Storage of the travel of a paving edge to control a lateral extension position of a paving slab on a road paver.

Description

1 / 21 Storage of the travel of a paving edge to control a lateral extension position of a paving slab on a road paver.

[001] The invention relates to a road paver and to the operation of a road paver. In particular, the invention relates to a road paver with a laterally extendable paving screed and to adjusting the lateral extension position of the paving screed.

[002] In practice, road pavers are known to have a variable paving width during operation. For example, the road paver may comprise a paving screed with a rigid base to which an extension screed section is attached on each of the lateral sides. In order to change the pavement width to one of the sides, the extendable screed section provided on the respective side may be moved laterally relative to the base screed. The extension positions of the extendable section of the paving screed may be adjusted, for example, via an operator through an external control station provided on the paving screed itself.

[003] EP 3 524 731 B1 describes a road paver with an edge follower. If a roadway is constructed with multiple adjacent lanes, the edge follower machine can align the paving screed with the edge of an already completed lane so that there is no gap or overlap between the already completed lane and the lane being paved. The edge tracker comprises at least one sensor that detects the edge ahead of the paving screed relative to the direction of travel. Knowing the mounting position of the edge tracker on the road paver and the travel speed of the road paver, a control device Petition 870250112598, dated 08 / 12 / 2025, p. 12 / 40 2 / 21 determines when the detected edge position will be reached by the next paving screed. The alignment of the paving screed with the detected edge is delayed after the detection of the current edge position, depending on the travel speed, with the delay being smaller for higher travel speeds than for relatively lower travel speeds. In addition to considering the travel speed for paving screed alignment, other operating parameters can also be used, such as the steering configuration.

[004] One of the objectives of the invention is to indicate an improved way of adjusting the lateral extension position of the paving table of a road paver when paving a strip of pavement along the paving edge.

[005] This objective is achieved by the subject matter of claims 1, 11 and 15, respectively. The dependent claims describe advantageous embodiments.

[006] According to one aspect of the invention, a method is provided for operating a road paver with a laterally extendable paving screed. Paving is performed along a paving path using the road paver. The paving path extends along the paving edge. During paving, an edge sensor attached to the road paver detects the paving edge at a position located ahead of the rear edge of the paving screed, relative to the paving direction. During paving, data is stored based on the detection of the paving edge. This data can be used during paving to reconstruct the course of the paving edge in a coordinate system fixed to the current paver. With Petition 870250112598, dated 08 / 12 / 2025, page 13 / 40 Based on the stored data, the lateral extension position of the paving screed is adjusted during paving operation to a desired lateral distance between the rear edge of the paving screed and the paving edge.

[007] The paving edge may be a physical edge that extends along the paving path. For example, the paving edge may be formed by at least one structural element representing a course of a pavement strip to be installed. At least one structural element may comprise, for example, a curb or a water drain. The paving edge may be a milled edge, created by the removal, at least partial, of the old road surface. The paving edge may be the lateral end of a paving strip installed in a previous work stage, with another paving strip being installed adjacent to the paving edge during the execution of paving with the road paver.

[008] The outer lateral edge of a pavement strip installed during paving can be determined by a course of the lateral position of the rear edge of the paving screed during paving. Thus, by adjusting the lateral distance between the rear edge of the paving screed and the paving edge, it is possible to obtain the desired lateral distance between the installed pavement strip and the paving edge.

[009] The desired lateral distance between the back edge of the paving table and the paving edge can be, at a minimum, essentially 0, so that the strip laid during paving is flush with the paving edge. In particular, the strip laid during paving can at least partially fill the paving edge. However, the desired lateral distance between the back edge Petition 870250112598, dated 08 / 12 / 2025, page 14 / 40 4 / 21 of the paving screed and the paving edge can also be greater than 0, so that the paving strip is placed at a lateral distance from the paving edge. The desired lateral distance between the back edge of the paving screed and the paving edge can vary along the paving path, according to the planning data.

