vehicle F is adapted by means of the control device 8, that is to say rescheduled, so that the distance 5a is above the threshold value X.
  • the threshold value X defines a minimum distance that the vehicle F should have from the border vegetation 3 and thus from the delimitation 2. For example, the control device 8 can initiate a turning maneuver or an adjustment of the steering angle of the vehicle F if the latter moves too close to the boundary 2. This ensures that the vehicle F does not leave the work area 1.
  • the useful vegetation 7 is also recognized by means of the at least one environment sensor 4. This can be done, for example, relative to the border planting 3 on the basis of the difference in plant height.
  • the useful planting 7 can be recognized by means of image recognition in that a comparison is made between the image data available in a database on the plants of the useful planting 7 and the real environment data of the at least one environment sensor 4 regarding the useful planting 7.
  • the useful planting 7 can be recognized by means of a comparison of the real growth height of the useful planting 7 with the average growth height of the useful planting 7 stored in a database in the corresponding growth phase of the annual vegetation cycle.
  • the necessary Evaluation of the environment data takes place here again by means of the control device 8, which for this purpose can use a computer program product, for example, which can have a trained ANN.
  • a distance 5b between the vehicle F and the vegetation 7 is determined. This is done e.g. B. by means of the at least one environment sensor 4. This distance 5b from the useful vegetation 7 is less than the distance 5a from the border vegetation 3.
  • the vehicle F retains its current trajectory. However, if the distance 5b is at or below the limit value Y, the trajectory 6 of the vehicle F is adapted by means of the control device 8, that is to say rescheduled, so that the distance 5b is above the limit value Y.
  • the limit value Y defines a minimum distance that the vehicle F should have from the vegetation 7. For example, the control device 8 can initiate a turning maneuver or an adjustment of the steering angle of the vehicle F if the latter moves too close to the vegetation 7. This ensures that the vehicle F does not leave the work area 1, protects the vegetation 7 and does not damage it, and moves along a lane.
  • FIG. 3 shows a schematic illustration of a method V that is carried out by the vehicle F from FIG. 1.
  • a first step 101 the border planting 3 is recognized.
  • the useful vegetation 7 can be recognized.
  • the distance 5a between the border vegetation 3 and the vehicle F is determined.
  • the distance 5b between the vegetation 7 and the vehicle F is determined.
  • a second step 102 the determined distance 5a between the vehicle F and the border vegetation 3 is compared with a threshold value X.
  • the determined distance 5b between the vehicle F and the vegetation 7 can be compared with a limit value Y.
  • the trajectory planning of the vehicle F is activated on the basis of this comparison.
  • the threshold value X is reached or even fallen below
  • the trajectory 6 of the vehicle F is rescheduled so that the distance 5a between the vehicle F and the border planting 3 is above the threshold value X.
  • the trajectory planning of the vehicle F is activated when the limit value Y is reached or even undershot. The trajectory 6 of the vehicle F then rescheduled so that the distance 5b between the vehicle F and the crop 7 is above the limit value Y.
  • the trajectory 6 of the vehicle is not adapted, but retained. If the limit value Y is not enough, that is to say the distance 5b between the vehicle F and the vegetation 7 is large enough, the trajectory 6 of the vehicle is not adjusted, but retained. The third step 103 is not carried out in these cases.
  • Process V shown here runs continuously. Once the trajectory 6 of the vehicle F has been adapted by means of the method V, the method V can be run through again. Even if no adaptation of the trajectory 6 had to be carried out, the method V can be run through again. In other words, the work area 1 and the surroundings of the vehicle F are continuously monitored.

Abstract

Lors d'un procédé de fonctionnement d'un véhicule automatisé à l'intérieur d'une zone de déplacement, la zone de déplacement étant située dans une zone en dehors de la route, et des plantations limitrophes (3) étant situées le long d'une délimitation (2) de la zone de déplacement (1), les plantations limitrophes (3) sont détectées au moyen d'au moins un capteur d'environnement (4). Une distance (5a) est déterminée entre le véhicule (F) et les plantations limitrophes (3). Une planification de trajectoires du véhicule (F) est commandée à partir de la distance (5a). La trajectoire (6) du véhicule (F) est automatiquement adaptée lorsque la distance (5a) atteint une valeur seuil (X) de sorte que le véhicule (F) reste à l'intérieur de la zone de déplacement (1).
PCT/EP2020/053242 2019-02-15 2020-02-10 Procédé de fonctionnement d'un véhicule automatisé WO2020165063A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019202068.2A DE102019202068A1 (de) 2019-02-15 2019-02-15 Verfahren zum Betreiben eines automatisierten Fahrzeugs
DE102019202068.2 2019-02-15

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WO2020165063A1 true WO2020165063A1 (fr) 2020-08-20

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DE102022121482A1 (de) * 2022-08-25 2024-03-07 Claas Selbstfahrende Erntemaschinen Gmbh System zur Bestimmung einer Bestandskante sowie selbstfahrende Erntemaschine

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FR2645700A1 (fr) * 1989-04-13 1990-10-19 Gider Tondeuse a gazon electrique autonome
WO1992004817A1 (fr) * 1990-09-24 1992-04-02 Colens Andre Systeme de tonte continue et autonome
GB2295304A (en) * 1994-11-25 1996-05-29 Black & Decker Inc Steering control of lawn mowers
DE4446867C2 (de) 1993-12-27 1999-03-04 Fuji Heavy Ind Ltd Vorrichtung zur Erfassung von Grenzen eines gemähten Feldes und Verfahren zum Steuern eines Mähfahrzeugs
US20120290165A1 (en) * 2011-05-09 2012-11-15 Chien Ouyang Flexible Robotic Mower
EP3165062A1 (fr) * 2015-11-03 2017-05-10 CLAAS Selbstfahrende Erntemaschinen GmbH Dispositif de détection d'environnement pour machine de travail agricole
US20180210456A1 (en) * 2017-01-20 2018-07-26 Kubota Corporation Travel route generation device and travel route generation method

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FR2645700A1 (fr) * 1989-04-13 1990-10-19 Gider Tondeuse a gazon electrique autonome
WO1992004817A1 (fr) * 1990-09-24 1992-04-02 Colens Andre Systeme de tonte continue et autonome
DE4446867C2 (de) 1993-12-27 1999-03-04 Fuji Heavy Ind Ltd Vorrichtung zur Erfassung von Grenzen eines gemähten Feldes und Verfahren zum Steuern eines Mähfahrzeugs
GB2295304A (en) * 1994-11-25 1996-05-29 Black & Decker Inc Steering control of lawn mowers
US20120290165A1 (en) * 2011-05-09 2012-11-15 Chien Ouyang Flexible Robotic Mower
EP3165062A1 (fr) * 2015-11-03 2017-05-10 CLAAS Selbstfahrende Erntemaschinen GmbH Dispositif de détection d'environnement pour machine de travail agricole
US20180210456A1 (en) * 2017-01-20 2018-07-26 Kubota Corporation Travel route generation device and travel route generation method

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