WO2023151759A1

WO2023151759A1 - Transport vehicle and computer-implemented method for controlling a transport vehicle

Info

Publication number: WO2023151759A1
Application number: PCT/DE2023/100118
Authority: WO
Inventors: Fabian Kober; Markus Werle; Kai D. KREISKÖTHER
Original assignee: DroidDrive GmbH
Priority date: 2022-02-14
Filing date: 2023-02-13
Publication date: 2023-08-17
Also published as: DE102022103404A1

Abstract

The invention relates to a transport vehicle (100) for the automated transportation of at least one transport unit in different transport areas in an urban environment, comprising a loading section (102) which is designed and arranged to receive at least one transport unit, a drive unit (104) which is designed and arranged to drive the transport vehicle (100), a sensor system (112) which is designed and arranged to detect at least one movement characteristic of a preceding leader object (128) and to provide this as movement information, and to detect an obstruction object (130, 132) to be passed by the leader object (128) and acting as a driving obstacle for the transport vehicle (100), and to provide obstacle information characterising the obstacle object (130, 132), a memory unit (118) with which at least one bypass rule for bypassing obstacle objects (130, 132) can be provided, and a control device (120) which is designed to generate a path command, based on the movement information, the obstacle information and the at least one bypass rule, which characterises a movement path to follow the leader object (128), and to control the drive unit (104) on the basis of the path command in such a way that the obstacle object (130, 132) is bypassed while taking the at least one bypass rule into consideration.

Description

Transport vehicle and computer-implemented method for controlling a transport vehicle

The invention relates to a transport vehicle and a computer-implemented method for controlling a transport vehicle for the automated transport of at least one transport unit to different transport areas in urban space, as well as a computer program product and a computer-readable storage medium.

Transport vehicles and methods for the automated transport of transport units are known in principle. For example, DE 10 2017 116 421 A1 describes an autonomous and semi-autonomous vehicle that recognizes a transport column and follows it. This vehicle is designed to detect and avoid obstacles. A disadvantage of this vehicle is that the obstacles are driven around autonomously and/or partially autonomously. As a result, among other things, the safety of other road users cannot be guaranteed at all times. In particular, the behavior of this vehicle in general and for other road users in particular is not always foreseeable, so that hazardous situations can arise. In addition, approval by approval authorities of such autonomous and/or semi-autonomous vehicles is only restricted or not possible.

DE 102018217 561 B3, DE 102015213 743 A1 and DE 102014 002 114 A1 disclose methods for forming and/or controlling a convoy with at least partially autonomous vehicles.

It is therefore an object of the invention to provide a transport vehicle and a computer-implemented method for controlling a transport vehicle for the automated transport of at least one transport unit on different transport areas in urban space, as well as a computer program product and a computer-readable storage medium, which reduce one or more of the disadvantages mentioned or remove. It is in particular an object of the invention to provide a solution that enables automated, safe and simple transport of transport units in urban areas.

This object is achieved with a transport vehicle, a computer-implemented method, a computer program product and a computer-readable storage medium according to the features of the independent patent claims. Further advantageous refinements of these aspects are specified in the respective dependent patent claims. The features listed individually in the patent claims and the description can be combined with one another in any technologically meaningful way, with further embodiment variants of the invention being shown.

According to a first aspect, the object mentioned at the outset is achieved by a transport vehicle for the automated transport of at least one transport unit to different transport areas in urban space, comprising a loading section that is arranged and configured to accommodate at least one transport unit, a drive unit that is arranged and configured is to drive the transport vehicle, a sensor system that is arranged and designed to detect at least one movement property of a preceding guide object and to provide it as movement information, and a to be passed by the guide object and for that Transport vehicle to detect an obstacle object acting as a driving obstacle and to provide obstacle information characterizing the obstacle object, a memory unit with which at least one detour rule for detouring obstacle objects can be provided, and a control device that is set up based on the movement information, the obstacle information and the at least one detour rule a

to generate a path command that characterizes a movement path for following the guide object and to control the drive unit based on the path command in such a way that the obstacle object is bypassed, taking into account the at least one detour rule.