[010] As the paving edge is detected ahead of the back edge of the paving table in relation to the paving direction, the method can be used, in particular, when it is difficult or impossible to detect the paving edge in the back edge area of ​​the paving table, for example, when the paving strip is installed close to the paving edge and the paving strip therefore covers at least partially the paving edge in the back edge area of ​​the paving table or partially or completely fills a height difference present in the paving edge.

[011] The path of the paving edge is detected ahead of the rear edge of the paving screed relative to the paving direction and is stored so that, when the rear edge of the paving screed reaches the respective position along the paving direction, the lateral extension position can be adjusted based on the previously stored data. With the method according to the invention, the rear edge of the paving screed can be aligned relative to the paving edge with a high degree of precision, even if the road paver has changed its travel speed or travel direction between the time a point on the paving edge was measured and the time the rear edge of the paving screed is aligned relative to the point on the paving edge. With the method according to the invention, the rear edge of the paving screed can be aligned relative to the paving edge, Petition 870250112598, dated 08 / 12 / 2025, page 15 / 40 5 / 21 in particular with high precision, even if the width of the pavement strip to be paved, as defined by the paving edge, changes along the paving direction.

[012] Since the paving edge path can be reconstructed from data stored during paving execution in the coordinate system fixed on the current paver, adjusting the side extension position of the paving screed is facilitated. In particular, complex calculations in a global coordinate system can be reduced or avoided.

[013] The data can be stored by a controller. The controller can adjust the lateral extension position based on the stored data. The controller can be a road paver controller. The controller can be supplied on top of the road paver or on the road paver. Alternatively, the controller can be supplied externally to the road paver and connected to the road paver via a data connection.

[014] Data storage can comprise data storage in a data storage system. Data storage can be road paver data storage. Data storage can be provided on or within the road paver. Alternatively, data storage can be provided outside the road paver and connected to it, in particular to the road paver controller, via a data connection. For example, data storage can be provided as cloud storage.

[015] Pavement edge detection may include measuring the distance between the edge sensor and the pavement edge. Pavement edge detection may correspond to measuring the distance between the sensor Petition 870250112598, dated 08 / 12 / 2025, page 16 / 40 6 / 21 edge and paving edge. The distance between the edge sensor and the paving edge can be a distance along a fixed direction relative to the road paver. The distance between the edge sensor and the paving edge can be a distance along a lateral direction perpendicular to the paving direction.

[016] The paving edge can be detected repeatedly during paving execution, in particular periodically. The paving edge can be detected during paving execution at a frequency greater than 0.05 Hz, or greater than 0.1 Hz, or greater than 0.5 Hz, or greater than 1 Hz, for example. The paving edge can be detected during paving execution at a frequency less than 50 Hz, or less than 20 Hz, or less than 10 Hz, or less than 1 Hz, for example. The paving edge can be detected during paving execution at a frequency between 0.05 Hz and 100 Hz, or between 0.1 Hz and 50 Hz, or between 0.5 Hz and 50 Hz, for example.

[017] Data can be stored repeatedly during paving execution, in particular periodically. Data can be stored with the same frequency as the paving edge is detected.

[018] Data storage may include storage of positions of pavement edge points detected by the edge sensor.

[019] The positions of paving edge points detected by the edge sensor can be stored in the form of a two-dimensional position vector, respectively. Storing the data in the form of a two-dimensional position vector facilitates the reconstruction of the paving edge path in a coordinate system fixed on the current paver, especially when compared to storing a simple value of Petition 870250112598, dated 08 / 12 / 2025, page 17 / 40 7 / 21 distance. The two-dimensional position vector can define a point on a plane defined by the direction of travel of the road paver and a lateral direction perpendicular to the direction of travel of the road paver. It is not necessary to determine the height level of the paving edge or to store the height coordinates of the paving edge. The two-dimensional position vector can be stored, for example, in Cartesian coordinates or in polar coordinates.

