Method for navigating an autonomous vehicle driving in an area

Abstract

Computer-implemented method for navigating an autonomous vehicle (1) while driving in an area (A), the method comprising:-navigating using (S100) a predetermined map (Amap) of the area (A), where the predetermined map comprises a plurality of connected segments (S1,..., S12), each segment defining a portion of a travel path to be followed by the autonomous vehicle (1); in response to obtaining a task instruction, navigating (S200) the autonomous vehicle (1) from one point (A1) to another point (A2) in the area (A) by finding a travel path defined by a number of connected road segments of the plurality of connected road segments, wherein at least one of the connected road segments is associated with the following predetermined rules for the autonomous vehicle (1):-a predetermined navigation rule defining which sensor is used to navigate in the at least one road segment.

Description

Technical Field

[0001] The invention relates to a computer-implemented method for navigating an autonomous vehicle while driving in an area. The invention also relates to a control unit for navigating an autonomous vehicle, an autonomous vehicle, a computer program, a computer-readable medium and a control system for controlling a fleet of autonomous vehicles.

[0002] The invention is applicable to heavy vehicles such as trucks, buses and construction equipment. Although the invention will be described with respect to an autonomous truck, the invention is not limited to this particular vehicle but may also be used in other vehicles such as buses, wheel loaders, dump trucks, excavators. Background Art

[0003] A fleet of autonomous vehicles operating in a certain area can be controlled by providing control instructions from a control center to the vehicles. For example, a fleet of autonomous vehicles can operate in a construction site, a mining area, a dock area, a port, or any other type of restricted area. For example, the control can be performed by a central control center located in the area and / or a remote control center that is not located in the area.

[0004] The control instructions may be instructions for performing tasks, such as loading and / or unloading cargo / materials, autonomous driving from one point in an area to another point, and the like.

[0005] The regions in which autonomous vehicles operate often have different characteristics. For example, one region, such as a mining area, may have a combination of open areas and tunnels in which the vehicle travels, while another region, such as a construction site, may be an open area without any tunnels. Furthermore, the types of missions for autonomous vehicles may differ between different regions. Further, as another example, the number of loading and unloading locations and their locations may differ in different regions.

[0006] In view of the above, autonomous vehicles may need to be adapted and customized to the specific region in which they operate. This may include adapting the navigation software used in the autonomous vehicles, i.e., the software configured to navigate the vehicles in the region. For example, the navigation software of each vehicle may define where to drive, how to drive, where the loading / unloading points are, etc. The adaptation of each autonomous vehicle to a specific region is usually very time-consuming and costly.

[0007] Therefore, efforts are being made to develop more efficient techniques for navigating autonomous vehicles in an area. Summary of the invention

[0008] It is an object of the present invention to provide an improved method of navigating an autonomous vehicle while driving in an area. More specifically, it is an object of the present invention to provide a more cost-effective method for navigating an autonomous vehicle while driving in an area, or at least to provide a suitable alternative. Other objects of the present invention are to provide an improved control unit for navigating an autonomous vehicle, an improved autonomous vehicle, a computer program, a computer readable medium and an improved control system for controlling a fleet of autonomous vehicles, or at least to provide a suitable alternative.

[0009] According to a first aspect of the present invention, the object is at least partly achieved by a method according to claim 1 .

[0010] Therefore, a computer-implemented method for navigating an autonomous vehicle while traveling in an area is provided. The method comprises:

[0011] - performing said navigation using a predetermined map of said area, wherein said predetermined map comprises a plurality of connected road segments, each road segment defining a portion of a driving path to be followed by said autonomous vehicle;

[0012] - In response to obtaining a mission instruction, navigating the autonomous vehicle from one point in the area to another point by finding a driving path defined by a certain number of connected road segments among the plurality of connected road segments.

[0013] At least one of the connected road segments is associated with the following rule for the autonomous vehicle:

[0014] - a predetermined navigation rule, which defines which sensor is used for said navigation in said at least one road section.

[0015] By providing the method disclosed herein, control of an autonomous vehicle when traveling in a certain area can be achieved in a more cost-effective manner. More specifically, through at least one predetermined rule for the autonomous vehicle, area-specific information related to how the vehicle navigates and controls in the area can be added directly to a predetermined map, which is a digital map in this article, rather than as a specific software code for each vehicle. In other words, the predetermined rules for the autonomous vehicle are preferably part of a predetermined map. Thereby, the complexity of the autonomous vehicle can be reduced. This also means a scalable method in which the autonomous vehicle can be prepared for operation in a specific area in a shorter time. In addition, any adjustments related to the control and navigation of the autonomous vehicle in a specific area can be completed in a shorter time, thereby increasing flexibility.

[0016] For example, by means of predetermined navigation rules associated with at least one connected road segment, it is possible to decide which navigation sensor to use by means of information contained in a predetermined map. This can reduce the complexity of the navigation software and / or hardware in the autonomous vehicle. This also means reduced processing power required by the autonomous vehicle, faster adaptation to new areas, scalable configuration, etc.

