Method and system for defining and monitoring at least one operating area of ​​at least one autonomously operating vehicle

Abstract

The invention relates to a method for defining and monitoring at least one operating range of at least one autonomously operating vehicle, wherein a transmitting and receiving unit arranged outside the vehicle is connected to at least one signal loop in terms of signal technology, the respective operating range is defined via the at least one signal loop, wherein the transmitting and receiving unit transmits an output signal via the signal loop for monitoring the operating range and compares the output signal with an input signal received from the signal loop, wherein the transmitting and receiving unit determines a malfunction of the signal loop in the event of a deviation between the output signal and the input signal and, based on this, initiates a safety procedure for autonomous driving of the at least one vehicle. The invention also relates to a system for defining and monitoring at least one operating range.

Description

[0001] The invention relates to a method and a system for defining and monitoring at least one operating area of ​​at least one autonomously operating vehicle.

[0002] DE 10 259 168 A1 discloses a method for controlling at least one autonomous vehicle on a defined traffic field, wherein the autonomous vehicle has a driving device for executing driving instructions based on transmitted signals. The driving instructions relate to the driving direction and the driving speed. The vehicle acquires its current position via a position determination device and transmits it to an operation control center. In the operation control center, the route curve to be traveled is acquired based on the position signal by means of predeterminable criteria and transmitted to the driving device of the vehicle, wherein the driving device generates the driving instructions required for traveling along the route curve.

[0003] Starting from the prior art, the object of the present invention is to provide a method and a system for defining and monitoring at least one operating area of ​​at least one autonomously operated vehicle, by means of which the driving operation of the corresponding vehicle can be designed more reliably. This object is achieved by the subject matter of patent claims 1 and 8. Further advantageous embodiments can be derived from the dependent claims.

[0004] According to the method for defining and monitoring at least one operating range of at least one autonomous vehicle, a transmitting and receiving unit arranged outside the vehicle is connected to at least one signal loop in terms of signal technology, and a corresponding operating range is defined by means of the at least one signal loop, wherein the transmitting and receiving unit transmits an output signal via the signal loop for monitoring the operating range, and compares the output signal with an input signal received from the signal loop, wherein the transmitting and receiving unit determines a functional failure of the signal loop in the event of a deviation between the output signal and the input signal and initiates a safety process for the autonomous driving operation of the at least one vehicle based on this. The operation of the at least one autonomous vehicle is designed more reliably by means of the method, wherein a functional failure of the corresponding signal loop, such as a disturbance, a short circuit, a failure, an interruption or a jamming signal, can be identified by the transmitting and receiving unit. A corresponding safety process is initiated in accordance with the determination of the functional failure. The safety process can be, for example, braking or completely stopping the corresponding vehicle. The safety of the driving operation of the corresponding autonomous vehicle is thereby advantageously increased. For example, a predefined safety process is predetermined for certain functional failures of the signal loop.

[0005] Vehicles in the sense of the present invention are preferably to be understood as autonomously operating work machines, agricultural commercial vehicles or machines (agricultural technology) and commercial vehicles in port operations. These vehicles have in common that they can be operated in an off-road environment.

[0006] The transmitting and receiving unit is configured such that: on the one hand, it can input or print the output signal into the corresponding signal loop and on the other hand, it can receive the output signal again, in particular as an input signal. In this case, the transmitting and receiving unit and the signal loop together form a loop, wherein the transmitting and receiving unit introduces the output signal into the signal loop and then receives the signal again as an input signal. In other words, the transmitting and receiving unit has a transmitter side and a receiver side, wherein the transmitter side and the receiver side can each be equipped with a control unit for performing a signal comparison. Thus, the output signal is transmitted on the transmitter side and received on the receiver side as an input signal.

[0007] In the case of a fault-free process through the corresponding signal loop, the output signal is returned intact or unchanged or unaffected to the transmitting and receiving unit. The output signal thus then corresponds to the input signal. In the case of a faulty process through the corresponding signal loop, the output signal is, for example, interrupted or changed or influenced, so that the input signal no longer corresponds to the output signal originally introduced into the signal loop, so that the transmitting and receiving unit detects a functional fault in the signal loop.

