Method for adjusting the speed of an autonomous vehicle

Abstract

Method (V) for adapting a speed of an autonomous vehicle (1) as a function of an operating range (I, II, III) of the autonomous vehicle (1), wherein the autonomous vehicle (1) is operable in at least two adjacent operating ranges (I, II, III), wherein - a speed profile (A, B, C) for the autonomous vehicle (1) is defined for each operating range (I, II, III), - a change between two operating ranges (I, II, III) is detected, -based on the detected operating range (I, II, III), a suitable speed profile (A, B, C) is selected from the speed profiles (A, B, C), - a drive system (2) of the autonomous vehicle (1) is controlled by a control device (3) of the autonomous vehicle (1) in such a way that it provides drive energy so that the speed of the autonomous vehicle (1) is adjusted and the autonomous vehicle (1) moves according to the selected speed profile (A, B, C), -the operating areas (I, II, III) are detected by means of a positioning system (4), - when a change between two operating ranges (I, II, III) is detected, at least one environmental sensor (5) of the autonomous vehicle (1) is additionally controlled by means of the control device (3), so that said sensor changes its operating state (N, O).

Description

[0001] The present invention relates to a method for adjusting a speed of an autonomous vehicle having the features of claim 1, a control device having the features of claim 3, a computer program product having the features of claim 4 and a vehicle having the features of claim 5.

[0002] Autonomous vehicles in industrial environments can operate in different operating areas. For example, there are areas where only autonomous vehicles drive and no people are present. Other areas have mixed operation between autonomous and human-operated vehicles. A third area allows people to move around alongside autonomous and non-autonomous vehicles.

[0003] Current autonomous transport vehicles (typically also called driverless transport vehicles, or AGVs for short) are designed for one of these operating environments. For example, container terminals have AGVs that are controlled by a central system and operate in a closed area where no people are present. These vehicles typically do not have systems that would reliably prevent a collision with a person. Other AGVs are designed for operation in the presence of people. These travel at very low speeds, such as 5 km / h, and have a reliable person detection system.

[0004] Depending on the available sensor technology and the associated detection capability, there are limitations in the range of the AGVs and thus in the driving speed. For example, if people can only be reliably detected at a short distance of 5 m, the speed must be reduced so that the vehicle does not exceed the 5 m from the time a person is detected until it comes to a standstill. These speed limitations, which primarily arise from the area of ​​personal protection, make the use of autonomous vehicles inefficient, especially over longer distances.

[0005] DE 10 2015 203 155 A1 discloses a system comprising a computer in a vehicle, wherein the computer is configured to operate the vehicle in an autonomous and / or semi-autonomous mode. This mode is configured to detect at least one condition of a road on which the vehicle is traveling and determine at least one autonomous action based on the condition.

[0006] Based on the prior art, the present invention is based on the object of proposing an improved method by means of which the efficiency of autonomous vehicles in an industrial environment can be increased.

[0007] Based on the aforementioned object, the present invention proposes a method for adjusting a speed of an autonomous vehicle according to claim 1, a control device according to claim 3, a computer program product according to claim 4, and a vehicle according to claim 5. Further advantageous embodiments and developments emerge from the subclaims.

[0008] In a method for adjusting the speed of an autonomous vehicle depending on an operating range of the autonomous vehicle, wherein the autonomous vehicle is operable in at least two adjacent operating ranges, a speed profile for the autonomous vehicle is defined for each operating range. A change between two operating ranges is detected. Based on the detected operating range, a suitable speed profile is selected from the speed profiles. A drive system of the autonomous vehicle is controlled by a control device of the autonomous vehicle in such a way that it provides drive energy so that the speed of the autonomous vehicle is adjusted and the autonomous vehicle moves according to the selected speed profile.

[0009] The autonomous vehicle can preferably be an AGV or a commercial vehicle, e.g., a transport vehicle, an industrial truck, a truck, or even a passenger car. The autonomous vehicle is designed in such a way that it is capable of performing driving and work functions at autonomy level 4 or higher. The autonomy level refers to the SAE J3016 classification. In the following description, the autonomous vehicle is also referred to as a vehicle.

[0010] The vehicle has a drive system configured to provide drive energy with which the vehicle can be propelled. The drive system may have an energy source, which may be configured, for example, as an electric motor, an internal combustion engine, or another suitable energy source. The drive system may have a transmission configured to convert the torque provided by the energy source.

[0011] The vehicle further comprises a control device connected to the vehicle's drive system. This connection is such that data and signal exchange can take place. The connection can be wireless or wired. The control device is configured to control the vehicle's drive system. Furthermore, the control device can be configured to enable the vehicle to perform autonomous driving functions from level 4 onwards. The control device can be configured, for example, as an ECU or domain ECU. The control device also comprises a communication unit by means of which it can communicate with external systems, for example with a central control center, with a cloud, or with other vehicles or an infrastructure via C2X communication. The control device can also comprise a storage device.