[0017] Optionally, at least one of the connected road segments is associated with a predetermined access key for the autonomous vehicle, wherein the predetermined access key must be accessible to the autonomous vehicle in order to be allowed to travel in the at least one road segment. Thus, similar to the above, control of the autonomous vehicle when traveling in a certain area can be achieved in a more cost-effective manner. More specifically, through at least one predetermined key for the autonomous vehicle, area-specific information related to how the vehicle is navigated and controlled in the area can be added directly to the predetermined map, rather than as specific software code for each vehicle.

[0018] For example, by means of a predetermined access key associated with at least one connected road segment, the access of the autonomous vehicle to the connected road segment can be determined by means of information contained in a predetermined map. This can reduce the complexity of the navigation software and / or hardware in the autonomous vehicle. This also means reduced processing power required by the autonomous vehicle, faster adaptation to new areas, scalable configuration, etc.

[0019] Optionally, the accessibility of the predetermined access keys varies over time. Increased flexibility may thereby be achieved. For example, it has been recognised that an area that changes over time, such as a construction site or mining area, may change such that access by an autonomous vehicle to certain parts of the area may also need to change over time. Thus, by varying the predetermined access keys over time, improved navigation of the area may be achieved in a cost-effective manner.

[0020] Optionally, the accessibility of the predetermined access key is dependent on whether another vehicle is currently traveling in the at least one road segment. It is also appreciated that in some areas, parts of the driving path may be too narrow to allow more than one vehicle to travel on the parts of the driving path at the same time. Therefore, by making the predetermined access key dependent on whether another vehicle is currently traveling in the at least one road segment, for example, two or more vehicles may be prevented from traveling in the at least one road segment at the same time. Thus, the predetermined access key is only accessible when no other vehicle is traveling in the at least one road segment (i.e. when the at least one road segment is free of other vehicles).

[0021] Optionally, the accessibility of the predetermined access key depends on the type and / or characteristics of the autonomous vehicle. Thereby, a more flexible navigation can be achieved to adapt to a specific vehicle and its characteristics. Still optionally, the characteristics of the autonomous vehicle are related to at least one of the weight of the vehicle, the weight of the load carried by the vehicle and the type of load carried by the vehicle. Thereby, when the autonomous vehicle is not suitable for driving on at least one road section, certain road sections can be avoided during driving. For example, this can be when a road section is associated with an uphill slope and the autonomous vehicle is currently loaded to the extent that it cannot be driven on the uphill slope. Therefore, this enables the autonomous vehicle to find a more suitable driving path in which the autonomous vehicle can drive without unnecessary interruptions / interferences.

[0022] Optionally, at least one road segment associated with the predetermined access key is a single-lane driving path that allows vehicles to travel in opposite directions, and the autonomous vehicle can access the predetermined access key only when the single-lane driving path has at least no other vehicles traveling in the opposite direction relative to the autonomous vehicle. Thereby, the risk of a collision can be reduced. This can also avoid the situation where two vehicles are trapped on the single-lane driving path.

[0023] Optionally, the predetermined navigation rules vary over time. This implies increased flexibility. Still optionally, the predetermined navigation rules depend on changes in the area over time. Thus, it is further appreciated that which sensor is used may vary over time due to changes in the area over time. Thus, by varying the navigation rules on this basis, increased flexibility is achieved.

[0024] Optionally, the predetermined navigation rules depend on at least one of ambient weather conditions and time of day during driving in the area. Thus, the predetermined navigation rules can be updated, such as changing over time, so that navigation sensors more suitable for a particular situation are used to supplement or replace other navigation sensors. For example, ambient light conditions can be used to determine whether a camera should be used for navigation, or whether another type of navigation sensor should be used instead or in addition.

[0025] Still optionally, the predetermined navigation rules depend on changes in at least one of the surrounding weather conditions and light conditions during driving in the area. Therefore, a more suitable navigation sensor can be used in the corresponding section, which means an improvement in navigation. For example, one section may be in an outdoor environment, while the next section may be in an indoor environment, or vice versa, wherein the predetermined navigation rules change between sections according to changes in the surrounding weather conditions and / or light conditions between sections. For example, changes in the surrounding weather conditions and / or light conditions when entering a tunnel may cause the performance of the environment perception sensor to degrade, for example due to fog on the sensor surface. In this case, another navigation sensor can be used to replace or supplement the environment perception sensor. For example, when entering a tunnel, if the changes in the surrounding weather conditions and / or light conditions meet the criteria, a radar (radio detection and ranging) sensor can be used to replace or supplement a lidar (light detection and ranging) sensor.

[0026] Still optionally, the predetermined navigation rule depends on the accessibility of the navigation satellite system in at least one road segment. For example, if the accessibility is below a threshold, such as the reception is below a threshold, another navigation sensor may be used to replace or supplement the navigation sensor of the navigation satellite system.