The invention is based on the finding that a transport vehicle that automatically follows a guided object can only be moved safely in urban space if it recognizes obstacles and avoids them. If the transport vehicle follows a cargo bike, for example, the situation can arise that the cargo bike as a guide object drives past a bollard at a short distance and the transport vehicle would drive against this bollard if it did not avoid the bollard.

Without driving around obstacles, automated transport of transport units in urban areas would only be possible to a limited extent. At the same time, this functionality only makes sense with regard to road safety if predefined detour rules are taken into account in order not to endanger other road users. This applies, among other things, but not exclusively, to pedestrian areas in which, on the one hand, there are many obstacles and, at the same time, other road users are particularly worthy of protection. The invention is also based on the finding that driving around obstacles autonomously does not offer the required safety for other road users.

The transport vehicle is designed for the automated transport of at least one transport unit to different transport areas in urban areas. The loading section is designed to accommodate at least one transport unit. The transport unit can be any means of storing goods, for example a Euro pallet or a standard container. Furthermore, the transport unit can be arranged statically on the transport vehicle and can be filled with goods, for example postal items, during normal operation.

The urban area is characterized by a closed town, for example. A transport area is to be understood in particular as a section of traffic in which the transport vehicle can be moved and which is provided for at least one type of road user. Transport areas for the transport vehicle are in particular land transport routes. A transport area is to be understood, inter alia, as a roadway, in particular for motor vehicles, a cycle path, in particular for cyclists, and a sidewalk, in particular for pedestrians. The transport vehicle is designed in particular to drive on a roadway, a cycle path and a sidewalk.

The drive unit is provided for driving the transport vehicle. Driving means propulsion on the one hand and steering on the other. The drive unit can be a motor, for example, or can include a motor. The drive unit can also have a steering system. In particular, it is preferred that the drive unit has two or more, in particular four wheels, of which one, two or more can be driven.

The transport vehicle also includes the sensor system. The sensor system is arranged and designed to detect at least one movement property of a guide object driving ahead and to provide it as movement information. The guide object is to be understood in particular as a unit that the transport vehicle follows. It is particularly preferred that the transport vehicle forms a column with the guide object during normal operation. The transport vehicle can also act as a guide object. The movement property of the guide object driving ahead can be, for example, a position, in particular an absolute position or a relative position, a speed, in particular an absolute speed or a relative speed, and/or a direction of travel, in particular an absolute direction of travel or a relative direction of travel. Furthermore, the movement characteristic of a change in speed and/or a change in direction.

The movement property is recorded in particular by means of suitable sensors of the sensor system. It is preferred that the sensor system has a camera, a radar unit, a direction-finding transmitter, a direction-finding receiver and/or a lidar sensor. The sensor system is also designed to provide the movement property as movement information. The movement information is provided in particular on the basis of data. The sensor system can be partially or completely part of the control device, so that for example data representing the movement property of the control device is provided and the control device generates the movement information. Alternatively, the control device can be part or all of the sensor system.

The sensor system is designed to detect the driving obstacle that is passed by the guide object. The guide object can be, for example, a cargo bike, a pedestrian, another transport vehicle or any other road user. An obstacle object to be passed is also to be understood as meaning an obstacle object that has already been passed or is currently being passed by the guide object.

The driving obstacle as such can be, for example, a bollard, a lamppost, a parked vehicle, a building or a no-traffic zone. Furthermore, the driving obstacle can be a moving driving obstacle. For example, the obstacle to driving can be a pedestrian or a bicycle. Furthermore, the obstacle to driving can be a piece of play equipment, for example a ball.

In particular, the driving obstacle acts as an obstacle in such a way that the transport vehicle would collide with it without avoiding it or would maintain too small a distance. Such a situation can arise in particular when the guide object has a smaller width than the transport vehicle and the driving obstacle is not an obstacle for the guide object but an obstacle for the transport vehicle. The obstacle object is located in particular in a lane-free transport area, for example a pedestrian zone. The sensor system is also designed to provide obstacle information characterizing the obstacle object. The obstacle information can represent, for example, a size and/or a position of the obstacle object. Alternatively or additionally, the obstacle information can represent a speed, for example a relative or absolute speed, and/or a direction of movement of the obstacle object. In addition, the obstacle information can represent a change in speed and/or a change in the direction of travel of the obstacle object.