[0008] The output signal and the input signal are preferably analog signals or digital signals. Analog signals are, for example, signals with different levels or sinusoidal signals with a predefined frequency. So-called pulse width modulation (PWM) signals can be envisaged as digital signals. In addition, a communication protocol in the form of a bus protocol can also be used.

[0009] The output signal is preferably sent continuously or at a specified time by the transmitting and receiving unit. Thus, a suitable, ie pulsed or continuous, output signal can be generated depending on the signal type and / or the requirements profile of the system.

[0010] The respective vehicle is preferably encoded into the at least one operating area. The operating area is a region on which the respective autonomously operating vehicle can move, wherein the region is defined by the associated signal loops.

[0011] Coding of a vehicle is understood to mean that the respective vehicle is first placed in the respective operating area and then, so to speak, registered with reference to the respective output signals of the transmitting and receiving unit and the signal loop defining the operating area. Thus, the respective coded vehicle can only be operated and driven in the operating area in which it is registered or registered.

[0012] The approach or passing of the corresponding vehicle through the signal loop can cause the mentioned functional failure, which initiates a safety process for the autonomous driving operation of the at least one vehicle. The safety process preferably includes a command signal sent from the transmitting and receiving unit to the at least one vehicle and / or to an external receiving station. The corresponding vehicle or the external receiving station is preferably connected to the transmitting and receiving unit wirelessly. In this case, the vehicle is in permanent contact with the transmitting and receiving unit, for example. In order to reduce the deployment costs, a cable connection is also conceivable.

[0013] If the transmitting and receiving unit detects a malfunction of the corresponding signal loop (for example, when the output signal is changed or influenced by a vehicle driving through the signal loop), a command signal is generated based on the deviation of the original output signal from the input signal, which command signal is sent to the corresponding vehicle and / or to an external receiving station. The receiving station can be, for example, a device, a PC or a mobile phone of an operator. It is conceivable that the operator is informed of the malfunction and can additionally act on the driving operation of the at least one autonomous vehicle in a remote control manner in order to ensure sufficient safety of the system in the event of a malfunction.

[0014] If the command signal is sent directly to the corresponding vehicle, the vehicle can perform an action representing the corresponding safety process after receiving the command signal. This can be independent and autonomous deactivation, braking until reaching a standstill or automatically changing the movement path of the corresponding vehicle.

[0015] According to the system for limiting and monitoring at least one working area of ​​at least one autonomously operating vehicle, a transmitting and receiving unit arranged outside the vehicle is connected to at least one signal loop defining the corresponding working area in terms of signal technology, wherein the transmitting and receiving unit transmits an output signal via the signal loop for monitoring the working area and compares the output signal with an input signal received from the signal loop, wherein the transmitting and receiving unit is able to determine a functional failure of the signal loop in the event of a deviation between the output signal and the input signal and based on this initiate a safety procedure for the autonomous driving operation of the at least one vehicle. Thus, this is an active limiting and monitoring system that detects functional failures (e.g., interference, failure, interruption or interference signals) of the corresponding signal loop and initiates a corresponding safety procedure based on these detection results. The system can be used, for example, for agricultural harvesting work or transport work in a port area, wherein the autonomous driving operation of vehicles arranged in the working area can be designed particularly usefully and efficiently.

[0016] The corresponding signal loop preferably comprises a metal signal line. The metal signal line is preferably placed in the ground and used as a farmland boundary or as a boundary of the working area of ​​the corresponding vehicle. The vehicle recorded in the working area is configured so that it recognizes its output signal when approaching the corresponding signal loop. In other words, the corresponding vehicle identifies the metal signal line as a signal loop. Advantageously, the vehicle can distinguish the signal loop from other metal objects that may be present in the ground. Therefore, the system is designed to be reliable with respect to metal interfering objects.

[0017] In addition, the corresponding vehicle preferably comprises a sensor unit in order to detect the output signal of the corresponding signal loop. In addition, the previously mentioned distinction between the signal loop and other metal objects can also be performed by means of the sensor unit.

[0018] If the respective vehicle approaches the signal loop, this is detected by the sensor unit of the respective vehicle and transmitted to the transmitting and receiving unit. Based on this, the driving operation of the autonomous vehicle can be adjusted, so that, for example, the direction or movement path of the respective vehicle can be changed. With the aid of the sensor unit, the vehicle is designed to independently and autonomously detect whether the vehicle is within the signal loop of the respective working area.