[0012] In addition, the vehicle has at least one environmental sensor. This is configured to detect the surroundings of the vehicle. The at least one environmental sensor can be embodied, for example, as a radar sensor, a lidar sensor, a camera, or a combination of these sensors or other suitable environmental sensors. The at least one environmental sensor is connected to the control device. This connection is such that data and signals can be exchanged. The connection can be wireless or wired. Of course, the vehicle can have more than one environmental sensor.

[0013] For example, the vehicle may have a first environment sensor that can detect the environment close to the vehicle and a second environment sensor that can detect the environment far from the vehicle. The first environment sensor may be a lidar sensor, for example, and the second environment sensor may be a radar sensor, for example.

[0014] The autonomous vehicle can be operated in at least two adjacent operating areas. This means that the vehicle can be safely operated autonomously in at least two operating areas without endangering its surroundings, such as people or other vehicles. An operating area is defined as a demarcated area within an industrial environment. An industrial environment can include, for example, a depot, a warehouse and logistics area, a port area, an airport apron, a construction site, an open-cast mining area, or similar.

[0015] Each operating area is designed in such a way that it can be distinguished from other operating areas due to its traffic conditions. For example, in a first operating area the traffic conditions are such that only autonomous vehicles are permitted to stay and move there. For example, in a second operating area the traffic conditions are such that both autonomous vehicles and non-autonomous vehicles with a driver are permitted to stay and move there. No people or animals who are not in a vehicle are permitted to stay in this second operating area. For example, in a third operating area the traffic conditions are such that both autonomous vehicles and non-autonomous vehicles with a driver, as well as people, are permitted to stay and move there. This third operating area therefore represents classic mixed traffic.

[0016] For example, the at least two operating areas are adjacent to each other in such a way that there is no transition between them. Both areas then directly border each other. Alternatively, the two operating areas can be indirectly adjacent. In this case, a transition exists between the two operating areas. This transition can, for example, be designed as an open space where vehicles or people are not permitted to remain for extended periods. However, the transition can be crossed by the autonomous vehicle.

[0017] A speed profile is defined for the autonomous vehicle for each operating range. These speed profiles are stored, for example, in the memory of the control unit. Alternatively or additionally, the speed profiles can also be stored at a central control center or in a cloud and communicated to the control unit of the autonomous vehicle. Each speed profile differs from the other speed profiles.

[0018] For example, a speed profile can be defined for the first operating range in which the autonomous vehicle may have a maximum speed of 20 km / h, 30 km / h, 40 km / h, 50 km / h, 60 km / h, 70 km / h, 80 km / h, 90 km / h or 100 km / h. The maximum speed permitted in the first operating range is preferably higher than in the other operating ranges. For the second operating range, a speed profile can be defined in which the autonomous vehicle has a maximum speed that is the same or preferably lower than in the first operating range. For example, the maximum speed in the second operating range can be in a range from 10 km / h to 100 km / h. For the third operating range, a speed profile can be defined in which the autonomous vehicle has a maximum speed that is lower than in the first and second operating ranges.For example, the maximum speed in the third operating range can be 5 km / h.

[0019] The choice of maximum speed depends not only on the traffic conditions in the respective operating area, but also on the performance of the at least one environmental sensor. It is important to consider the distance at which the at least one environmental sensor can reliably detect an obstacle, a person, and / or another vehicle. This is necessary because it determines the braking distance that the autonomous vehicle must adhere to in order to avoid an accident.

[0020] A change between two operating areas is detected. This can be done, for example, by determining which operating area the autonomous vehicle is in or whether the autonomous vehicle crosses an operating area boundary.

[0021] The detection of the operating area or the change of the operating area can be carried out, for example, by means of a positioning system which the autonomous vehicle has. This is configured to determine the position of the vehicle. The positioning system is connected to the control device. This connection is such that data and signals can be exchanged. The connection can be wireless or wired. The positioning system can determine the position of the autonomous vehicle, for example, using a GNSS system. Additionally or alternatively, the positioning system can determine the position of the autonomous vehicle using a guidance system which is, for example, embedded in a surface on which the autonomous vehicle is moving. Such a guidance system can be designed, for example, as a metal wire, a cable, a magnet, or an RFID tag.In this case, the positioning system is designed in such a way that it recognizes the corresponding guidance system.

[0022] Alternatively or additionally, the change between two operating areas can be detected by an external control center via an area assignment. The external control center virtually tracks the autonomous vehicle and thus regularly determines its position. This tracking can be carried out, for example, via a radio connection implemented using a radio standard. When the autonomous vehicle is about to move from one operating area to another, this is detected by the external control center. The external control center then signals the autonomous vehicle that a change of area is taking place. This signal can be received by the communication unit of the control device.