The storage unit is set up to provide the at least one detour rule for detouring around obstacle objects. For example, the detour rule can be an algorithm or can be implemented as an algorithm. Further preferably, the detour rule is a detour set of rules. The detour rule is defined in particular in such a way that the transport vehicle does not act autonomously. The detour rule can provide, for example, that a movement path of the transport vehicle, which will be explained in more detail below, does not exceed a maximum offset from a guide object path of the guide object. For example, the detour rule can define that the transport vehicle deviates from the track of the guide object by a maximum of 10 cm. Alternatively or additionally, the avoidance rule can define a maximum deviation from a steering angle, a speed and/or an acceleration of the guide object.

The control device is set up to generate a path command based on the movement information, the obstacle information and the at least one detour rule, which characterizes a movement path for following the guided object, so that the obstacle object is avoided taking into account the at least one detour rule. In other words, the control device generates a path command for controlling the driving unit so as to avoid collision between the obstacle object and the transport vehicle. This is done in particular by continuing to follow the guidance object on the basis of the movement information, but deviating from the direct lane of the guidance object, this deviation taking into account the obstacle information is determined. In particular, the transport vehicle forms a transport column with the guide object.

Furthermore, the path command to be generated is generated on the basis of the at least one detour rule, so that the transport vehicle preferably does not essentially act autonomously. The movement path for following the guide object is selected in particular in such a way that, in addition to following the guide object, the obstacle object is bypassed and the bypass rule is observed.

A preferred development of the transport vehicle provides that the sensor system is designed to detect a guide object. Furthermore, the sensor system can be designed to initialize a following of the recognized guidance object, so that the transport vehicle can be shifted from a state that does not follow the recognized guidance object to a state that follows the recognized guidance object.

In a preferred embodiment variant of the transport vehicle, it is provided that the control device is set up to generate the path command in such a way that the movement path is within a movement corridor, the movement corridor being based on a guide object path and/or a guide object trajectory of the guide object. The detour rule preferably defines that the transport vehicle is to be moved within the movement corridor and must not leave the movement corridor. Thus, the transport vehicle does not plan its own path outside of the movement corridor, since only a limited correction of the undisturbed guide object path and/or the undisturbed guide object trajectory takes place.

The movement corridor is preferably defined by means of a lateral offset from the guide object path. For example, provision can be made for the movement corridor to be defined by lateral boundaries, in particular to the left and right of the guide object path, which have a predetermined distance from the guide object path in the orthogonal direction. This distance is preferably less than 50 cm, in particular less than 40 cm preferably less than 25 cm, particularly preferably less than 10 cm. The guide object path is thus located within the movement corridor.

Since the movement path is within the movement corridor in this embodiment variant, the transport vehicle only moves within the movement corridor. As a result, the transport vehicle deviates from the guide object path within predetermined limits, namely within the movement corridor, so that the behavior of the transport vehicle is predictable and operation is particularly safe.

It is also preferred that the control device is set up to generate a stop signal if the obstacle object cannot be bypassed without leaving the movement corridor, and to control the drive unit with the stop signal in such a way that the transport vehicle stops. Furthermore, it may be preferable for the control device to generate a start signal if it is possible to pass the obstacle object without leaving the movement corridor, for example because the obstacle object has been moved.

Furthermore, it is preferred that the guide object trajectory and thus a time component is taken into account. For example, it can be provided that the transport vehicle reduces its speed before and/or when passing the obstacle object, if necessary the distance to the guide object is increased, and the speed is increased again to a predetermined speed after passing, for example to catch up with the guide object .

A preferred embodiment variant of the transport vehicle is characterized in that the control device is set up to generate the path command free of autonomous decision-making processes, so that a movement of the transport vehicle can be predicted and/or traced. A path command that is generated free of autonomous decision-making processes can, for example, lead to non-autonomous behavior of the transport vehicle.