[0019] The corresponding vehicle preferably includes a transmitter, which is configured to at least temporarily influence the output signal of the corresponding signal loop. The term "at least temporarily" should be understood as: the transmitter changes or influences the output signal within a specified time period or completely changes or influences the output signal. Here, each vehicle can send a specific signal, which is used to influence the corresponding signal loop. Here, the system is configured to use the signal change to accurately identify the corresponding vehicle and / or distinguish it from other vehicles. In other words, the monitoring of the corresponding signal loop is implemented not only by the vehicle itself, but also redundantly by the system or the sending and receiving unit, and the corresponding signal loop can be understood as a virtual boundary or fence for the corresponding vehicle dialed in or encoded in the working area. In addition to improving safety, this also realizes fault-tolerant monitoring of the corresponding working area.

[0020] According to one embodiment, a plurality of working areas are provided, which are defined by corresponding signal loops, wherein at least two working areas are arranged at least partially overlapping, respectively, so as to form a transition area between at least two working areas. Taking two working areas with corresponding signal loops as an example, at least one vehicle can be recorded in the first working area and at least one other vehicle can be recorded in the second working area. In addition, at least one third vehicle can be encoded into the first working area and the second working area. In other words, the first vehicle is authorized to move only in the first working area. Due to the limitation of the first signal loop, the first vehicle cannot drive out of the first working area without triggering a functional failure of the first signal loop. The second vehicle is authorized to drive only in the second working area. Accordingly, due to the limitation of the second signal loop, the second vehicle cannot drive out of the second working area without triggering a functional failure of the second signal loop.

[0021] Only a third vehicle with coding or authorization for both working areas can travel in the first working area and the second working area. Here, the transition area between the two working areas is used as a transmission area, which forms a place where all three vehicles can move into the transmission area without being prohibited from crossing the corresponding boundary in the form of a signal loop, because these vehicles are not only located in the first working area but also in the second working area. Only when the third vehicle is located within the second signal loop of the second working area (i.e., in the transition area), the third vehicle is allowed to pass or cross the first signal loop of the first working area, and vice versa. In other words, the vehicle can be recoded from the first working area to the second working area when it is located in the transition area, or vice versa. Therefore, the re-recording of the vehicle between the first working area and the second working area is achieved in the transition area.

[0022] Two preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the accompanying drawings:

[0023] Figure 1 A highly simplified schematic diagram of a system according to the invention for defining and monitoring operating areas of a plurality of autonomously operating vehicles according to a first embodiment is shown, and

[0024] Figure 2 A highly simplified schematic diagram of a system according to the invention is shown according to a second embodiment.

[0025] according to Figure 1A first embodiment of a system for defining and monitoring a working area 1a of at least one autonomously operating vehicle 2a is shown. The system comprises a separately arranged transmitting and receiving unit 3, which is connected to a signal loop 4a designed as a metallic signal line in terms of signal technology, wherein the signal loop 4a defines the working area 1a. The working area 1a is a part of an agricultural field 10 (for example a corn field) through which a vehicle 2a (which may be an agricultural commercial vehicle) drives to work on the working area 1a. In the present example, the system comprises only a single vehicle 2a which is arranged in the working area 1a and operates autonomously therein.

[0026] The transmitting and receiving unit 3 generates an analog output signal here, which is continuously sent through the signal loop 4a to monitor the working area 1a. After passing through the signal loop 4a, the transmitting and receiving unit 3 receives the output signal as an input signal on the receiver side, wherein the input signal is compared with the output signal originally introduced. In other words, the two signals are superimposed in order to determine possible deviations. In the case where the output signal passes through the signal loop 4a without any problems, there is no deviation between the output signal and the input signal after the comparison. On the contrary, if the output signal is inconsistent with the input signal, the transmitting and receiving unit 3 determines that there is a deviation. Then there is a functional fault within the signal loop 4a, such as a signal interruption, interference or failure within the signal loop 4a. In addition, a functional fault is also identified when the vehicle 2a contacts or crosses the signal loop 4a.