[0027] Optionally, the predetermined navigation rules depend on the surface friction level in at least one road section. Thereby, further improved navigation in at least one road section can be achieved. For example, if the autonomous vehicle includes an odometer sensor (such as a wheel speed sensor) for estimating the change of position over time, the information from the sensor may be less reliable when the friction level is below a threshold. Thus, for example, when the estimated friction level of the surface in at least one road section is below a threshold, the predetermined navigation rules for at least one road section can be updated so that another navigation sensor is used instead of or in addition to the odometer sensor for navigation. The information about the surface friction level can be obtained, for example, by sensor data measured by the autonomous vehicle, sensor data measured by another vehicle and / or any other data indicating the surface friction level.

[0028] Optionally, at least one of the connected road segments is associated with a predetermined trigger rule to trigger a work task for the autonomous vehicle, such as a loading or unloading sequence, at a certain point in time when the autonomous vehicle is traveling in at least one road segment. Thus, similar to the above, the control of the autonomous vehicle when traveling in a certain area can be achieved in a more cost-effective manner. More specifically, through at least one predetermined trigger rule for the autonomous vehicle, area-specific information related to how the vehicle is navigated and controlled in the area can be added directly to the predetermined map, rather than as specific software code for each vehicle.

[0029] For example, by means of predetermined triggering rules associated with at least one connected road segment, the triggering of a work task such as a loading or unloading sequence can be determined by means of information contained in a predetermined map. Thus, similarly to the above, the complexity of the navigation software and / or hardware in the autonomous vehicle can be reduced. This also means a reduction in the processing power required for the autonomous vehicle, faster adaptation to new areas, scalable configuration, etc.

[0030] Optionally, the predetermined triggering rules vary over time. This means increased flexibility. For example, the location for loading and unloading goods / materials may change over time. Thus, by changing the predetermined triggering rules over time, a more flexible control of the autonomous vehicle can be achieved. For example, the predetermined triggering rules may depend on changes in the area over time. Thus, the location for loading and carrying goods / materials may also depend on changes in the area over time. Thus, for example, the predetermined triggering rules may depend on changes in the area over time, wherein the loading position or unloading position for the autonomous vehicle in at least one road section changes depending on the change in the area.

[0031] Optionally, at least one of the plurality of connected road segments is adjusted over time, such as according to changes in the region over time. Thus, the driving path can be adjusted according to changes in the region over time. This means increased flexibility.

[0032] Optionally, the predetermined keys and / or rules are assigned to different sections of the plurality of sections. Thus, for example, a predetermined map may include a plurality of connected sections, wherein respective predetermined keys and / or rules are associated with respective sections. The predetermined keys and / or rules may be varied over time, adapted to specific regions, etc., e.g. as mentioned herein. Thus, more flexible navigation of an autonomous vehicle within a certain area may be achieved, less processing power of the autonomous vehicle may be required, faster adaptation to new areas may be achieved, the method may be scalable, etc.

[0033] Preferably, each road segment is associated with at least one predetermined access key. Thus, the autonomous vehicle must have access to a predetermined access key in order to be allowed to travel in each respective road segment. For example, at least one of the road segments may be associated with a plurality of predetermined access keys, wherein the autonomous vehicle must have access to each predetermined access key for at least one of the road segments in order to be allowed to travel in the road segment.

[0034] According to a second aspect of the invention, the object is at least partly achieved by a control unit according to claim 20 .

[0035] Hence, there is provided a control unit for navigating an autonomous vehicle while travelling in an area, wherein the control unit is configured to perform the steps of the method according to any one of the embodiments of the first aspect of the invention.

[0036] It should be noted that all embodiments of the first aspect of the present invention can be combined with all embodiments of the second aspect of the present invention, and vice versa.The advantages and effects of the second aspect of the present invention are similar to those of the first aspect of the present invention.

[0037] According to a third aspect of the invention, the object is achieved at least in part by an autonomous vehicle according to claim 21. Therefore, an autonomous vehicle is provided, comprising means for navigating the vehicle in a certain area, and further comprising a control unit according to any one of the embodiments of the second aspect of the invention. The means for navigating the vehicle in the area may, for example, comprise a lidar (light detection and ranging) sensor, a radar (radio detection and ranging) sensor, an ultrasonic sensor, a sonar (sound navigation and ranging) sensor, a camera, a GNSS (global navigation satellite system) sensor, such as a GPS (global positioning system) sensor. The autonomous vehicle may also comprise one or more actuators, such as actuators for steering, braking and / or propulsion of the vehicle. Therefore, the control unit may be configured to issue control signals to one or more actuators so that the autonomous vehicle follows the driving path. The autonomous vehicle may also comprise one or more actuators for triggering a loading and / or unloading sequence. For example, the unloading sequence may be a dumping sequence for dumping a load.

[0038] It should be noted that all embodiments of the first and second aspects of the present invention may be combined with all embodiments of the third aspect of the present invention, and vice versa.

[0039] According to a fourth aspect of the invention, the object is at least partly achieved by a computer program according to claim 22. Hence, there is provided a computer program comprising program code means for performing the steps of any one of the embodiments of the first aspect of the invention when the program is run on a computer, such as on a control unit according to the second aspect of the invention.