[020] Data storage may include storing the positions of paving edge points detected by the edge sensor as coordinates in a coordinate system fixed on the paver. Storing the positions of paving edge points in a coordinate system fixed on the paver can facilitate the reconstruction of the paving edge during paving execution in a coordinate system fixed on the current paver. The coordinate system fixed on the paver, in which the positions of paving edge points are stored, may be a coordinate system fixed on the paver that is the current coordinate system fixed on the paver at the time of detection of the respective position.In particular, data storage may include the initial storage of positions of paving edge points detected by the edge sensor as coordinates in a coordinate system fixed on the paver, which is the coordinate system currently fixed on the paver at the time of detection of the respective position.

[021] Data storage may include updating the coordinates stored during paving operation, converting them into a fixed coordinate system on the paver, which is the fixed coordinate system on the current paver after the paver has moved. The conversion of the stored coordinates to a coordinate system Petition 870250112598, dated 08 / 12 / 2025, page 18 / 40 The 8 / 21 fixed coordinate system on the paver, which is the current fixed coordinate system on the paver, can be repeated during paving operations, particularly periodically. In particular, whenever a new detected position of a paving edge point is stored, the coordinates of previously detected and already stored paving edge points can be converted to the current fixed coordinate system on the paver. All stored coordinates of detected paving edge points can always be converted to the current fixed coordinate system on the paver.

[022] During paving operations, information about changes in the orientation and location of the road paver can be determined and used to update the stored coordinates. Information about changes in the orientation and location of the road paver may include information about translational movements of the road paver and information about rotational movements of the road paver. It is possible to determine a change in the orientation and location of the road paver between the last detection of the paving edge position and the current detection of the paving edge position. Based on this information, all stored coordinates of paving edge points can be converted from the fixed coordinate system in the road paver, current at the time of the last detection of a paving edge point, to the current fixed coordinate system in the road paver.

[023] Information on changes in the orientation and location of the road paver can be determined from the rotational speeds of a left-hand and right-hand drive of the road paver, or from position data. Petition 870250112598, dated 08 / 12 / 2025, page 19 / 40 9 / 21 of at least one GNSS (Global Navigation Satellite System) receiver provided on the road paver. The at least one GNSS receiver provided on the road paver may comprise at least two GNSS receivers provided on the road paver. The GNSS receivers may be installed at known mounting points on the road paver. If at least two GNSS receivers are provided, both the determination of the translational motion and the determination of the rotational motion of the road paver may be facilitated.

[024] During paving execution, at least the last 3, or at least the last 5, or at least the last 10, or at least the last 15 positions of paving edge points detected by the edge sensor can be stored in a recoverable manner. It is also conceivable that, during paving execution, a considerably larger number of detected positions of paving edge points are stored in a recoverable manner, for example, at least the last 50, or at least the last 100, or at least the last 150, or at least the last 200 positions of paving edge points detected by the edge sensor. Furthermore, all positions of paving edge points detected during the course of paving execution up to that point can be stored in a recoverable manner.

[025] Adjusting the side extension position may involve selecting one of the stored paving edge point positions and using this to determine a target value for a paving screed side extension position. For example, one could select the stored position that was the first among the stored paving edge point positions located at the level of the back edge of the paving screed relative to the current paving direction, or additionally Petition 870250112598, dated 08 / 12 / 2025, page 20 / 40 10 / 21 further back. Alternatively, for example, one can select the stored position closest to the current position of the rear edge of the paving table relative to the current paving direction.

[026] The target value for the side extension position of the paving table can be determined based on the position of the selected point of the paving edge and the desired side distance between the back edge of the paving table and the paving edge.

[027] Adjusting the lateral extension position may involve adjusting the lateral extension position of the paving screed to the determined target value. The lateral extension position may be an extension position relative to the road paver. The lateral extension position may, for example, be defined by the distance by which the paving screed is extended laterally from a maximum retraction position.