In particular, free from autonomous decision-making processes can mean that no neural networks, no artificial intelligence and/or no machine learning is/are used to generate the path command. In particular, deep learning algorithms cannot be understood manually or only to a limited extent, so that it is usually not possible to predict the decisions of the algorithm in advance. If the path command is generated free of autonomous decision-making processes, the movement of the transport vehicle is predictable and traceable. As a result, the behavior of the transport vehicle can be assessed by other road users and permitting the transport vehicle to move in the transport area is simplified.

It is particularly preferred that the control device is set up in such a way that autonomous decision-making processes can be activated and deactivated, so that an operator can select whether or not autonomous decision-making processes are used when generating the path command. This can be done depending on the transport area, for example. For example, it may be preferred that the path command is generated in a public transport area free of autonomous decision-making processes and in a private transport area, for example a company site, with autonomous decision-making processes.

In a further preferred embodiment variant of the transport vehicle, it is provided that the control device is set up to generate the path command free of information provided by one or the guide object. A control device set up in this way makes it possible for the transport vehicle to automatically follow the guide object. Another advantage is that official approval is simplified, since there is no need to set up and maintain a secure radio link with the guide object. Furthermore, the guide object can essentially be exchanged as desired and cannot be equipped with additional sensors.

A preferred development of the transport vehicle is characterized in that the control device is set up to detect or predict a guide object path of the guide object, to generate a following path for the transport vehicle based on the guide object path and, based on the following path and the obstacle information, to detect a possible collision of the transport vehicle to recognize the obstacle object. By such furnished control device is the detection of a possible collision and thus the need to avoid in an advantageous manner.

In a further preferred embodiment variant of the transport vehicle, it is provided that the sensor system is arranged and designed to detect a position and/or a movement profile of a road user and to provide it as user information, and the control device is set up to generate the path command further based on the user information in this way that a collision between the transport vehicle and the road user is avoided.

Deviating from the guide object path can increase the probability of a collision with another road user. Because of this, it is advantageous to record the road users in the vicinity of the transport vehicle and to take them into account when generating the path command, ie when deriving the movement path.

It is particularly preferred that the movement profile of road users in an environment, in particular in a hazardous area around the transport vehicle, is recorded. The movement profile of a road user can represent, for example, a position, a direction of movement and/or a speed of movement of the road user. The fact that the path command is further generated based on the user information in such a way that a collision between the transport vehicle and the road user is avoided can also mean that the transport vehicle is stopped.

A further preferred development of the transport vehicle is characterized in that the control device is set up to generate a stop command if it is not possible to bypass the obstacle object taking into account the bypass rule and/or the user information, and to control the drive unit with the stop command in such a way that the transport vehicle stops.

Driving around the obstacle object may also not be possible if driving around is not possible per se, for example because two bollards are too close together and the transport vehicle cannot drive between the two bollards. When the transport vehicle stops, it is preferable for an optical and/or acoustic signal to be emitted. Furthermore, it is preferred that a signal characterizing a stopping of the transport vehicle is output to the operating unit described below.

A further preferred embodiment variant of the transport vehicle is characterized in that the control device is set up to output a stop signal when the transport vehicle stops and to transmit the stop signal to a remote control unit and the control device is set up to receive a remote control signal with which the drive unit stops in such a way can be controlled that the transport vehicle drives around the obstacle object.

In particular, taking into account the detour rule, it may happen that the transport vehicle has to be stopped because driving around is not permitted under the detour rule. In this case, the transport vehicle can be controlled by means of a remote control unit. Such a control cannot be carried out autonomously, so that the safety of other road users is advantageously ensured.

It is particularly preferred that the sensor system is configured redundantly, for example with at least one lidar sensor, at least one camera and/or at least one radar unit, with at least two of these sensors being provided. Such a redundant design of the sensor system has the advantage that the sensors can also fulfill their function under different environmental conditions. For example, a lidar sensor can be limited in its functionality when the sun is low in the sky. Furthermore, a camera can have a lower sensor quality at night. In addition, it can be preferred that the sensor system has at least one ultrasonic sensor.