[0040] According to a fifth aspect of the invention, the object is at least partly achieved by a computer readable medium according to claim 23. Therefore, there is provided a computer readable medium carrying a computer program, the computer program comprising program code means for performing the steps of any one of the embodiments of the first aspect of the invention when the program is run on a computer, such as on a control unit according to the second aspect of the invention.

[0041] According to a sixth aspect of the invention, the object is at least partly achieved by a control system according to claim 24. Therefore, there is provided a control system for controlling a fleet of autonomous vehicles travelling in a certain area, wherein the autonomous vehicles are vehicles according to the third aspect of the invention, and wherein the control system is configured to provide one or more mission instructions to each respective vehicle, wherein any one of the mission instructions indicates travelling from one point to another point within the area.

[0042] The control system may include a predetermined map as disclosed herein. Thus, the predetermined map may be stored in the control system and / or in a respective vehicle of the fleet of autonomous vehicles.

[0043] Further advantages and advantageous features of the invention are disclosed in the following description and in the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Embodiments of the invention cited as examples will be described in more detail hereinafter with reference to the accompanying drawings.

[0045] In the attached picture:

[0046] Figure 1 is a flow chart of a method according to an exemplary embodiment of the present invention,

[0047] Figure 2 is a schematic diagram of a predetermined map for navigating an autonomous vehicle in a certain area according to an exemplary embodiment of the present invention,

[0048] Figure 3 is a perspective view of an autonomous vehicle according to an exemplary embodiment of the present invention, and

[0049] Figure 4 is a schematic diagram of a control system and a fleet of autonomous vehicles traveling in a certain area according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0050] Specific reference Figures 1 to 3 , a method according to an exemplary embodiment of the present invention will be described. Figure 1 A flowchart of the method is depicted, Figure 2 A predetermined map A for navigating the autonomous vehicle 1 when traveling in the area A is depicted. 地图 ,like Figure 4 shown, and Figure 3 An autonomous vehicle 1 is depicted.

[0051] The autonomous vehicle 1 may be any type of vehicle. For example, it may be Figure 3A heavy truck 1 is shown. Alternatively, the autonomous vehicle may be any type of working machine, such as a wheel loader, a dump truck, an excavator, etc. Furthermore, the vehicle may be a bus, a passenger car or any other type of vehicle for transporting passengers and / or cargo / materials.

[0052] refer to Figure 3 , the autonomous vehicle 1 comprises means 12 ′, 12 ″ for navigating the vehicle in the area A. In the embodiment shown, 12 ′ refers to a lidar sensor mounted at the front of the vehicle 1 . Another reference numeral 12 ″ refers to a GNSS sensor. However, it should be noted that any other navigation sensor, such as those mentioned herein, may be used for navigation.

[0053] like Figure 2 The scheduled map A shown 地图 A plurality of connected road segments S1, ..., S12 are included. Arrows between road segments S1, ..., S12 indicate connections between road segments. In one embodiment, the connected road segments S1, ..., S12 may represent the topology of area A. Each road segment S1, ..., S12 defines a portion of the driving path to be followed by autonomous vehicle 1.

[0054] The method comprises:

[0055] S100: Use the predetermined A of area A 地图 to navigate, and

[0056] S200 : In response to obtaining a task instruction, navigate the autonomous vehicle 1 from a point A1 in the area A to another point A2 by finding a driving path defined by a certain number of connected road segments among the plurality of connected road segments S1 , . . . , S12 .

[0057] In the illustrated embodiment, the driving path from A1 to A2 may be defined by connecting road segments S1 , S2 , S3 , S4 , S5 , and S6 .

[0058] At least one of the connected road sections S1, ..., S12 is associated with at least one of the following predetermined keys and / or rules for the autonomous vehicle 1:

[0059] - a predetermined access key, wherein the predetermined access key must be accessible to the autonomous vehicle 1 in order to be allowed to travel on at least one road section,

[0060] - a predetermined navigation rule, which defines which sensor is used for navigation in the at least one road section,

[0061] Predefined triggering rules for triggering a work task for autonomous vehicle 1 , such as a loading or unloading sequence, at a certain point in time when autonomous vehicle 1 is traveling on at least one route section.

[0062] For example, road segment S6 may be associated with a predetermined access key. Thus, when traveling from A1 to A2 as described above, the autonomous vehicle 1 must have access to the predetermined access key in order to be allowed to travel in road segment S6. If the predetermined access key for road segment S6 is not accessible, the autonomous vehicle 1 will need to find another driving path, and / or will need to wait until the predetermined access key is accessible. For example, when the predetermined access key for road segment S6 is not accessible, the autonomous vehicle 1 may alternatively travel from A1 to A2 along a driving path defined by road segments S1, S2, S3, S4, S5, S9, S10, and S11. Preferably, each road segment S1, ..., S12 is associated with at least one predetermined access key. Thus, when traveling along the driving path, the autonomous vehicle 1 must have access to the predetermined access key for each respective road segment along the driving path in order to be allowed to enter each respective road segment.