[028] According to a further aspect of the invention, a road paver is provided. The road paver comprises a laterally extendable paving screed, an edge sensor, a controller, and a data storage system. The edge sensor is configured to detect, during a paving run, a paving edge at a position located ahead of a rear edge of the paving screed relative to the paving direction. The controller is configured to store data in the data storage during the paving run based on the detection of the paving edge, from which a course of the paving edge can be reconstructed in a coordinate system fixed in the current paver during the paving run.The controller is configured to adjust the lateral extension position of the paving screed based on data stored during paving operation, up to a desired lateral distance from the edge. Petition 870250112598, dated 08 / 12 / 2025, page 21 / 40 11 / 21 rear of the paving table and the paving edge.

[029] The road paver may comprise a towing vehicle. The towing vehicle may be configured to pull the paving screed behind it in the paving direction. The paving screed may be attached to the towing vehicle in an articulated manner by means of drawbars.

[030] The laying table may comprise a base table. The base table may have a fixed width in the lateral direction perpendicular to the paving direction. The paving table may comprise at least one lateral extension that may be extended relative to the base table in order to increase the paving width. At least one extension portion may comprise a left extension, a right extension, or a left and a right extension. An offset may be assigned to at least one extension portion. The controller may be configured to control the offset by extending or retracting the corresponding lateral extension, in particular, to move the extension portion associated with a target value to a lateral extension position of the paving table. An extension may be provided on both sides of the base table, i.e., a left extension and a right extension.Alternatively, an extension section can be provided on only one side, i.e., only a right extension or only a left extension. If extension parts are provided on both sides of the base table, each extension part can be assigned its own offset, so that each extension part can be controlled individually.

[031] The road paver may comprise a hopper for receiving the paving material. The material hopper may be provided in front of the road paver in relation to the direction of Petition 870250112598, dated 08 / 12 / 2025, page 22 / 40 12 / 21 Paving. The road paver may comprise a conveyor device configured to transport paving material from the material hopper against the direction of the paving path and feed it onto the paving screed for compaction.

[032] The edge sensor can be configured to detect a distance along a lateral direction perpendicular to the paving direction, between the position of the edge sensor on the road paver and the paving edge.

[033] The edge sensor can be designed, for example, as a lidar sensor (light detection and ranging), a radar sensor (radio detection and ranging) or an ultrasonic sensor.

[034] Data storage may comprise a data log. The controller may be configured to store the paving edge positions detected sequentially by the edge sensor during paving execution, in the form of coordinates, in the data log. The data log may optionally have a fixed number of memory positions for the coordinates, so that when the coordinates of a newly detected paving edge point are added, the coordinates of a paving edge point that was detected longer ago are removed from the log or deleted.

[035] Data storage can be designed as a hard disk, flash memory or SSD (solid state drive), for example.

[036] The controller can be configured to initially store the positions of paving edge points detected by the edge sensor in the data storage as coordinates in a coordinate system fixed on the paver, which is the current fixed coordinate system on the paver at the time of detection of the respective position. As Petition 870250112598, dated 08 / 12 / 2025, page 23 / 40 13 / 21 positions of pavement edge points detected by the edge sensor can be stored, in particular, in the form of a two-dimensional location vector.

[037] The controller can be configured to periodically update the coordinates stored during paving operation, converting them into a fixed coordinate system on the paver that is the fixed coordinate system on the current paver after the paver has moved. During paving operation, the controller can determine information about changes in the orientation and location of the road paver and use this information to update the stored coordinates. The controller can be configured to determine information about changes in the position and location of the road paver from the rotational speeds of a left-hand and right-hand chain displacement of the road paver, or from position data from at least one GNSS (Global Navigation Satellite System) receiver provided on the road paver.