[0023] Based on the detected operating range, a suitable speed profile is selected from the speed profiles. This means that the speed profile defined for the respective operating range is selected. This selection is made by the control unit based on the detected operating range.

[0024] The drive system of the autonomous vehicle is controlled by the control device in such a way that it provides drive energy so that the speed of the autonomous vehicle is adjusted and the autonomous vehicle moves according to the selected speed profile. This means that the control device adjusts the maximum speed that the autonomous vehicle is permitted to have in the respective operating range into which it enters and subsequently moves. The control device thus only demands from the drive system the drive energy required to fulfill the speed profile for the corresponding operating range. In other words, the control device limits the drive energy provided by the drive system for those operating ranges in which not only autonomous vehicles are present.

[0025] The advantage of this is that the autonomous vehicle can be operated safely in various operating areas. Especially in mixed traffic, the safety of both people and non-autonomous vehicles can be ensured. This makes it possible to serve an industrial environment with different operating areas with the same autonomous vehicle. Furthermore, it is also possible to cover longer distances efficiently autonomously.

[0026] According to a further embodiment, the operating areas are detected by means of the positioning system. This was already described in the previous description.

[0027] According to a further embodiment, the operating areas are identified by means of an area assignment by an external control center. This was already described in the previous description.

[0028] According to a further embodiment, when a change between two operating ranges is detected, the control device additionally controls the at least one environmental sensor of the autonomous vehicle so that it changes its operating state. A first operating state of the environmental sensor is defined as an activated operating state. In this first operating state, the at least one environmental sensor records the environment of the autonomous vehicle and generates environmental data. A second operating state of the environmental sensor is defined as a deactivated operating state. In this second operating state, the at least one environmental sensor does not record the environment of the autonomous vehicle and does not generate any environmental data.

[0029] In other words, the at least one environmental sensor can be switched on or off when the autonomous vehicle moves from one operating area to another. For example, the at least one environmental sensor can be activated in the first operating area and deactivated in the second operating area. If the autonomous vehicle has more than one environmental sensor, for example, a first environmental sensor can be activated in the first operating area and deactivated in the second and third operating areas. A second environmental sensor can, for example, be deactivated in the first and second operating areas and activated in the third operating area. A third environmental sensor can, for example, be deactivated in the first and third operating areas and activated in the second operating area. Of course, one of these environmental sensors can also be activated in multiple operating areas.

[0030] The advantage of this is that at least one environmental sensor does not have to be activated continuously. This allows energy to be saved in operating areas where it is not needed.

[0031] The control device for the autonomous vehicle is connectable to the drive system of the autonomous vehicle. Connectable means that the control device is connected to the drive system when the control device is used in a vehicle. The drive system can be controlled by the control device, as already described. The control device can therefore control the drive system of the vehicle when the control device is used in the vehicle. The control device has means for carrying out a method that was already described in the previous description. These means can, for example, comprise a computer program product. The control device can also be connectable to other systems, e.g., to the positioning system.

[0032] According to a further embodiment, the control device can additionally be connected to at least one environmental sensor of the autonomous vehicle, wherein the at least one environmental sensor can be controlled by the control device. The control device additionally has means for carrying out the method already described in the previous description. These means can be included in the same computer program product.

[0033] The computer program product comprises instructions that, when executed by the previously described control device, execute the method described in the previous description. The computer program product can be embodied on a data carrier, for example, on a CD, DVD, USB stick, or similar, or as a downloadable data stream.

[0034] The vehicle has the drive system and the control device, as already described. The control device is connected to the drive system, as also already described. Furthermore, the control device can be connected to the at least one environment sensor and the positioning system, as already described. The vehicle can, for example, be capable of performing autonomous driving functions from level 4 onwards.

[0035] An embodiment and details of the invention are described in more detail with reference to the following figure. They show: Fig. 1 a schematic representation of a vehicle in an industrial environment according to an embodiment, Fig. 2 a schematic representation of a method for the vehicle from the embodiment in Fig. 1.

[0036] Fig. 1 shows a schematic representation of a vehicle 1 in an industrial environment according to one exemplary embodiment. The vehicle 1 is designed as an AGV and moves in the direction of travel 7, for example, on a port area that represents the industrial environment. The port area has three operating areas I, II, III. These operating areas I, II, III are designed in such a way that they differ in their traffic conditions. In the first operating area I, only autonomous vehicles, for example the vehicle 1 shown, are permitted to move. In the second operating area II, in addition to autonomous vehicles, other vehicles 9 may also move, which may also be non-autonomous. In the third operating area III, autonomous vehicles, such as the vehicle 1 shown, other vehicles 9, which may also be non-autonomous, and people 8 may move.The second operating area II borders both the first operating area I and the third operating area III. Autonomous vehicle 1 is still largely in the first operating area I, but is about to transition to the second operating area II.