[0063] The predetermined access key may change over time. For example, accessibility may be related to the time of day, such as whether it is dark or daylight, whether another vehicle is currently traveling in road section S6 or whether road section S6 is closed for any other reason, such as due to reconstruction of the driving path or maintenance work. Additionally or alternatively, the accessibility of the predetermined access key for autonomous vehicle 1 may depend on the type and / or characteristics of autonomous vehicle 1. For example, autonomous vehicle 1 may be too large or too heavy to travel along road section S6.

[0064] The characteristic of the autonomous vehicle 1 may additionally or alternatively be related to at least one of the weight of the vehicle 1, the weight of the load carried by the vehicle 1, and the type of load carried by the vehicle 1. For example, when the total weight of the autonomous vehicle 1 (including the load) exceeds a predetermined threshold weight, it may not be allowed to travel in the road segment S6. For example, the road segment S6 may define a portion of the travel path that includes a bridge that can only support weights below the predetermined threshold weight.

[0065] Additionally or alternatively, at least one road section S6 associated with the predetermined access key may be a single-lane driving path that allows vehicles to travel in the opposite direction, and wherein the autonomous vehicle 1 may access the predetermined access key only when the single-lane driving path has at least no other vehicles traveling in the opposite direction relative to the autonomous vehicle 1. For example, referring to the example of the autonomous vehicle 1 traveling from A1 to A2, when another vehicle travels in the opposite direction along S6, the autonomous vehicle may travel along S9, S10, and S11 to detour instead of using the road section S6. Thereby, the autonomous vehicle 1 may be prevented from colliding with other vehicles in the road section S6.

[0066] For example, road segments S1, ..., S12 may be associated with predetermined navigation rules. Thus, when driving from A1 to A2 as described above, navigation may be performed using predetermined navigation rules. For example, some road segments may be suitable for the use of a lidar sensor 12', such as when driving in a tunnel, while other road segments may be suitable for the use of a GNSS sensor 12', such as when driving in an open area not obscured by high-rise buildings, trees, etc. Thus, for example, a predetermined navigation rule for at least one connected road segment may define which type of navigation sensor is used for navigation in at least one road segment. The type of navigation sensor may, for example, be associated with a specific navigation technology, such as any type of GNSS navigation or any type of map matching navigation. Map matching navigation typically uses environmental perception sensors (e.g., cameras, lidar sensors, radar sensors, and / or ultrasonic sensors) to navigate in a certain area.

[0067] The predetermined navigation rules may also change over time. For example, the predetermined navigation rules may be related to the time of day, such as whether it is dark or light, whether another vehicle is currently traveling in the road segment, the current weather, etc. The current weather may indicate that it is raining or snowing, whether there is a risk of sun glare, whether there is a risk of wheel slip along the driving path, etc. Therefore, in some cases, it may be preferred to use one type of navigation sensor, while another type of navigation sensor may be unpreferable or less preferred. For example, some navigation sensors may be sensitive to sun glare. Therefore, when there is a risk of sun glare in a road segment, for example, when the estimated sun glare is above a threshold, the navigation rule may be to avoid using a navigation sensor that is sensitive to sun glare, and to use or additionally use another sensor that is more suitable for the situation. As another example, if the autonomous vehicle 1 includes an odometer sensor for navigation, such as a wheel speed sensor, weather-related information indicating a slippery road surface in at least one of the road segments may be used to change the navigation rules in at least one of the road segments. For example, navigation rules may be changed, ie updated, over time to rely less or more on an odometer sensor for navigation in at least one road segment, and alternatively or additionally to use another type of navigation sensor in at least one of the road segments.

[0068] The predetermined navigation rules may depend on the friction level of the surface in at least one road section. For example, if the autonomous vehicle 1 comprises the above-mentioned odometer sensor for estimating the change in position over time, the information from the sensor may be less reliable when the friction level is below a threshold. Thus, for example, when the estimated friction level of the surface in at least one road section is below a threshold, the predetermined navigation rules for at least one road section may be updated such that another navigation sensor is used instead of or in addition to the odometer sensor for navigation. Information about the surface friction level may be obtained, for example, by sensor data measured by the autonomous vehicle 1, sensor data measured by another vehicle and / or any other data indicating the surface friction level.

[0069] The predetermined navigation rules may depend on changes in at least one of surrounding weather conditions and light conditions during driving in area A. For example, one road section may be in an outdoor environment, while the next road section may be in an indoor environment, or vice versa, wherein the predetermined navigation rules change between the road sections according to changes in surrounding weather conditions and / or light conditions between the road sections. For example, changes in surrounding weather conditions and / or light conditions when entering a tunnel may cause the performance of the environmental perception sensor to degrade, for example due to fog on the sensor surface. In this case, another navigation sensor may be used instead of or in addition to the environmental perception sensor. For example, when entering a tunnel, a radar sensor may be used instead of or in addition to a lidar sensor. More specifically, a radar sensor may be less sensitive to fog than a lidar sensor.