[038] The controller can determine the orientation change and the position change of the road paver between the last detection of the paving edge position and the current detection of the paving edge position. Based on this information, the controller can convert all stored coordinates of paving edge points from the stationary coordinate system of the road paver, which was the current one at the time of the last detection of a paving edge point, to the current stationary coordinate system of the road paver.

[039] According to an aspect of the further invention, a Petition 870250112598, dated 08 / 12 / 2025, page 24 / 40 14 / 21 Use of a data log. The data log stores the positions of points on a paving edge, which were sequentially detected ahead of the rear edge of the paving screed of the road paver during a paving run of a road paver. The data log is used to adjust the lateral extension position of the paving screed to a desired lateral distance between the rear edge of the paving screed and the paving edge.

[040] The attributes, explanations and advantages described in relation to one of the aspects or embodiments described in the present invention are transferable or combinable with the other aspects or embodiments. The road paver described may be suitable, designed and / or configured to perform the described method or to perform the described use. The described method or the described use may be performed or carried out based on the described road paver. The method may include the use. The use may include the method.

[041] The modalities are explained in more detail below, with reference to the figures.

[042] Figure 1 shows a schematic side view of a road paver according to one embodiment.

[043] Figure 2 shows a schematic top view of the road paver, according to the mode during a paving operation.

[044] Figure 3 shows a schematic representation of a data record of data storage according to a modality.

[045] Figure 1 shows a road paver 1 according to one embodiment. The road paver 1 comprises a towing vehicle 3 and a paving table 7 for compacting the paving material towed behind the towing vehicle 3 in relation to a direction. Petition 870250112598, dated 08 / 12 / 2025, page 25 / 40 15 / 21 paving 5. On the front part, in relation to the paving direction 5, the road paver 1 comprises a material hopper 9 for receiving the paving material. The paving material from the material hopper 9 is fed into the paving screed 7 during a paving run and compacted by the paving screed 7. The road paver 1 comprises a main operating station 11, which provides a location for an operator and has operating devices 13 for controlling various functions of the road paver 1.

[046] Figure 2 shows a top view of the road paver 1 during a paving operation while laying a pavement strip 15. The paving table 7 comprises a main table 17 and, on both lateral sides of the main table 17, an extension part 19, namely, a left extension part 19 as viewed along the paving direction 5 and a right extension part 19 as viewed along the paving direction 5. The extension parts 19 can be extended or retracted relative to the main table 17 along a lateral direction 25 perpendicular to the paving direction 5 by means of an offset 23 assigned to the respective extension part 19, in order to change the paving width on the respective side. The offsets 23 can be composed of a motor 27 and a position sensor 31. The motor 27 can be designed as a hydraulic motor or an electric motor, for example.Position sensor 31 can determine the current extension position of the respective extension part 19 of the paving table 7.

[047] A road paver controller 35 can transmit a respective target value for a side extension position of the associated extension part 19 for each of the displacements 23. Based on the current extension position of the extension part 19 determined by sensor 31, Petition 870250112598, dated 08 / 12 / 2025, page 26 / 40 16 / 21 the displacement 23 can adjust the extension position of the respective extension part 19 to the target value by means of the motor 27.

[048] In the illustrated embodiment, the paving strip 15 is installed between opposite installation edges 37 along the lateral direction 25. During paving, the lateral extension positions of the paving screed 7 are continuously adjusted on both sides in order to adjust the desired lateral distance between the rear edge 41 of the paving screed 7 and the respective paving edge 37. The desired lateral distance may be the same on both sides or different on the left side relative to the right side. In the illustrated embodiment, the desired lateral distance 43 on the left side relative to the paving direction 5 is at least substantially 0, so that the paving strip 15 is placed up to the left paving edge 37.In the illustrated embodiment, the desired lateral distance 43 on the right side is greater than 0, for example, a value greater than 2 cm, or a value greater than 5 cm, or a value greater than 10 cm, so that the coverage strip 15 does not extend to the paving edge 43 on the right side.

