Procedure and control unit in a formation of coordinated vehicles

Abstract

Method (300) in a control unit (210) of a vehicle (101) for maintaining a formation (100) comprising a plurality of laterally offset vehicles (101, 102) to carry out a common mission on a surface, wherein the method (300) comprises the following steps: Determine (301) a lateral offset distance (150) of at least one other vehicle (102) in the formation (100) relative to the vehicle (101) using a sensor (140); and Adjusting (302) the lateral position of the vehicle (101) in relation to the other vehicle (102) when the specified (301) lateral offset distance (150) is outside a transverse threshold interval (160, 170).

Description

TECHNICAL AREA

[0001] This publication discloses a control unit and a method within a control unit in a vehicle. More precisely, a method and a control unit are provided for maintaining a formation comprising a large number of staggered vehicles. BACKGROUND

[0002] In winter, snow removal is a critical process for airfields located in cold climates. It must be carried out quickly to minimize disruption to flight operations, yet precisely to ensure flight safety. Snow removal is usually performed by a fleet of snowplows that advance in formation and clear the entire runway.

[0003] To perform tasks like snow removal, heavy vehicles must advance in an organized formation, with the vehicles staggered laterally. Errors in the formation alignment lead to poor snow removal results, potentially requiring the entire process to be repeated. This delays air traffic. Furthermore, an accident could occur if the snow is not completely removed from the runway.

[0004] When two or more vehicles are traveling in formation, the position of each vehicle must be determined very precisely to prevent the formation from breaking up and / or causing accidents. Technology based on the Global Positioning System (GPS) is too imprecise to provide the necessary level of accuracy. Conversely, differential GPS techniques, such as RTK ("Real-Time Kinematic") GPS, can be too expensive or too unreliable in extreme weather conditions.

[0005] Document DE 10 2010 013 647 A1, for example, discloses a convoy formation with several vehicles. The lead vehicle of the convoy defines a route that the other vehicles are to follow. For this purpose, future projected position targets of the vehicles are compared with the current position of the vehicles in order to control the movement of the vehicles.

[0006] Similar problems to those described above can also arise in other situations where vehicles are to travel in a formation, with the vehicles positioned laterally to perform a common task. Some examples include agricultural machinery, e.g., combine harvesters, tractors; or construction machinery, e.g., bulldozers, graders, road rollers; mine detectors; lawn mowers; cleaning equipment, etc.

[0007] Document DE 10 2012 006 738 A1 discloses the formation of several vehicles that are offset laterally or diagonally from a lead vehicle, for example, to work large areas with multiple vehicles. The other vehicles can be corrected in their path from the lead vehicle. Sensors are also provided on the vehicles for monitoring the surroundings.

[0008] Apparently, further development is needed to improve driving in a formation of a large number of vehicles. SUMMARY

[0009] It is therefore an object of the present invention to solve at least some of the above problems and to maintain a formation that includes a large number of vehicles.

[0010] According to a first aspect of the invention, this objective is achieved by a method in a vehicle control unit. The method aims to maintain a formation comprising a plurality of laterally offset vehicles. The method includes determining the lateral offset distance of at least one other vehicle in the formation relative to the vehicle using a sensor. Furthermore, the method also includes adjusting the lateral position of the vehicle relative to the other vehicle if the determined lateral offset distance lies outside a lateral threshold interval.

[0011] According to a second aspect of the invention, this objective is achieved by a control unit in a vehicle. The control unit aims to maintain a formation comprising a plurality of laterally offset vehicles. The control unit is configured to determine the lateral offset distance of at least one other vehicle in the formation relative to the vehicle using a sensor. Furthermore, the control unit is configured to generate a command signal to adjust the lateral position of the vehicle relative to the other vehicle if the determined lateral offset distance is outside a lateral threshold interval.

[0012] Thanks to the described aspects, by continuously measuring or measuring at predetermined or configurable time intervals the distance and / or angle relative to the other vehicles in the formation in the transverse and / or longitudinal directions, and determining that the measured distance is within a predetermined threshold interval, a recommendation can be issued to the driver(s) of the vehicle(s) to maintain the formation.

[0013] Other advantages and additional novel features will emerge from the following detailed description. FIGURES

[0014] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings. The drawings show: Fig. 1A a side view of a vehicle formation according to one embodiment; Fig. 1B a vehicle formation according to one embodiment, seen from above; Fig. 1C a vehicle formation according to one embodiment, seen from above; Fig. 2 a vehicle interior according to one embodiment; Fig. 3 a flowchart illustrating one embodiment of the method; Fig. 4 a figure representing a system according to one embodiment. DETAILED DESCRIPTION

[0015] The embodiments of the invention described herein are defined as a control unit and a method within a control unit, which can be implemented in practice in the embodiments described below. These embodiments, however, can be taken as examples and implemented in many different forms and are not limited to the examples presented here; rather, these illustrative examples of the embodiments are provided in such a way as to ensure that the present disclosure is comprehensive and complete.