[0070] The predetermined navigation rules may additionally or alternatively depend on changes in area A over time. For example, the stockpile of material in area A may increase or decrease over time. This in turn may affect, for example, the ability of the GNSS sensor to receive signals from satellites 2, such as Figure 4 As shown. Therefore, by adapting the predetermined navigation rules according to the changes of area A over time, navigation in area A will be more reliable and robust, thereby reducing the risk of navigation errors. Therefore, the predetermined navigation rules may depend on the accessibility of the navigation satellite system 2 in at least one road segment.

[0071] For example, sections S4 and S8 may be associated with predetermined triggering rules. Thus, for example, when driving from A1 to A2 as described above, when the autonomous vehicle 1 enters section S4, the autonomous vehicle may be triggered to unload material. For example, section S4 may be associated with a pit into which the material is to be unloaded. The predetermined triggering rule may be triggered to an operator who remotely controls the autonomous vehicle 1. Thus, when the predetermined triggering rule is triggered to the operator, for example via an HMI (human machine interface), the operator may decide whether to unload the material. Additionally or alternatively, the predetermined triggering rule may trigger the autonomous vehicle 1 to automatically unload the material.

[0072] Other examples of predetermined triggering rules are rules for clearing material such as snow or gravel, clearing a road section, and the like.

[0073] Furthermore, when driving back from A2 to A1, for example when driving via the connecting sections S7 and S8, the autonomous vehicle 1 may be triggered to load material when entering the section S8. For example, the section S8 may be associated with a pile of material to be loaded. The predetermined trigger rule may also be triggered here to the operator who remotely controls the autonomous vehicle 1. Thus, when the predetermined trigger rule is triggered to the operator, for example via the HMI, the operator may decide whether to load material. Additionally or alternatively, the predetermined trigger rule may trigger the autonomous vehicle 1 to automatically load material.

[0074] The predetermined triggering rules may also change over time. For example, the predetermined triggering rules may be related to the time of day, such as whether it is dark or light, whether another vehicle is currently traveling on the road segment, the current weather, whether there is a material pile associated with the road segment, whether there is a pothole associated with the road segment, etc.

[0075] The predetermined triggering rule may additionally or alternatively depend on a change over time of the area A. For example, the predetermined triggering rule may depend on a change over time of the area A, wherein a loading or unloading position for the autonomous vehicle 1 in at least one road section changes as a function of the change of the area A.

[0076] At least one of the plurality of connected road segments S1 , . . . , S12 may be adjusted over time, such as according to changes in the area A over time.

[0077] Therefore, in view of the above situation, the predetermined map A for navigation 地图 Can be updated over time. Predetermined Map A 地图 It may be provided on board the autonomous vehicle 1 and / or may be continuously accessed and / or intermittently downloaded from a remote location, preferably via wireless communication means, such as wireless telecommunication technology.

[0078] The predetermined keys and / or rules are preferably assigned to different sections of the plurality of sections. As described above, section S6 is associated with a predetermined access key, section S4 is associated with a predetermined trigger rule, section S8 is associated with another predetermined trigger rule, and all sections S1, ..., S12 are associated with predetermined navigation rules. Thus, improved navigation in area A is achieved, which means increased flexibility, reduced processing power required for navigation and / or an expandable configuration.

[0079] like Figure 3 The shown autonomous vehicle 1 further comprises a control unit 10. The control unit 10 is configured to perform the steps of the method according to any of the embodiments disclosed herein.

[0080] The control unit 10 is an electronic control unit herein. It may include processing circuits suitable for running the computer program disclosed herein. The control unit 10 may include hardware and / or software for executing the method according to the present invention. In an embodiment, the control unit 10 may be represented as a computer. The control unit 10 may be composed of one or more separate sub-control units. Although the control unit 10 is preferably a vehicle on-board control unit, it should be noted that the control unit may additionally or alternatively be a vehicle off-board control unit, such as a control unit as part of a computer cloud system.

[0081] refer to Figure 4 , depicts a control system 100 for controlling a fleet of autonomous vehicles 1, 1', 1'', 1''' travelling in an area A. The autonomous vehicles 1, 1', 1'', 1''' are autonomous vehicles according to the third aspect of the invention. The control system 100 is configured to provide one or more mission instructions to each respective vehicle 1, 1', 1'', 1''', wherein any one of the mission instructions indicates travelling from one point A1 in the area A to another point A2. Arrows between the control system 100 and the vehicles 1, 1', 1'', 1''' indicate the control instructions provided. The vehicles 1, 1', 1'', 1''' may also be configured to provide status information to the control system 100, such as information on mission status, speed, whether the vehicle is loaded, etc. The control system 100 may be located in the area A as shown, such as in the form of a control center at the area A. The control system 100 may include an HMI for one or more operators, the one or more operators monitoring the work performed by the autonomous vehicles 1, 1', 1'', 1''' and / or issuing mission instructions through the HMI. The control system 100 may include processing circuits suitable for running computer programs. The control system 100 may include hardware and / or software for sending control signals and / or operating HMI. In an embodiment, the control system 100 may be represented as a computer. The control system 100 may be composed of one or more separate sub-control systems. Although the control system 100 shown is located at area A, it should be noted that the control system 100 may also be a remote control system that is not located at area A.