[049] A respective edge sensor 47 is provided on each of the two lateral sides in front of the rear edge 41 of the paving table 7. The edge sensor 47 can, for example, be attached to a side plate 51 of the extension part 19 located on the respective side. The edge sensor 47 detects a distance between the edge sensor 47 and the associated paving edge 37 along the lateral direction 25.

[050] During paving operations, paving edges 37 are periodically detected by the respective edge sensor 47, measuring the distance between the edge sensor 47 along the lateral direction 25 and the respective paving edge 37. The point positions of the edges of Petition 870250112598, dated 08 / 12 / 2025, page 27 / 40 17 / 21 paving 37 detected in this way are stored in a data register 57 of a data storage 58 of the road paver 1 and are used to control a lateral extension position of the respective extension part 19. For clarity, only the procedure relating to one of the two extension parts 19 is described below. The same procedure can be followed for the other extension part 19. Alternatively, the other extension part can be controlled in a different way, for example, manually by an operator. Furthermore, only one extension of part 19 can be provided.

[051] Preferably, the detected positions of paving edge points 37 are each stored in the form of a two-dimensional position vector in a coordinate system fixed on the paver. In the illustrated embodiment, the coordinate system fixed on the paver is selected such that its origin is located at a theoretical pivot point 59 of the tractor 3, and such that the coordinate system fixed on the paver is defined by an x-axis pointing along the paving direction 5 and a y-axis pointing to the left along the lateral direction 55, with the two x and y axes being perpendicular to each other. However, the coordinate system fixed on the paver can also be defined differently.

[052] In the illustrated embodiment, the resulting position vector for a point on the right paving edge 37, detected by the right edge sensor 47 at time t, is as follows: (xt, yt) = (-a, -(bt+mt)). Here, a is the distance between the theoretical pivot point 59 of the tractor 3 and the mounting position of the right edge sensor 47, parallel to the paving direction 5, thus being a known fixed value. b is the actual distance between the mounting position of the right edge sensor 47 and the theoretical pivot point 59 of the tractor. Petition 870250112598, dated 08 / 12 / 2025, page 28 / 40 18 / 21 3, parallel to the lateral direction 25, and is known from the distance sensor 31 and the known mounting position of the edge sensor 47 on the side plate 51. mté is the distance currently being measured by the right edge sensor 47 between the right edge sensor 47 and the right paving edge 37 along the lateral direction 55.

[053] Figure 3 shows a schematic representation of data log 57. The first column, 56, shows the time index t to which the stored coordinates, displayed in the respective row, are assigned. For example, time index 1 may represent the last measurement taken, and subsequent time indices may represent additionally older measurement values. Column 61 contains the x-coordinate of the right paving edge point 37 detected at the respective time index in the coordinate system fixed on the paver. Column 63 contains the y-coordinate of the right paving edge point 37 detected at the respective time index in the coordinate system fixed on the paver.

[054] When the coordinates of a paving edge point 37 are detected at a current time index and stored in data record 57, they are stored in the current paver's fixed coordinate system. In addition, the coordinates already present in data record 57 are converted to the current paver's fixed coordinate system, so that all information in data record 57 is always available in the current paver's fixed coordinate system.

[055] In order to convert the coordinates stored in data log 57 to the coordinate system fixed on the current paver, information about changes in the orientation and location of road paver 1 is determined during paving operations and used. Petition 870250112598, dated 08 / 12 / 2025, page 29 / 40 19 / 21 to update the stored coordinates. In particular, the average travel speed v of road paver 1 since the last time index and the average rotation rate ω of road paver 1 since the last time index are determined and used to update the stored coordinates.