[0016] Further tasks and features will become apparent from the following detailed description when viewed in conjunction with the accompanying drawings. It should be understood, however, that the drawings are intended for illustrative purposes and not as a definition of the limits of the embodiments disclosed herein, for which reference is made to the accompanying claims. Furthermore, the drawings are not necessarily drawn to scale, and unless otherwise indicated, they are intended only to conceptually explain the structures and workflows described herein.

[0017] Fig. Figure 1 depicts a situation in which a large number of vehicles 101, 102 are traveling in a formation 100 in one direction 105.

[0018] Vehicles 101 and 102 are coordinated and organized in Formation 100 to carry out a joint mission on a surface such as a runway, road, agricultural area, etc. Formation 100 can comprise any number of Vehicles 101 and 102, even if there is more than one.

[0019] Such a mission may, for example, include clearing snow from a runway, as mentioned previously. To perform tasks such as snow removal, the vehicles 101 and 102 advance in an organized formation 100. Furthermore, in some embodiments, at least some of the vehicles 101 and 102 in the formation 100 may include a device 110 or 120 to perform the same mission. Such a device 110 or 120 may, for example, include a snowplow, a grader, an agricultural implement, an irrigation device, a construction device, a roller, a lawnmower, a harvesting device, and / or a cleaning device, or the like.

[0020] Alignment errors during snow removal would result in a poor snow removal process due to a gap between vehicles 110 and 120, potentially requiring the entire operation to be repeated. Therefore, precise positioning of vehicles 101 and 102 relative to each other in formation 100 is crucial. If vehicles 101 and 102 are positioned too close laterally, creating an unnecessarily large overlap between vehicles 110 and 120, the snow removal mission will not be performed optimally. It may be necessary to use multiple vehicles 101 and 102 in formation 100, or alternatively, to drive the runway multiple times, resulting in additional costs and / or delays.

[0021] According to some embodiments, it may be necessary to position formation 100, and thus also the vehicles 101, 102 contained within formation 100, relative to a set of reference points 130-1, 130-2, 130-3. The set of reference points 130-1, 130-2, 130-3 can comprise any number of reference points, such as one, two, three, etc. An advantage of having additional reference points 130-1, 130-2, 130-3 is that redundancy is provided. This makes it possible to position formation 100 even if one of the reference points 130-1, 130-2, 130-3 is temporarily obscured, for example, by another vehicle 101, 102, etc.

[0022] Precise position determination can be achieved by determining the relative position of vehicles 101, 102 in relation to the set of reference points 130-1, 130-2, 130-3, which can be detected by one or more onboard sensors 140. Such an onboard sensor 140 can, in various embodiments, comprise, for example, a radar, a lidar, a camera, a stereo camera, an infrared camera, a video camera, an ultrasonic device, a time-of-flight camera, or a similar device. A combination of multiple sensors 140 can also be used. The sensor 140 in vehicles 101, 102 may be included in vehicles 101, 102 for various other reasons besides those described here.

[0023] The various sensors 140 in the vehicles 101, 102 can be used to locate other vehicles 101, 102 in the formation 100, as well as to locate the formation 100 in relation to the set of reference points 130-1, 130-2, 130-3, possibly combined with an algorithm of the type of simultaneous localization and mapping (SLAM).

[0024] Using these sensors 140, the other vehicles 101, 102 in formation 100 can ultimately be tracked to increase the accuracy of the relative localization of the vehicles 101, 102 in formation 100. Tracking other vehicles 101, 102 can also serve as a redundancy mechanism if a subset of the reference points 130-1, 130-2, 130-3 is obscured by other vehicles 101, 102 in formation 100. The vehicles 101, 102 can ultimately be equipped with reflectors that enable their detection, as described in Fig. 1C will be explained in more detail.

[0025] In some embodiments, the optional orientation points 130-1, 130-2, 130-3 may include a respective reflector 135-1, 135-2, 135-3 to enable detection even under difficult conditions for the sensor 140, such as fog, heavy snowfall, rain, hailstorm, etc.

[0026] The optional set or number of reference points 130-1, 130-2, 130-3 can be located at pre-known geographic positions, such as at the extreme ends of the runway, road, agricultural area, or other area to be covered by vehicles 101, 102 in formation 100. By determining the distance from sensor 140 of vehicle 101 to each individual reference point 130-1, 130-2, 130-3, such as at least the three reference points 130-1, 130-2, 130-3, the current geographic position of vehicle 101 in formation 100, which includes sensor 140, can be uniquely determined based on triangulation, trilateration, triangulation, etc.