[0082] In the following, examples and possible feature combinations of the present disclosure are presented as a series of items.

[0083] 1. A computer-implemented method for navigating an autonomous vehicle (1) while traveling in an area (A), the method comprising:

[0084] - using (S100) a predetermined map (A) of the area (A) 地图 ) to perform said navigation,

[0085] wherein the predetermined map comprises a plurality of connected road segments (S1, ..., S12), each road segment defining a portion of a driving path to be followed by the autonomous vehicle (1);

[0086] - in response to obtaining a task instruction, navigating (S200) the autonomous vehicle (1) from a point (A1) in the area (A) to another point (A2) by finding a driving path defined by a certain number of connected road segments among the plurality of connected road segments,

[0087] At least one of the connected road sections is associated with at least one of the following predetermined keys and / or rules for the autonomous vehicle (1):

[0088] - a predetermined access key, wherein the predetermined access key must be accessible to the autonomous vehicle (1) in order to be allowed to travel on the at least one road section,

[0089] - a predetermined triggering rule for triggering a work task for the autonomous vehicle (1), such as a loading or unloading sequence, at a certain point in time when the autonomous vehicle (1) is traveling on the at least one route section.

[0090] 2. A method according to claim 1, wherein the accessibility of the predetermined access key changes over time.

[0091] 3. The method according to any of the preceding clauses, wherein the accessibility of the predetermined access key depends on whether another vehicle is currently traveling on the at least one road section.

[0092] 4. The method according to any of the preceding clauses, wherein the accessibility of the predetermined access key depends on the type and / or characteristics of the autonomous vehicle (1).

[0093] 5. A method according to item 4, wherein the characteristic of the autonomous vehicle is related to at least one of the weight of the vehicle, the weight of the load carried by the vehicle, and the type of load carried by the vehicle.

[0094] 6. A method according to any of the preceding items, wherein at least one road section associated with a predetermined access key is a single-lane driving path that allows vehicles to travel in opposite directions, and wherein the autonomous vehicle (1) can only access the predetermined access key if the single-lane driving path has at least no other vehicles traveling in the opposite direction relative to the autonomous vehicle (1).

[0095] 7. The method according to any of the preceding clauses, wherein at least one of the connected road segments is associated with a predetermined navigation rule, which defines which sensor is used for the navigation in the at least one road segment.

[0096] 8. A method according to item 7, wherein the predetermined navigation rules change over time.

[0097] 9. The method according to item 8, wherein the predetermined navigation rule depends on changes in the area (A) over time.

[0098] 10. A method according to any one of items 7 to 9, wherein the predetermined navigation rule depends on at least one of surrounding weather conditions and time of day during driving in the area (A).

[0099] 11. A method according to any one of items 7 to 10, wherein the predetermined navigation rule depends on changes in at least one of ambient weather conditions and light conditions during driving in the area (A).

[0100] 12. The method according to any one of items 7 to 11, wherein the predetermined navigation rule depends on the accessibility of a navigation satellite system (2) in the at least one road section.

[0101] 13. A method according to any one of items 7 to 12, wherein the predetermined navigation rule depends on a surface friction level in the at least one road section.

[0102] 14. A method according to any one of the preceding items, wherein the predetermined triggering rule changes over time.

[0103] 15. The method according to item 14, wherein the predetermined triggering rule depends on the transformation of the area (A) over time.

[0104] 16. A method according to claim 15, wherein the predetermined triggering rule depends on the change of the area over time, wherein the loading position or unloading position for the autonomous vehicle (1) in at least one road section changes according to the change of the area (A).

[0105] 17. The method according to any of the preceding items, wherein at least one of the plurality of connected road segments (S1, ..., S12) is adjusted over time, such as according to a change of the area (A) over time.

[0106] 18. The method according to any of the preceding items, wherein the predetermined keys and / or rules are assigned to different road sections of the plurality of road sections.

[0107] 19. A control unit (10) for navigating an autonomous vehicle (1) while driving in an area (A), wherein the control unit (10) is configured to perform the steps of the method according to any of the preceding items.

[0108] 20. An autonomous vehicle (1) comprising means (12', 12'') for navigating the vehicle in an area (A) and further comprising a control unit (10) according to item 19.

[0109] 21. A computer program comprising program code means for executing the steps according to any one of items 1 to 18 when the program is run on a computer, such as a control unit according to item 19.

[0110] 22. A computer readable medium carrying a computer program, the computer program comprising program code means for executing the steps according to any one of items 1 to 18 when the program product is run on a computer, such as a control unit according to item 19.