In a further preferred embodiment variant it is provided that the control device can be deactivated by activation of an operator, so that the transport vehicle does not follow the guide object. If the transport vehicle follows a parcel deliverer, for example, it can be preferred that the following function can be deactivated. For example if the Parcel deliverer brings a package to a door, it may be preferred that the transport vehicle remains on the sidewalk in a predefined position. It is also preferred that the control device can be activated by a control of an operator, so that the transport vehicle

Lead object follows.

It is preferred that the control device can be coupled to an operating unit that can be operated by the operator. The operating unit can be a button on the transport vehicle, for example. Furthermore, the operating unit can be an HMI. The operating unit designed as an HMI can be designed to be integrated, for example in a piece of clothing as a capacitive button, so that in particular intuitive control is made possible. In addition, it can be preferred that the operating unit is or includes a device that can be worn by an operator, for example a smart device, a smartphone or a smartwatch.

It is also preferred that the operating unit is designed to communicate with the control device. For example, it can be provided that the operating unit and the control device are set up in such a way that the operating unit receives information relating to the transport vehicle. This information can be, among other things, status information, for example representing that the transport vehicle is activated or deactivated. Furthermore, this information can be output as acoustic and/or visual signals from the transport vehicle, for example from the operating unit. Furthermore, this information can be displayed on the road by means of a projection.

Furthermore, it is preferred that the transport vehicle is set up to communicate with at least one other transport vehicle or the guide object. It may be preferable for movement information to be communicated in order to avoid swinging up, also referred to as an accordion or caterpillar effect. In particular, it can be preferred that the transport vehicle is set up to avoid or reduce swinging up based on the Nagel-Schreckenberg model. For this purpose, the transport vehicle can, for example, provide acceleration information of a preceding object and already cause an acceleration by means of the drive unit before the sensor system has detected the acceleration of the preceding object.

According to a further aspect, the object mentioned at the outset is achieved by a computer-implemented method for controlling a transport vehicle for the automated transport of at least one transport unit on different transport areas in urban space, comprising the steps: Obtaining movement information that characterizes a movement property of a guide object driving ahead obstacle information that characterizes an obstacle object in a transport area that is to be passed by the guiding object and acts as a driving obstacle for the transport vehicle, generating a path command characterizing a movement path for following the guiding object based on the movement information, the obstacle information and at least one avoidance rule for avoiding the obstacle object, and Controlling a drive unit of the transport vehicle based on the path command, so that the obstacle object can be bypassed by the transport vehicle, taking into account the at least one detour rule.

The at least one detour rule for detouring around the obstacle object is preferably provided. It is preferred that the path command is generated free from autonomous decision-making processes. Further, it is preferable that the path command is generated freely from information provided by a guidance object.

In addition, it is preferred that the method includes the step: generation of a start command if it is possible to drive around the obstacle object taking into account the avoidance rule, for example if the obstacle object has moved or was moved.

In a preferred embodiment variant of the computer-implemented method, this comprises the step: Obtaining participant information that characterizes a position and/or a movement profile of a road user, the path command being based on the participant information is generated in such a way that a collision between the transport vehicle and the road user can be avoided.

The subscriber information can be obtained from a sensor system, for example. Alternatively, the subscriber information from another

road users are preserved.

In a further preferred development of the computer-implemented method, this comprises the steps: generating a stop command if it is not possible to drive around the obstacle object taking into account the avoidance rule, and controlling the drive unit with the stop command so that the transport vehicle can be stopped.

In addition, it may be preferable for the transport vehicle to be designed to automatically cut out of a column of transport vehicles. Furthermore, it is preferred that the transport vehicle can automatically take up a parking position at the side of the road after the automated swerving. In particular, this can be done at a parking speed that does not require approval. In Germany, for example, the parking speed is < 6 km/h. The transport convoy can wait while the withdrawn transport vehicle is parking until the parking process is completed. Alternatively, the transport convoy can move on without waiting for the withdrawn transport vehicle to be parked.