[0027] In some embodiments, the vehicles 101, 102 may, for example, include agricultural machinery, e.g. combine harvesters, tractors; or construction machinery, e.g. bulldozers, graders, road rollers; mine detectors; lawn mowers; cleaning equipment, etc.

[0028] The vehicles 101 and 102 in formation 100 can comprise similar or different types of vehicles depending on the specific configuration. The vehicles 101 and 102 can be driver-operated or driverless, autonomously controlled vehicles depending on the specific configuration. For clarity, however, the vehicles 101 and 102 are described below as including a driver operating at least one of the vehicles 101 and 102.

[0029] One advantage of the provided optional solution based on the localization of landmarks 130-1, 130-2, 130-3 is that no costly localization devices are needed in each vehicle 101, 102 in formation 100. This saves money.

[0030] If vehicles 101, 102, or at least some of them in the formation, include a localization system, such as a satellite navigation system like NAVSTAR (Navigation Signal Timing and Ranging), Differential GPS (DGPS), Galileo, GLONASS, or similar systems, reliable localization can be achieved. Furthermore, if the localization of waypoints 130-1, 130-2, and 130-3 is performed in addition to the localization system, redundancy is created. This results in improved and more robust localization.

[0031] Vehicles 101 and 102 in formation 100 can communicate with each other and thus be coordinated via a wireless signal. In some embodiments, such a wireless signal may include or at least be similar to a wireless communication technology such as WiFi, a wireless local area network (WLAN), mobile ultra-wideband (UMB), Bluetooth (BT), near field communication (NFC), radio frequency identification (RFID), optical communication such as infrared data linking (IrDA), or infrared transmission, to name just a few possible examples of wireless communication technologies.

[0032] In some embodiments, communication between the vehicle 100 and the vehicle-external structure 315 can take place via V2V communication, e.g., based on devices for dedicated short-range communication (DSRC). In some embodiments, the DSRC operates in the 5.9 GHz band with a bandwidth of 75 MHz and an approximate range of 1000 m.

[0033] Wireless communication can be implemented according to any IEEE standard for wireless vehicle communication, such as a special operating mode of IEEE 802.11 for vehicle networks called Wireless Access in Vehicle Environments (WAVE). IEEE 802.11p is an extension of the 802.11 specification for the media access layer (MAC) and physical layer (PHY) of wireless LAN media.

[0034] Alternatively, communication can take place via a wireless interface, which may include or at least be based on radio access technologies such as 3GPP LTE, LTE Advanced, E-UTRAN, UMTS, GSM, GSM / EDGE, WCDMA, time division multiplex (TDMA) networks, frequency division multiplex (FDMA) networks, orthogonal FDMA (OFDMA) networks, single-carrier FDMA (SC-FDMA) networks, WiMax ("Worldwide Interoperability for Microwave Access") or ultra-mobile broadband (UMB), high-speed packet access (HSPA), advanced universal terrestrial radio access (E-UTRA), universal terrestrial radio access (UTRA), GSM-EDGE radio access network (GERAN), 3GPP2-CDMA technologies, e.g. CDMA2000 1x RTT and HRPD ("High Rate Packet Data") or the like, to name just a few options, via a wireless communication network.

[0035] In some alternative embodiments, the landmarks 130-1, 130-2, 130-3 and / or the vehicles 101, 102 can emit a wireless beacon signal which can be received by the sensor 140 in the vehicle 101 and used to determine the distance and / or direction between the landmark 130-1, 130-2, 130-3 / the vehicles 101, 102 and the sensor 140.

[0036] Fig. 1B forms formation 100 of vehicles 101, 102, as shown in Fig. 1 shown, viewed from above.

[0037] The lateral offset distance 150 between a first vehicle 101 of the formation 100 and another vehicle 102 can be determined based on the sensor 140.

[0038] In some embodiments, the lateral offset distance 150 can be determined by determining a direct distance between the sensor 140 of vehicle 101 and the other vehicle 102 or a specific part thereof, and an angle of direction from the sensor 140 to that part of the other vehicle 102. Trigonometric calculations can be used to determine the distance in the lateral and / or longitudinal direction to the other vehicle 102 in the direction of travel 105.

[0039] If the sensor 140 includes a radar, electromagnetic waves in the high-frequency or microwave range are generated and transmitted via an antenna. Return signals from objects along the path of the emitted signal are then received, and the other vehicle 102, or a specific part thereof, can be detected. The sensor 140 may also include a lidar, which has roughly the same concept as the radar but operates within other parts of the electromagnetic spectrum, such as with ultraviolet, visible, or near-infrared light emitted by a laser, instead of radio waves.