[0027] Upon detection of a malfunction, a safety procedure for autonomous driving of the vehicle 2a is initiated by the transmitting and receiving unit 3, which affects the driving operation of the vehicle 2a. The safety procedure may be, for example, the sending of a command signal to at least one vehicle 2a and / or to an external receiving station 5 (i.e. arranged outside the signal loop 4a), which may be, for example, a device of an operator of the vehicle 2a. The receiving station 5 and the vehicle 2a are connected to the transmitting and receiving unit 3 for data exchange via a radio connection. By means of the command signal, for example, an emergency stop or deactivation of the vehicle 2a may be triggered.

[0028] Here, the vehicle 2a currently includes a sensor unit 8 in order to detect the output signal of the signal loop 4a. When approaching the signal loop 4a, the vehicle 2a can detect the output signal of the signal loop 4a. In addition, the vehicle 2a is encoded into the working area 1a by means of an encoding device 9a. This means that the vehicle 2a is configured so that it can determine whether it is located within the working area 1a defined by the signal loop 4a based on the output signal detected by the sensor unit 8. In addition, if the vehicle 2a passes through the signal loop 4a, it can be detected whether it is located within or outside the working area 1a, whereby the driving operation of the vehicle 2a can be deactivated or adjusted in the following manner so that the vehicle 2a drives back into the working area 1a. For this purpose, the sensor unit 8 can be connected to a control unit not shown here, which evaluates the detected data of the sensor unit 8 and can act accordingly on the driving operation of the vehicle 2a.

[0029] If vehicle 2a determines that it is no longer in operating area 1a or has just traversed signal loop 4a, a malfunction of signal loop 4a is detected and a safety process is subsequently initiated, thereby increasing the safety of the system and enabling diagnostic capabilities of signal loop 4a.

[0030] according to Figure 2 A second embodiment of a system for defining and monitoring at least one working area 1a, 1b is shown. The operating principle of the system corresponds essentially to Figure 1 In contrast to the first embodiment, the system has two working areas 1a, 1b, which are defined by corresponding signal loops 4a, 4b, wherein three vehicles 2a, 2b, 2c are operated autonomously in the first working area and / or the second working area 1a, 1b. The two working areas 1a, 1b are arranged partially overlapping each other, wherein a transition area 6 between the two working areas 1a, 1b is formed in the overlapping area. The transmitting and receiving unit 3 is arranged at the junction between the two signal loops 4a, 4b.

[0031] In this case, the first vehicle 2a is coded so that it can only autonomously travel in the first working area 1a defined by the first signal loop 4a. Therefore, the first vehicle 2a has a first encoding device 9a. In contrast, the second vehicle 2b is coded so that it can only autonomously travel in the second working area 1b defined by the second signal loop 4b. Therefore, the second vehicle 2b has a second encoding device 9b. The third vehicle 2c is encoded into the first working area 1a and the second working area 1b, so that the third vehicle can move autonomously in these two working areas 1a, 1b. Therefore, the third vehicle 2c has a first encoding device and a second encoding device 9a, 9b.

[0032] The third vehicle 2c is coded so that the vehicle 2c can transition from the first working area 1a to the second working area 1b and vice versa. In this case, the transition can only be realized when the third vehicle 2c drives through the transition area 6. In the transition area 5, the corresponding vehicle is located in both working areas 1a, 1b at the same time. It is also possible that, for example, when the first vehicle 2a is located in the transition area 6, the first encoding device 9a of the first vehicle is replaced by the second encoding device 9b, so that the first vehicle 2a is re-recorded, so to speak. As a result, the first vehicle 2a can then only move in the second working area 1b. Therefore, individual encoding devices 9a, 9b can be deleted or added in the transition area 6.

[0033] In the second embodiment, the vehicles 2a, 2b, 2c further include a transmitter 7, which is configured to at least temporarily affect the output signal of the corresponding signal loop 4a, 4b. To this end, the transmitter 7 of the corresponding vehicle 2a, 2b, 2c sends a specific signal different from other signals, which is configured to change or affect the output signal in the corresponding signal loop 4a, 4b in the following manner, so that the sending and receiving unit 3 determines that it is not a functional failure of the signal loop 4a, 4b, but the corresponding vehicle 2a, 2b, 2c is close to the signal loop 4a. In other words, the sending and receiving unit 3 stores a specific signal that can be expected to appear when the vehicle 2a approaches the signal loop 4a. In addition, the sending and receiving unit 3 can thereby identify whether the vehicle 2a, 2b, 2c is still within the corresponding working area 1a, 1b. In addition, the system can accurately identify which vehicle 2a, 2b, 2c has approached the corresponding signal loop 4a, 4b based on the specific signal.