According to a further aspect, the object mentioned at the outset is achieved by a computer program product comprising instructions which, when the program is executed by a processor, cause the processor to carry out the steps of the method according to one of the embodiment variants described above.

According to a further aspect, the object mentioned at the outset is achieved by a computer-readable storage medium, comprising instructions which, when executed by a processor, cause the processor to carry out the steps of the method according to one of the embodiment variants described above. The method and its possible developments have features or method steps that make them particularly suitable for being used for the transport vehicle and its developments.

For further advantages, design variants and design details of the individual aspects and their possible developments, reference is also made to the description given for the further aspects, the corresponding features and developments.

Preferred exemplary embodiments are explained by way of example using the attached figures.

FIG. 1: a schematic, two-dimensional view of an exemplary embodiment of a transport vehicle;

Figure 2: a schematic view of two states of a

transport vehicle when driving around an obstacle object;

FIG. 3: a schematic view of an exemplary method;

FIG. 4: a schematic view of a further exemplary method; and

FIG. 5: a schematic view of a further exemplary method.

In the figures, identical or essentially functionally identical or similar elements are denoted by the same reference symbols.

FIG. 1 shows a transport vehicle 100 for the automated transport of at least one transport unit to different transport areas in an urban area. The transport vehicle 100 comprises a loading section 102 which is arranged and designed to receive at least one transport unit. For example, a Euro pallet or several transport containers can be arranged in the loading section 102 . In addition, goods such as postal items can be arranged directly in the loading section 102 . Furthermore, the loading section can have individual compartments for storing individual goods, for example mail items.

The transport vehicle 100 also includes a drive unit 104 with which the transport vehicle 100 can be driven. For this purpose, the drive unit 104 has a motor 106, a total of four wheels 108, 110 and a steering unit (not shown) for steering the transport vehicle 100.

Furthermore, the transport vehicle 100 has a sensor system 112 . The sensor system 112 includes a radar unit 114, a lidar sensor 122 and two cameras 124, 126. The arrangement of the components of the transport vehicle 100 shown is exemplary and schematic. The arrangement can essentially be changed at will.

Sensor system 112 is designed, in particular, to detect at least one movement property of a guide object 128 driving ahead, shown in FIG. 2, and to provide it as movement information. Furthermore, the sensor system 112 is designed to detect an obstacle object 130, 132 in the transport area that the guide object 128 is to pass and which acts as a driving obstacle for the transport vehicle 100 and to provide obstacle information characterizing the obstacle object 130, 132.

In addition, the transport vehicle 100 includes a storage unit 118 which is coupled in terms of signals to a control device 120 . The memory unit 118 provides at least one avoidance rule for avoiding obstacle objects 130, 132. The at least one detour rule can describe, for example, a distance from the target path, a deviation from the target steering angle, a deviation from the target speed and/or a deviation from the target acceleration. These target specifications are specified in particular by a movement of the guide object 128 .

The control device 120 is also set up to generate a path command based on the movement information, the obstacle information and the at least one detour rule, which characterizes a movement path A for following the guidance object 128 . Furthermore, the Control device 120 set up to control the drive unit 104, based on the path command, in such a way that the obstacle object 130, 132 is bypassed, taking into account the at least one avoidance rule.

This functionality is visualized in FIG. The left part of Figure 2 shows a first point in time for driving around the bollards 130, 132, which act as obstacle objects, and the right side shows a second, later point in time for driving around the bollards 130, 132.

On the left in FIG. 2 it is shown that the transport vehicle 100 follows the guide object 128. In the present case, the guide object 128 is a cargo bike. The cargo bike 128 travels between the bollards 130, 132, passing just past the bollard 130. If the transport vehicle 100 were to follow the cargo bike 128 exactly, there would be a collision between the transport vehicle 100 and the bollard 130. The bollard 130 thus represents a travel obstacle and acts as an obstacle object.

Due to this situation, the control device 120 generates the path command, with which the drive unit 104 is controlled in such a way that the transport vehicle 100 does not follow the guide object 128 directly, but bypasses the bollard 130 with an evasive movement A, comprising the movement path sections A1 and A2. For this purpose, the transport vehicle 100 first deviates to the right with the movement path section A1, so that no collision between the transport vehicle 100 and the bollard 130 takes place. The movement path section A1 is selected by the control device 120 in such a way that it is generated in compliance with the at least one detour rule.