[056] In the illustrated embodiment, the controller 35 determines information about changes in the orientation and location of the road paver 1, in particular the average travel speed v of the road paver 1 since the last time index and the average rotation rate ω of the road paver 1 since the last time index, based on the emissions of two GNSS receivers 60 attached to known (different) positions of the road paver 1. Alternatively, the controller 35 can determine information about changes in the orientation and location of the road paver 1, in particular the average travel speed v of the road paver 1 since the last time index and the average rotation rate ω of the road paver 1 since the last time index, from the rotation speeds of a left-hand and a right-hand drive of the road paver 1.To increase accuracy, information determined from GNSS 60 receivers and information determined from the rotational speeds of current displacements can also be combined, for example, using a Kalman filter.

[057] At the time of the current detection of the position of paving edge 37, the coordinate pairs stored in data log 57 are represented in the coordinate system fixed in the paver that was current at the time of the last previous detection of a position of paving edge 37, but which is now outdated. The following formulas are Petition 870250112598, dated 08 / 12 / 2025, pages 30 / 40 20 / 21 are used to convert the stored coordinates from the fixed coordinate system in the old paver to the fixed coordinate system in the current paver: xt,new = xt,old*cos(ω*Δt) + yt,old *sin(ω*Δt) - v*Δt yt,new = yt,old*cos(ω*Δt) - xt,old *sin(ω*Δt) (xt,old, yt,old): Coordinate pair in a fixed coordinate system on the outdated paver (xt,new, yt,new): Coordinate pair in a fixed coordinate system on the outdated paver Δt: Time interval between the last previous detection of the position of paving edge 37 and the current detection of the position of paving edge 37. ω: Average rotation rate of road paver 1 around the theoretical pivot point 59 between the last detection of the position of paving edge 37 and the current detection of the position of paving edge 37. v: Average travel speed of road paver 1 between the last detection of the position of paving edge 37 and the current detection of the position of paving edge 37.

[058] Due to periodic conversion, the stored coordinate pairs are always available in the fixed coordinate system on the current paver during paving operation and can therefore be used directly to adjust the extension position of the extension part 19.

[059] During paving operation, controller 35 periodically adjusts the extension positions of the extension section 19 of the paving table 7 based on data stored in data log 57 and therefore based on the course of the paving edge 37. Controller 35 selects a set of coordinates (xt, , yt,) from data log 57 that Petition 870250112598, dated 08 / 12 / 2025, page 31 / 40 21 / 21 indicates a situation at the rear edge 41 of the paving screed 7 at the current moment. For example, the controller 35 can select the set of coordinates that has the lowest time index among the stored sets of coordinates that satisfy the condition xt < -c in the current coordinate system, where c is the fixed distance from the rear edge 41 of the paving screed to the theoretical pivot point 59 of the tractor 3 parallel to the paving direction 5.

[060] The selected coordinate set is then used to control the extension position of the extension part 19, so that the side plate 51 of the extension part 19 is adjusted to the desired side distance 43 between the back edge 41 of the paving table 7 and the paving edge 37, appropriately actuating the offset 23. Petition 870250112598, dated 08 / 12 / 2025, page 32 / 40

Claims

1 / 5 CLAIMS 1. Method for operating a road paver (1) having a laterally extendable paving table (7), characterized in that it comprises: performing a paving run with the road paver (1) along a paving path extending along a paving edge (37); wherein, during the paving run, the paving edge (37) is detected at a position located ahead of a rear edge (41) of the paving table (7) relative to the paving direction (5) using an edge sensor (47) attached to the road paver (1); wherein, during the paving run, data is stored based on the detection of the paving edge (37), from which a course of the paving edge (37) can be reconstructed during the paving run in a coordinate system fixed on the current paver;and wherein, during paving execution, a lateral extension position of the paving table (7) is adjusted to a desired lateral distance (43) between the rear edge (41) of the paving table (7) and the paving edge (37) based on stored data.; 2. Method according to claim 1, characterized in that the data storage comprises the storage of positions of paving edge points (37) detected by the edge sensor (47).