[0040] Furthermore, a threshold interval 160, 170 for the lateral offset can be defined or configured. This interval can include a lower threshold limit 160 for the lateral offset and an upper threshold limit 170 for the lateral offset. The lower threshold limit 160 for the lateral offset can be a lateral distance at which the overlap of the devices 110, 120 of the respective vehicles 101, 102 becomes too large for the mission to be effective; and / or when the lateral distance is so small that it is dangerous. The upper threshold limit 170 for the lateral offset can be a lateral distance at which a gap forms between the respective devices 110, 120 of the vehicles 101, 102; or at which the lateral distance between the vehicles 101, 102 of the formation 100 is so large that the mission cannot be carried out effectively.The lower threshold limit 160 for the transverse offset and the upper threshold limit 170 for the transverse offset may have the same value in some embodiments.

[0041] If the specified lateral offset distance 150 lies within the threshold interval 160, 170 for the lateral offset, it is assumed that the formation 100 remains in the lateral direction between the vehicles 101, 102.

[0042] If the specified lateral offset distance 150 is less than the lower threshold limit 160 for the lateral offset, vehicles 101 and 102 can be laterally adjusted relative to each other to increase the lateral offset distance 150 so that it remains within the threshold interval 160, 170 for the lateral offset. If the specified lateral offset distance 150 exceeds the upper threshold limit 170 for the lateral offset, vehicles 101 and 102 can be laterally adjusted relative to each other to decrease the lateral offset distance 150 so that it remains within the threshold interval 160, 170 for the lateral offset.

[0043] Fig. 1C forms formation 100 of vehicles 101, 102 as in Fig. 1A and / or Fig. 1B shown, viewed from above.

[0044] In the illustrated embodiment, the other vehicle 102 is equipped with a reflector 180. This allows the other vehicle 102, or a specific part of the other vehicle 102, to be readily detected by the sensor 140 of vehicle 101, even under harsh sensor conditions such as snow, darkness, rain, etc.

[0045] A longitudinal offset distance 190 between a first vehicle 101 of the formation 100 and another vehicle 102 or a specific part of the vehicle 102 can be determined based on the sensor 140.

[0046] In some embodiments, the longitudinal offset distance 190 can be determined by determining a direct distance between the sensor 140 of vehicle 101 and the other vehicle 102 or a specific part thereof, and an angle of direction from the sensor 140 to that part of the other vehicle 102. Trigonometric calculations can be used to determine the distance in the longitudinal and / or lateral direction to the other vehicle 102 in the direction of travel 105.

[0047] Furthermore, a threshold interval 191, 192 for the longitudinal offset can be defined or configured. This interval can include a lower threshold limit 191 for the longitudinal offset and an upper threshold limit 192 for the longitudinal offset. The lower threshold limit 191 for the longitudinal offset can be the longitudinal distance 190 between the vehicles 102, 102, which is so short that it poses a problem for traffic safety.

[0048] The upper threshold 192 for the longitudinal offset can be a longitudinal distance at which a gap arises between the respective devices 110, 120 of the vehicles 101, 102; or at which the longitudinal distance between the vehicles 101, 102 of the formation 100 is so large that the mission cannot be carried out adequately. The lower threshold 191 for the longitudinal offset and the upper threshold 192 for the longitudinal offset can have the same value in some embodiments.

[0049] If the specified longitudinal offset distance 190 lies within the threshold interval 191, 192 for the longitudinal offset, it is assumed that the formation 100 remains longitudinally between the vehicles 101, 102.

[0050] If the specified longitudinal offset distance 190 is less than the lower threshold limit 191 for the longitudinal offset, the vehicles 101, 102 can be adjusted longitudinally relative to each other to increase the longitudinal offset distance 150 so that it remains within the threshold interval 191, 192 for the longitudinal offset. If the specified longitudinal offset distance 190 exceeds the upper threshold limit 192 for the longitudinal offset, the vehicles 101, 102 can be adjusted longitudinally relative to each other accordingly to decrease the longitudinal offset distance 150 so that it remains within the threshold interval 191, 192 for the longitudinal offset.

[0051] Fig. 2 illustrates an example of a situation as in one of Fig. 1A, Fig. 1B and / or Fig. 1C shows how the driver of vehicle 101 can perceive it when driving in formation 100.

[0052] The vehicle 101 includes a control unit 210. In some embodiments, the control unit 210 is a computer device that enables the driver of the vehicle 101 to maintain the formation and, optionally, the localization of the formation 100 relative to the set of reference points 130-1, 130-2, 130-3. The control unit 210 can receive signals from the sensor 140 of the vehicle 101 via a wired or wireless communication interface, e.g., one of those discussed previously.

[0053] Based on the received sensor detection values ​​and calculations, the lateral distance 150 and / or the longitudinal distance 190 between the vehicles 101, 102 can be determined. Furthermore, in some embodiments, the position of the formation can be determined based on specific distances to the set of reference points 130-1, 130-2, 130-3.