The control device 120 generates the path command such that the movement path of the transport vehicle 100 is within the movement corridor 136 . The movement corridor 136 is based on the guide object path 134 of the guide object 128 . The movement corridor 136 has a first boundary 138 and a second boundary 140 . The first boundary 138 and the second boundary 140 are provided to the right and left of the guide object path 134 in the direction of travel, with these having a predefined distance from the guide object path 134 . This distance can, for example be predetermined. The detour rule includes, among other things, the definition that the transport vehicle 100 must not leave the movement corridor 136 .

Without such a movement corridor 136, the detour rule can define, for example, that the guide object path 134 may not deviate from the guide object path 134 by more than 40 cm in a direction orthogonal to the guide object path 134.

After the transport vehicle 100 has passed the bollard 130, it moves again immediately behind the guide object 128, namely with the second movement path section A2.

With a transport vehicle 100 set up in this way, a convoy formation can be formed with a guide object 128 without autonomous functionalities of the transport vehicle 100 being required. This ensures a high level of safety for other road users and the approval of the transport vehicle 100 is simplified.

FIG. 3 shows a computer-implemented method for controlling the transport vehicle 100. In step 200, movement information is obtained which characterizes a movement property of the guide object 128 driving ahead, here the cargo bike. In step 202, obstacle information is obtained, which characterizes an obstacle object 130 in a transport area that is to be passed by the guide object 128 and acts as a driving obstacle for the transport vehicle 100.

In step 204 a path command characterizing a movement path A for following the guidance object 128 is generated based on the movement information, the obstacle information and at least one detour rule for detouring the obstacle object 130 . In step 206, the drive unit 104 of the transport vehicle 100 is then controlled based on the path command in such a way that the obstacle object 130 can be bypassed by the transport vehicle 100, taking into account the at least one avoidance rule.

The method in FIG. 4 differs from the previously described method in step 203. In step 203, subscriber information obtained that characterizes a position and/or a movement profile of a road user. The path command in step 204 is further generated based on the participant information such that a collision between the transport vehicle 100 and the road participant is avoided.

Another preferred embodiment of the method is shown in FIG. In step 204a, a stop command is generated, since driving around the obstacle object 130 is not possible, taking into account the avoidance rule. In step 206a, the drive unit 104 is controlled with the stop command, so that the transport vehicle 100 is stopped.

The transport vehicle 100 described above enables the safe and automated transport of transport units or goods in urban areas. In particular, this can safely and predictably follow a guide object 128, such as a cargo bike or a pedestrian, and thus move loads through urban space. This also simplifies the approval of the transport vehicle 100, since it does not require any autonomous decision-making processes that are difficult or impossible to predict for other road users and also for the approval office.

REFERENCE MARKS

100 transport vehicle

102 loading section

104 drive unit

106 engine

108 wheel

110 wheel

112 sensor system

114 radar unit

116 light unit

118 storage unit

120 control device

122 lidar sensor

124 camera

126 camera

128 guide object

130 bollards

132 bollards

134 Guide Object Path

136 movement corridor

138 first boundary

140 second boundary

A1 Motion Path Section

A2 path of travel segment

Claims

1. Transport vehicle (100) for the automated transport of at least one transport unit to different transport areas in urban space, comprising - a loading section (102) which is arranged and designed to accommodate at least one transport unit, - a drive unit (104) which is arranged and designed is to drive the transport vehicle (100), - a sensor system (112) which is arranged and designed to o detect at least one movement property of a preceding guided object (128) and provide it as movement information, and o a property to be passed by the guided object (128). and detecting an obstacle object (130, 132) acting as a driving obstacle for the transport vehicle (100) and characterizing the obstacle object (130, 132).

providing obstacle information, - a memory unit (118) with which at least one avoidance rule for avoiding obstacle objects (130, 132) can be provided, and - a control device (120) which is set up o based on the movement information, the obstacle information and the at least a detour rule to generate a path command that characterizes a movement path for following the guide object (128), and o to control the drive unit (104) based on the path command in such a way that the obstacle object (130, 132) is avoided taking into account the at least one detour rule .