[0111] 23. A control system (100) for controlling a fleet of autonomous vehicles (1, 1', 1'', 1''') traveling in an area (A), wherein the autonomous vehicles are vehicles according to item 20, and wherein the control system (100) is configured to provide one or more mission instructions to each respective vehicle (1, 1', 1'', 1'''), wherein any one of the mission instructions indicates traveling from one point (A1) to another point (A2) in the area (A).

[0112] It should be understood that the present invention is not limited to the embodiments described above and shown in the drawings; rather, the skilled person will recognize that many variations and modifications are possible within the scope of the appended claims.

Claims

1. A computer-implemented method for navigating an autonomous vehicle (1) while traveling in an area (A), the method comprising: - using (S100) a predetermined map (A) of the area (A) 地图 ) to perform said navigation, wherein the predetermined map comprises a plurality of connected road segments (S1, ..., S12), each road segment defining a portion of a driving path to be followed by the autonomous vehicle (1); - in response to obtaining a task instruction, navigating (S200) the autonomous vehicle (1) from a point (A1) in the area (A) to another point (A2) by finding a driving path defined by a certain number of connected road segments among the plurality of connected road segments, At least one of the connected road segments is associated with the following predetermined rule for the autonomous vehicle (1): - a predetermined navigation rule, which defines which sensor is used for said navigation in said at least one road section.

2. The method according to claim 1, wherein at least one of the connected road sections is associated with a predetermined access key for the autonomous vehicle (1), wherein the predetermined access key must be accessible to the autonomous vehicle (1) in order to be allowed to travel on the at least one road section.

3. The method of claim 2, wherein the accessibility of the predetermined access key varies over time. 4 . The method according to claim 2 , wherein the accessibility of the predetermined access key depends on whether another vehicle is currently traveling on the at least one road section.

5. The method according to any one of claims 2 to 4, wherein the accessibility of the predetermined access key depends on the type and / or characteristics of the autonomous vehicle (1).

6. The method of claim 5, wherein the characteristic of the autonomous vehicle is related to at least one of a weight of the vehicle, a weight of a load carried by the vehicle, and a type of load carried by the vehicle.

7. A method according to any one of claims 2 to 6, wherein at least one road section associated with a predetermined access key is a single-lane driving path that allows vehicles to travel in the opposite direction, and wherein the autonomous vehicle (1) can only access the predetermined access key if the single-lane driving path has at least no other vehicles traveling in the opposite direction relative to the autonomous vehicle (1).

8. A method according to any one of the preceding claims, wherein the predetermined navigation rules vary over time.

9. Method according to claim 8, wherein the predetermined navigation rule depends on changes in the area (A) over time.

10. The method according to any of the preceding claims, wherein the predetermined navigation rules depend on at least one of surrounding weather conditions and the time of day during driving in the area (A).

11. The method according to any of the preceding claims, wherein the predetermined navigation rules depend on changes in at least one of ambient weather conditions and light conditions during driving in the area (A).

12. The method according to any of the preceding claims, wherein the predetermined navigation rule depends on the accessibility of a navigation satellite system (2) in the at least one road section.

13. A method according to any one of the preceding claims, wherein the predetermined navigation rule depends on a surface friction level in the at least one road section.

14. A method according to any of the preceding claims, wherein at least one of the connected road sections is associated with a predetermined trigger rule to trigger a work task for the autonomous vehicle (1), such as a loading or unloading sequence, at a certain point in time when the autonomous vehicle (1) is traveling in the at least one road section. The method of claim 14 , wherein the predetermined triggering rule changes over time.

16. The method according to claim 15, wherein the predetermined triggering rule depends on a transformation of the area (A) over time.

17. The method according to claim 16, wherein the predetermined triggering rule depends on the change of the area over time, wherein the loading position or unloading position for the autonomous vehicle (1) in the at least one road section changes as a function of the change of the area (A).

18. The method according to any of the preceding claims, wherein at least one of the plurality of connected road segments (S1, ..., S12) is adjusted over time, such as depending on a change of the area (A) over time.

19. The method according to any of the preceding claims, wherein the predetermined keys and / or rules are assigned to different road sections of the plurality of road sections.

20. A control unit (10) for navigating an autonomous vehicle (1) while driving in an area (A), wherein the control unit (10) is configured to perform the steps of the method according to any of the preceding claims.

21. An autonomous vehicle (1) comprising means (12', 12'') for navigating the vehicle in an area (A) and further comprising a control unit (10) according to claim 20.

22. A computer program comprising program code means for performing the steps of any one of claims 1 to 19 when the program is run on a computer, such as a control unit according to claim 20.

23. A computer readable medium carrying a computer program, the computer program comprising program code means for performing the steps of any one of claims 1 to 19 when the program product is run on a computer, such as a control unit according to claim 20.

24. A control system (100) for controlling a fleet of autonomous vehicles (1, 1', 1'', 1''') traveling in an area (A), wherein the autonomous vehicles are vehicles according to claim 21, and wherein the control system (100) is configured to provide one or more mission instructions to each respective vehicle (1, 1', 1'', 1'''), wherein any one of the mission instructions indicates traveling from one point (A1) to another point (A2) in the area (A).

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