[0054] In some embodiments, the results of the measurements and calculations can be displayed to the driver of the vehicle 101, for example, on a display 220 and / or a loudspeaker 230, or on some other output device, such as a display, loudspeaker, projector, windscreen display, display integrated into the windscreen of the vehicle 100, display integrated into the dashboard of the vehicle 100, touch device, a portable device of the driver / owner of the vehicle, smart glasses of the driver / owner of the vehicle, etc.; or any combination thereof. If the vehicle 101 includes a display 220, in various embodiments, information about the measurements, calculations, and position determination of the formation can be displayed graphically and / or by text message.

[0055] In some embodiments, the results of the distance measurements and the position of formation 100 can also be transmitted to other vehicles 102 in formation 100. This makes the drivers of the other vehicles 102 aware of the position of formation 100 and the relative distance between vehicles 101 and 102, and allows them to take measures to adjust the distance.

[0056] This allows the driver(s) to be warned that he or she is deviating from a desired or predetermined position within the formation 100 with the respective vehicle 102, 102.

[0057] In some embodiments, the vehicle 101 may additionally or alternatively include a haptic interface for haptic communication with the driver, e.g. via a touch device in the driver's seat or another vehicle part in physical contact with the driver, which warns him not to get too close to or too far away from the other vehicle 102.

[0058] If the threshold interval 160, 170 for the lateral offset and / or the threshold interval 191, 192 for the longitudinal offset is / are exceeded, a warning message can be issued to the driver, e.g. by presentation on display 220, e.g. using different colors; by an audio signal; by a haptic signal and / or by a combination of these warning methods.

[0059] In some embodiments, the vehicle 101, 102 may further include a positioning unit within the vehicle 101, 102, which may be based on a satellite navigation system, such as the NAVSTAR (Navigation Signal Timing and Ranging) global positioning system (GPS), differential GPS (DGPS), Galileo, GLONASS, or the like. An advantage of this may be that redundancy is created for determining the position of the formation 100; and / or that a more precise position determination of the formation 100 can be achieved.

[0060] Fig. Figure 3 illustrates an example of a method 300 according to one embodiment. The flowchart in Fig. Figure 3 shows the method 300 in a control unit 110. In some embodiments, the control unit 110 may be contained in a vehicle 101 that belongs to a formation 100 of coordinated vehicles 101, 102.

[0061] Method 300 aims to maintain a formation 100 comprising a plurality of laterally offset vehicles 101, 102. According to some alternative embodiments, method 300 also aims to locate the formation 100 relative to a set of reference points 130-1, 130-2, 130-3.

[0062] Vehicles 101 and 102 in formation 100 can be any type of similar or dissimilar means of transport. However, in certain specific configurations, vehicles 101 and 102 can be vehicles used to carry out a joint mission. Vehicles 101 and 102 can communicate with each other via wireless signals transmitted at one of the aforementioned wireless interfaces or, for example, via infrared light.

[0063] To preserve Formation 100, Method 300 may comprise a certain number of steps 301 to 307. However, some of these steps 301 to 307 may only be performed in certain alternative embodiments, such as steps 303 to 307. Furthermore, the described steps 301 to 307 may be performed in a slightly different chronological order than the numbering suggests. Method 300 may comprise the following steps: Step 301 includes determining a lateral offset distance 150 of at least one other vehicle 102 in the formation 100 in relation to the vehicle 101 using a sensor 140.

[0064] This sensor 140 can be based on electromagnetic radiation, such as radar. However, in various embodiments, this detection can alternatively be achieved through visual detection using a camera combined with an image recognition program; through a sensor based on infrared light, laser, or microwaves; and / or through a tomographic motion detection system based on the detection of radio wave interference.

[0065] The relative lateral offset distance 150 of the other vehicle 102 can be determined by detecting a reflected sensor signal from a reflector 180 of the other vehicle 102.

[0066] Step 302 includes adjusting the lateral position of vehicle 101 in relation to the other vehicle 102 if the specified 301 lateral offset distance 150 is outside a transverse threshold interval 160, 170.

[0067] The adjustment can be made to bring the lateral position of vehicle 101 into the transverse threshold interval 160, 170.

[0068] Step 303, which may only be performed in some embodiments, includes determining a distance to each orientation point 130-1, 130-2, 130-3 that is contained in the set of orientation points 130-1, 130-2, 130-3.

[0069] The distance to each reference point 130-1, 130-2, 130-3, which is contained in the set of reference points 130-1, 130-2, 130-3, can be determined by detecting a reflected sensor signal of a reflector 135-1, 135-2, 135-3 of the respective reference point 130-1, 130-2, 130-3.

[0070] Step 304, which may only be performed in some embodiments, includes locating the formation 100 in relation to the set of reference points 130-1, 130-2, 130-3, based on the determined 303 distances.