Second transport vehicle (100) according to claim 1, wherein the control device (120) is set up to generate the path command such that the Movement path is within a movement corridor, the movement corridor being based on a guide object path and/or a guide object trajectory of the guide object (128).

3. Transport vehicle (100) according to one of the preceding claims, wherein - the control device (120) is set up to generate the path command free of autonomous decision-making processes, so that a movement of the transport vehicle (100) is predictable and/or comprehensible.

4. Transport vehicle (100) according to any one of the preceding claims, wherein - the control device (120) is set up to generate the path command free of information provided by a guide object.

5. Transport vehicle (100) according to one of the preceding claims, wherein - the control device (120) is set up to detect or predict the guide object path of the guide object, to generate a following path of the transport vehicle based on the guide object path and based on the following path and the obstacle information to recognize a possible collision of the transport vehicle with the obstacle object (130, 132).

6. Transport vehicle (100) according to one of the preceding claims, wherein - the sensor system (112) is arranged and designed to detect a position and/or a movement profile of a road user and to make it available as user information, and - the control device (120) is set up further generate the path command based on the user information such that a collision between the transport vehicle (100) and the road user is avoided.

7. Transport vehicle (100) according to any one of the preceding claims, wherein - the control device (120) is set up to generate a stop command if it is not possible to drive around the obstacle object (130, 132) taking into account the detour rule and/or the participant information, and to control the drive unit (104) with the stop command in such a way that the transport vehicle (100) stops.

8. Transport vehicle (100) according to one of the preceding claims, wherein - the control device (120) is set up to output a stop signal when the transport vehicle (100) stops, and to transmit the stop signal to a remote control unit, and - the control device (120) is set up to receive a remote control signal with which the drive unit (104) can be controlled in such a way that the transport vehicle (100) drives around the obstacle object (130, 132).

9. Transport vehicle (100) according to any one of the preceding claims, wherein - the sensor system (112) is redundant.

10. Transport vehicle (100) according to one of the preceding claims, wherein - the control device (120) can be deactivated by activation of an operator so that the transport vehicle (100) does not follow the guide object and/or can be activated so that the transport vehicle (100) Lead object follows.

11. Computer-implemented method for controlling a transport vehicle for the automated transport of at least one transport unit on different transport areas in urban space, comprising the steps: - Obtaining (200) movement information that characterizes a movement property of a preceding guide object, - Obtaining (202) obstacle information that one to be passed by the guide object and for the transport vehicle (100) characterizes an obstacle object (130, 132) acting as a driving obstacle in a transport area, - generating (204) a path command characterizing a movement path for following the guidance object based on the movement information, the obstacle information and at least one avoidance rule for avoiding the obstacle object (130, 132), and - Controlling (206) a drive unit (104) of the transport vehicle based on the path command, so that the obstacle object (130, 132) can be bypassed by the transport vehicle (100), taking into account the at least one avoidance rule.

12. Computer-implemented method according to the preceding claim 11, wherein the path command is generated free of autonomous decision-making processes.

13. Computer-implemented method according to any one of the preceding claims 11-12, comprising the step of: - obtaining participant information which characterizes a position and/or a movement profile of a road user, - wherein the path command is further generated based on the participant information in such a way that a collision between the transport vehicle (100) and the road user can be avoided.

14. Computer-implemented method according to any one of the preceding claims 11-13, comprising the steps of: - generating a stop command if driving around the obstacle object (130, 132) is not possible taking into account the avoidance rule, and - controlling the drive unit (104) with the Stop command so that the transport vehicle (100) can be stopped.

15. A computer program product comprising instructions which, when the program is executed by a processor, cause the latter to carry out the steps of the method according to any one of the preceding claims 11-14.

16. A computer-readable storage medium comprising instructions used in the

Execution by a processor causing it to carry out the steps of the method according to any one of the preceding claims 11-14.