[0034] If the vehicle 2 a and / or the transmitting and receiving unit 3 determines that one of the vehicles 2 a , 2 b , 2 c is no longer located in the respective working area 1 a , 1 b , the transmitting and receiving unit 3 initiates a safety procedure.

[0035] List of Reference Numerals

[0036] 1a, 1b working area

[0037] 2a, 2b, 2c Vehicle

[0038] 3 Transmitting and receiving units

[0039] 4a, 4b Signal loop

[0040] 5 Receiving Station

[0041] 6 Transition zone

[0042] 7 Transmitter

[0043] 8 Sensor unit

[0044] 9a, 9b Encoding device

[0045] 10 Farmland

Claims

1. A method for defining and monitoring at least one operating range (1a) of at least one autonomously operating vehicle (2a), wherein a transmitting and receiving unit (3) arranged outside the vehicle (2a) is connected to at least one signal loop (4a) in terms of signal technology, the corresponding operating range (1a) being defined via the at least one signal loop, wherein the transmitting and receiving unit (3) transmits an output signal via the signal loop (4a) for monitoring the operating range (1a) and compares the output signal with an input signal received from the signal loop (4a), wherein the transmitting and receiving unit (3) determines a functional failure of the signal loop (4a) in the event of a deviation between the output signal and the input signal and, based on this, initiates a safety procedure for autonomous driving of the at least one vehicle (2a), wherein: A plurality of operating ranges (1a, 1b) are defined by corresponding signal loops (4a, 4b), wherein at least two operating ranges (1a, 1b) are arranged at least partially overlapping to form a transition range (6) between the at least two operating ranges (1a, 1b), and a corresponding vehicle (2a) is equipped with a corresponding transmitter (7) which is configured to at least temporarily influence an output signal of the corresponding signal loop in such a way that a transmitting and receiving unit determines that it is not a malfunction of the corresponding signal loop but rather that the corresponding vehicle is approaching the corresponding signal loop.

2. The method according to claim 1, characterized in that The output signal and the input signal are analog signals or digital signals.

3. The method according to any one of the preceding claims, characterized in that The output signal is sent continuously or at a specified time point by the sending and receiving unit (3).

4. The method according to any one of the preceding claims, characterized in that The safety procedure includes sending a command signal from the transmitting and receiving unit (3) to the at least one vehicle (2a) or to an external receiving station (5).

5. The method according to claim 1, characterized in that A corresponding vehicle (2a) is encoded in at least one of the working areas (1a, 1b).

6. A system for defining and monitoring at least one operating range (1a) of at least one autonomously operating vehicle (2a), wherein a transmitting and receiving unit (3) arranged outside the vehicle (2a) is connected to at least one signal loop (4a) in terms of signal technology, and the corresponding operating range (1a) is defined by means of the at least one signal loop, wherein the transmitting and receiving unit (3) sends an output signal via the signal loop (4a) for monitoring the operating range (1a) and compares the output signal with an input signal received from the signal loop (4a), wherein the transmitting and receiving unit (3) is able to determine a functional failure of the signal loop (4a) in the event of a deviation between the output signal and the input signal and, based on this, initiate a safety procedure for the autonomous driving operation of the at least one vehicle (2a), wherein: A plurality of operating ranges (1a, 1b) are defined by respective signal loops (4a, 4b), wherein at least two operating ranges (1a, 1b) are arranged at least partially overlapping to form a transition range (6) between at least two operating ranges (1a, 1b), wherein the respective vehicle (2a) comprises a transmitter (7) which is configured to at least temporarily influence an output signal of the respective signal loop in such a way that a transmitting and receiving unit determines that it is not a malfunction of the respective signal loop but rather that the respective vehicle is approaching the respective signal loop.

7. The system according to claim 6, characterized in that The corresponding signal loop (4a) comprises a metallic signal line.

8. The system according to claim 6, characterized in that The respective vehicle (2a) is coded into at least one of the working areas (1a, 1b).

9. The system according to any one of claims 6 to 8, characterized in that The respective vehicle (2a, 2b, 2c) comprises a sensor unit (8) for detecting an output signal of the respective signal loop (4a, 4b).

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