[0071] Step 305, which may only be performed in some embodiments, wherein the vehicles 101, 102 belonging to the formation 100 are also longitudinally offset relative to each other, comprises determining, using the sensor 140, a longitudinal offset distance 190 of at least one other vehicle 102 in the formation 100 relative to the vehicle 101.

[0072] The relative longitudinal offset distance 190 of the other vehicle 102 is determined by detecting a reflected sensor signal from a reflector 180 of the other vehicle 102.

[0073] Step 306, which may only be performed in some embodiments where step 305 has been performed, comprises adjusting the longitudinal position of vehicle 101 in relation to the other vehicle 102 when the specified longitudinal offset distance 190 is outside a longitudinal threshold interval 191, 192.

[0074] Step 307, which may only be performed in some embodiments, comprises instructing the other vehicle 102 to adjust its transverse position based on the specified 301 transverse offset distance 150 if the specified 301 transverse offset distance 150 is outside the transverse threshold interval 160, 170, and / or to adjust its longitudinal position based on the specified 305 longitudinal offset distance 190 if the specified 305 longitudinal offset distance 190 is outside the longitudinal threshold interval 191, 192, by means of wireless communication, e.g., one of the previously discussed wireless communication interfaces.

[0075] Fig. Figure 4 shows a system 400. The system 400 aims to maintain a formation 100 comprising a plurality of laterally offset vehicles 101, 102. Furthermore, in some alternative embodiments, the system can include the localization of the formation 100 relative to a set of reference points 130-1, 130-2, 130-3.

[0076] System 400 includes a control unit 210 to execute procedure 300 according to one of the previously described steps 301 to 307, as previously described and in Fig. Figure 3 illustrates this. Thus, the control unit 210 aims to maintain a formation 100 comprising a plurality of laterally offset vehicles 101, 102. In some embodiments, the control unit 210 can also aim to locate the formation 100 relative to a set of reference points 130-1, 130-2, 130-3.

[0077] The control unit 210 is configured to determine a lateral offset distance 150 of at least one other vehicle 102 in the formation 100 relative to vehicle 101 using a sensor 140. The control unit 210 is also configured to generate a command signal to adjust the lateral position of vehicle 101 relative to the other vehicle 102 if the determined lateral offset distance 150 lies outside a lateral threshold interval 160, 170. In some embodiments, the control unit 210 may further be configured to determine a distance to each reference point 130-1, 130-2, 130-3 contained in the set of reference points 130-1, 130-2, 130-3. The control unit 240 can also be configured to locate the formation 100 in relation to the set of reference points 130-1, 130-2, 130-3, based on the specified 303 distances.

[0078] In some embodiments where the vehicles 101, 102 belonging to the formation 100 are also longitudinally offset relative to each other, the control unit 210 can further be configured to determine a longitudinal offset distance 190 of at least one other vehicle 102 in the formation 100 relative to vehicle 101 using the sensor 140. Alternatively, this control unit 210 can also be configured to generate a command signal to adjust the longitudinal position of vehicle 101 relative to the other vehicle 102 if the determined longitudinal offset distance 190 lies outside a longitudinal threshold interval 191, 192.

[0079] Furthermore, in some alternative embodiments, the control unit 210 can be configured to instruct the other vehicle 102 to adjust its lateral position based on the specified lateral offset distance 150 when the specified lateral offset distance 150 lies outside the lateral threshold interval 160, 170, and / or to adjust its longitudinal position based on the specified longitudinal offset distance 190 when the specified longitudinal offset distance 190 lies outside the longitudinal threshold interval 191, 192, by means of wireless communication. In some embodiments, the control unit 210 can be configured to determine the relative lateral and / or longitudinal offset distance 150, 190 of the other vehicle 102 by detecting a reflected sensor signal from a reflector 180 of the other vehicle 102.

[0080] Furthermore, according to some embodiments, the control unit can also be configured to determine the relative lateral and / or longitudinal offset distance 150, 190 of the other vehicle 102 via a plurality of sensors 140 in the vehicle 101, of the same or other type, such as one of those listed above.

[0081] The control unit 210 can also be configured to determine the distance to each reference point 130-1, 130-2, 130-3 contained in the set of reference points 130-1, 130-2, 130-3 by detecting a reflected sensor signal from a reflector 135-1, 135-2, 135-3 of the respective reference point 130-1, 130-2, 130-3.

[0082] The control unit 210 can further be configured to determine the distance to each reference point 130-1, 130-2, 130-3 contained in the set of reference points 130-1, 130-2, 130-3, using a variety of sensors 140 in the vehicle 101, of the same or other type, such as one of those listed above.

[0083] According to some embodiments, the system 400 may also include a display 220, a loudspeaker 230, a touch device or any other information device.

[0084] The control unit 210 can include a receiver 410 configured to receive information from the sensor 140 about other vehicles 102 in the formation and the reference points 130-1, 130-2, 130-3.