3. Method according to claim 2, characterized in that the positions of paving edge points (37) detected by the edge sensor (47) are each stored in the form of a two-dimensional location vector. Petition 870250112598, dated 08 / 12 / 2025, page 33 / 40 2 / 5 4. Method, according to any one of claims 1 to 3, characterized in that the data storage comprises storing positions of paving edge points (37) detected by the edge sensor (47) as coordinates in a coordinate system fixed on the paver.

5. Method, according to any one of claims 1 to 4, characterized in that the data storage comprises storing positions of paving edge points (37) detected by the edge sensor (47) initially as coordinates in a coordinate system fixed on the paver which is the current fixed coordinate system on the paver at the time of detection of the respective position.

6. Method according to claim 4 or 5, characterized in that the data storage comprises updating the stored coordinates during paving execution, converting the stored coordinates into a fixed coordinate system on the paver that is the current fixed coordinate system on the paver after the road paver (1) has moved.

7. Method according to claim 6, characterized in that information about changes in the orientation and position of the road paver (1) is determined during paving and is used to update the stored coordinates.

8. Method according to claim 7, characterized in that information about changes in the orientation and position of the road paver (1) is determined from the rotational speeds of a left-hand and right-hand drive of the road paver (1) or from position data from at least one GNSS receiver (60) provided on the road paver (1). Petition 870250112598, dated 08 / 12 / 2025, p. 34 / 40 3 / 5 9. Method, according to any one of claims 1 to 8, characterized in that during paving execution, at least the last 3, or at least the last 5, or at least the last 10, or at least the last 15 positions of paving edge points (37) detected by the edge sensor (47) are stored in a recoverable manner.

10. Method, according to any one of claims 1 to 9, characterized in that the adjustment of the lateral extension position comprises selecting one of the stored positions of paving edge points (37) and using this to determine a target value for the lateral extension position of the paving table (7).

11. Road paver (1), characterized in that it comprises: a laterally extendable paving table (7); an edge sensor (47) configured to detect, during a paving run, a paving edge at a position located ahead of a rear edge (41) of the paving table (7) relative to the paving direction; a controller (35); and a data storage (58); wherein the controller (35) is configured to store data in the data storage (58) during the paving run based on the detection of the paving edge (37), from which a course of the paving edge (37) can be reconstructed in a coordinate system fixed in the current paver during the paving run;and wherein the controller (35) is configured to adjust a lateral extension position of the paving table (7) during paving execution to a desired lateral distance (43) between the back edge Petition 870250112598, dated 08 / 12 / 2025, page 35 / 40 4 / 5 (41) of the paving table (7) and the paving edge (37) based on stored data.; 12. Road paver, according to claim 11, characterized in that the edge sensor (47) is configured to detect a distance between a position of the edge sensor (47) on the road paver (1) and the paving edge (37) along a lateral direction (25) perpendicular to the paving direction (5).

13. Road paver, according to claim 11 or 12, characterized in that data storage (58) comprises a data log (57), and wherein the controller (35) is configured to store positions of the paving edge (37) detected sequentially by the edge sensor (47) during paving in the form of coordinates in the data log (57).

14. Road paver, according to claim 13, characterized in that the controller (35) is configured to periodically update the coordinates stored during paving execution, converting them into a fixed coordinate system on the paver which is the respective fixed coordinate system on the current paver after the paver has moved.

15. Use of a data register (57), characterized in that the positions of points of a paving edge (37) successively detected during a paving run of a road paver (1) ahead of a rear edge (41) of a paving table (7) of the road paver (1) are stored, to adjust a lateral extension position of the paving table (7) to a desired lateral distance (43) between the rear edge (41) of the paving table (7) and the paving edge (37). Petition 870250112598, dated 08 / 12 / 2025, page 36 / 40 5 / 5 16. Product, process, system, kit, means or use, characterized in that it comprises one or more elements described in the descriptive report, claims, drawings, sequence listing, or summary of this application, when applicable. Petition 870250112598, dated 08 / 12 / 2025, pp. 37 / 40

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