[0085] The control unit 210 may also include a processor 420 configured to perform various calculations in order to direct the procedure 300 according to at least one of the steps 301 to 307.

[0086] Such a 420 processor can comprise one or more instances of a processing circuit, i.e., a central processing unit (CPU), a processing unit, an application-specific integrated circuit (ASIC), a microprocessor, or other processing logic capable of interpreting and executing instructions. The term "processor" as used here can thus represent processing circuits comprising a variety of processing circuits, such as some or all of those mentioned above.

[0087] Furthermore, in some embodiments, the control unit 210 may include an optional memory 425. The optional memory 425 may comprise a physical device used to store data or programs, i.e., sequences of instructions, on a temporary or permanent basis. According to some embodiments, the memory 425 may comprise integrated circuits including silicon-based transistors. In various embodiments, the memory 425 may include, for example, a memory card, flash memory, USB storage, a hard disk, or another similar volatile or non-volatile storage device for storing data, such as ROM (resettable memory), PROM (programmable programmable memory), EPROM (erasable PROM), EEPROM (electrically erasable PROM), etc.

[0088] Furthermore, the control unit 210 can include a signal transmitter 430. The signal transmitter 430 can be configured to send a signal to be received by the display 220 in the vehicle 102 and / or by displays in other vehicles 102 in the formation 100.

[0089] The previously described steps 301 to 307, which are to be executed in the control unit 210, can be carried out by the one or more processors 520 in the control unit 210 together with a computer program that includes instructions to execute at least some of the functions of steps 301 to 307. Thus, a computer program that includes instructions to execute steps 301 to 307 in the control unit 210 can execute the procedure 300, which includes at least some of steps 301 to 307, to maintain a formation 100 comprising a plurality of laterally offset vehicles 101, 102, and the localization of the formation 100 relative to a set of reference points 130-1, 130-2, 130-3, when the computer program is executed by the one or more processors 420 of the control unit 210.

[0090] The described steps 301 to 307 can thus be executed by a computer algorithm, a machine-executable code, a non-temporary computer-readable medium, or software instructions programmed into suitable programmable logic, such as the processor 420 in the control unit 210.

[0091] The aforementioned computer program product can, for example, be provided in the form of a data carrier containing computer program code to perform at least some of steps 301 to 307 according to some embodiments when loaded into the one or more processors 420 of the control unit 210. The data carrier can be, for example, a hard disk, a CD-ROM, a memory stick, an optical storage device, a magnetic storage device, or any other suitable medium, such as a disk or tape, that can contain machine-readable data in a non-temporary manner. The computer program product can also be provided as computer program code on a server and downloaded remotely to the control unit 210, for example, via an Internet or intranet connection.

[0092] Furthermore, some embodiments may include a vehicle 101, 102 comprising the control unit 210 as previously described, to carry out the method 300 according to at least some of the described steps 301 to 307.

[0093] The terminology used in the description of the embodiments as depicted in the accompanying drawings is not intended to limit the described method 300, the control unit 210, the computer program, and / or the system 400. Various changes, substitutions, and / or modifications can be made without departing from the embodiments of the invention as defined in the accompanying claims.

[0094] As used here, the term "and / or" encompasses all possible combinations of one or more of the linked listed elements. As used here, the term "or" is understood as a mathematical OR, i.e., an inclusive disjunction; not as a mathematical exclusive OR (XOR), unless explicitly stated otherwise. Furthermore, the singular forms "ein, eine, ein" and "der, die, das" are to be interpreted as "at least one," so they may also encompass a multitude of similar entities, unless clearly stated otherwise.It is further understood that the terms "comprises" and / or "comprehensive" specify the presence of the indicated features, actions, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components, and / or groups thereof. A single unit, such as a processor, can perform the functions of several elements mentioned in the claims. The mere fact that certain measures are mentioned in different dependent claims does not preclude the advantageous use of a combination of these measures.A computer program can be stored / distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied with or as part of other hardware, but it can also be distributed in other forms, such as via the Internet or another wired or wireless communication system.

Claims

[1] Method (300) in a control unit (210) of a vehicle (101) for maintaining a formation (100) comprising a plurality of laterally offset vehicles (101, 102) to carry out a common mission on a surface, wherein the method (300) comprises the following steps: Determine (301) a lateral offset distance (150) of at least one other vehicle (102) in the formation (100) relative to the vehicle (101) using a sensor (140); and Adjusting (302) the lateral position of the vehicle (101) in relation to the other vehicle (102) when the specified (301) lateral offset distance (150) is outside a transverse threshold interval (160, 170). [2] Method (300) according to claim 1, wherein the vehicles (101, 102) contained in the formation (100) are also longitudinally offset relative to each other; and wherein the method (300) further comprises the following steps: Determine (305) a longitudinal offset distance (190) of at least one other vehicle (102) in the formation (100) relative to the vehicle (101) using the sensor (140); and Adjusting (306) the longitudinal position of the vehicle (101) in relation to the other vehicle (102) when the determined (305) longitudinal offset distance (190) is outside a longitudinal threshold interval (191, 192). [3] Method (300) according to one of claims 1 or 2, further comprising the following step: Instructing (307) the other vehicle (102) to adjust its lateral position based on the specified (301) lateral offset distance (150) when the specified (301) lateral offset distance (150) is outside the lateral threshold interval (160, 170), and / or to adjust its longitudinal position based on the specified (305) longitudinal offset distance (190) when the specified (305) longitudinal offset distance (190) is outside the longitudinal threshold interval (191, 192), by means of wireless communication. [4] Method (300) according to any one of claims 1 to 3, wherein the relative transverse and / or longitudinal offset distance (150, 190) of the other vehicle (102) is determined (301, 305) by detecting a reflected sensor signal from a reflector (180) of the other vehicle (102). [5] Method (300) according to any one of claims 1 to 4, for locating the formation (100) in relation to a set of reference points (130-1, 130-2, 130-3), further comprising the following steps: Determine (303) a distance to each reference point (130-1, 130-2, 130-3) contained in the set of reference points (130-1, 130-2, 130-3); and Locating (304) the formation (100) in relation to the set of reference points (130-1, 130-2, 130-3) based on the determined (303) distances. [6] Method (300) according to claim 5, wherein the distance to each orientation point (130-1, 130-2, 130-3) contained in the set of orientation points (130-1, 130-2, 130-3) is determined by detecting a reflected sensor signal of a reflector (135-1, 135-2, 135-3) of the respective orientation point (130-1, 130-2, 130-3). [7] Control unit (210) in a vehicle (101) for maintaining a formation (100) comprising a plurality of laterally offset vehicles (101, 102) to carry out a common mission on a surface, wherein the control unit (210) is configured to: Determining a lateral offset distance (150) of at least one other vehicle (102) in the formation (100) relative to the vehicle (101) using a sensor (140); and Generating a command signal to adjust the lateral position of the vehicle (101) relative to the other vehicle (102) when the specified lateral offset distance (150) is outside a transverse threshold interval (160, 170). [8] Control unit (210) according to claim 7, wherein the vehicles (101, 102) contained in the formation (100) are also longitudinally offset relative to each other; further configured to: Determining a longitudinal offset distance (190) of at least one other vehicle (102) in the formation (100) relative to the vehicle (101) using the sensor (140); and Generating a command signal to adjust the longitudinal position of the vehicle (101) relative to the other vehicle (102) when the specified longitudinal offset distance (190) is outside a longitudinal threshold interval (191, 192). [9] Control unit (410) according to one of claims 7 or 8, further configured to: Instructing (307) the other vehicle (102) to adjust its lateral position based on the specified lateral offset distance (150) when the specified lateral offset distance (150) is outside the lateral threshold interval (160, 170), and / or to adjust its longitudinal position based on the specified longitudinal offset distance (190) when the specified longitudinal offset distance (190) is outside the longitudinal threshold interval (191, 192), by means of wireless communication. [10] Control unit (410) according to one of claims 7 to 9, further configured to: Determining the relative lateral and / or longitudinal offset distance (150, 190) of the other vehicle (102) by detecting a reflected sensor signal from a reflector (180) of the other vehicle (102). [11] Control unit (410) according to one of claims 7 to 10, further configured to: Determining the relative lateral and / or longitudinal offset distance (150, 190) of the other vehicle (102) using a plurality of sensors (140) in the vehicle (101). [12] Control unit (410) according to one of claims 7 to 11, further configured to locate the formation (100) of the vehicles (101, 102) in relation to a set of reference points (130-1, 130-2, 130-3) for: Determine a distance to each reference point (130-1, 130-2, 130-3) contained in the set of reference points (130-1, 130-2, 130-3); and Locating the formation (100) in relation to the set of reference points (130-1, 130-2, 130-3) based on the specified distances. [13] Control unit (410) according to claim 12, further configured to: Determining the distance to each reference point (130-1, 130-2, 130-3) contained in the set of reference points (130-1, 130-2, 130-3) by detecting a reflected sensor signal from a reflector (135-1, 135-2, 135-3) of the respective reference point (130-1, 130-2, 130-3). [14] Control unit (410) according to one of claims 12 or 13, further configured to: Determining the distance to each reference point (130-1, 130-2, 130-3) contained in the set of reference points (130-1, 130-2, 130-3) using a plurality of sensors (140) in the vehicle (101). [15] Computer program comprising instructions which, when the computer program is executed by the control unit (410) according to any one of claims 7 to 14, cause the control unit (410) to execute the method (500) according to any one of claims 1 to 6.

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