[0037] The autonomous vehicle 1 has a control device 3. This enables the vehicle 1 to perform autonomous driving functions from level 4 onwards. The control device 3 has a memory device, which is not shown here. The control device 3 also has a communication unit, which is not illustrated here. Using this communication unit, the control device can communicate with an external control center 6 via C2X communication, using a radio standard. This means that the control device 3 can both send and receive data and signals. This is indicated by the dashed arrow. Using the communication unit, the control device 3 can also communicate with the other vehicles 9 and, if applicable, with the people 8 and an infrastructure.The external control center 6 can monitor the autonomous vehicle 1 during its driving operation and thereby determine in which of the operating areas I, II, III the vehicle 1 is located.

[0038] The vehicle 1 further comprises a drive system 2, which is designed to provide drive energy. The control device 3 is connected to the drive system 2 and can control it. Therefore, data and signals can be exchanged between the control device 3 and the drive system 2 as needed.

[0039] Furthermore, the vehicle 1 has a plurality of environmental sensors 5, which are shown as a block for clarity. One environmental sensor 5 is configured to monitor a close area at the front of the vehicle. Another environmental sensor 5 is configured to monitor a far area in the direction of travel 7 in front of the vehicle 1. Yet another environmental sensor 5 is configured to monitor a close area at the rear of the vehicle. Yet further environmental sensors 5 are configured to monitor a close area on the sides of the vehicle. Of course, the vehicle 1 can have even more environmental sensors 5. Each of these environmental sensors 5 is connected to the control device 3 so that data and signals can be exchanged. The control device 3 is also configured to control the respective environmental sensors 5.

[0040] In addition, the vehicle 1 has a positioning system 4. This serves to determine the position of the vehicle 1 on the port premises and thus to determine in which of the operating areas I, II, III the autonomous vehicle 1 is located. The positioning system 4 is designed such that it can determine a global position of the vehicle 1 using a GNSS system. Alternatively, the positioning system 4 can be designed such that it can determine a local position of the vehicle 1 using a guidance system embedded in a surface on which the autonomous vehicle 1 is moving. Such a guidance system can be designed, for example, as a metal wire, a cable, a magnet, an RFID tags, or the like. The positioning system 4 is connected to the control device 3 so that data and signals can be exchanged.

[0041] For each of the operating ranges I, II, and III, a permissible speed profile A, B, and C is defined. These speed profiles A, B, and C can be stored, for example, in the memory of the control device 3. The definition can be made, for example, at the factory or during initial commissioning of the vehicle 1.

[0042] For the first operating area I, the first speed profile A is defined such that the autonomous vehicle 1 may have a maximum speed of, for example, 50 km / h. For the second operating area II, the second speed profile B is defined such that the autonomous vehicle 1 may have a lower maximum speed than in the first operating area I, for example 30 km / h. For the third operating area III, the third speed profile C is defined such that the autonomous vehicle 1 may have a much lower maximum speed than in the first operating area I and a lower maximum speed than in the second operating area II, for example 5 km / h. This third speed profile C arises from the fact that the braking distance of the autonomous vehicle 1 must be sufficient in any case to avoid accidents involving persons 8.

[0043] Fig. 2 shows a schematic representation of a method V for the vehicle 1 from the embodiment in Fig. 1. In a first step 101, the speed profiles A, B, C are defined, with each speed profile A, B, C being defined for exactly one of the operating ranges I, II, III. The first speed profile A is defined for the first operating range I, the second speed profile B is defined for the second operating range II, and the third speed profile C is defined for the third operating range III.

[0044] In a second step 102, a change between two adjacent operating areas I, II, III is detected. Here, it is detected that the autonomous vehicle 1 is moving from the first operating area I to the second operating area II. The vehicle 1 thus changes from the first operating area I to the second operating area II. This is done by means of the positioning system 4.

[0045] In a third step 103, a suitable speed profile A, B, C is selected based on the detected operating range I, II, III. Therefore, the second speed profile B for the second operating range II is selected here for the autonomous vehicle 1.

[0046] In a fourth step 104, the drive system 2 of the vehicle 1 is subsequently controlled by the control device 3 such that the provided drive energy and thus the speed of the vehicle 1 are adjusted to the corresponding speed profile A, B, C, in this case, to the second speed profile B. This reduces the maximum speed that the autonomous vehicle 1 is permitted to travel in the second operating range II compared to the maximum speed in the first operating range. The autonomous vehicle 1 thus moves in the second operating range II according to the selected speed profile B.

[0047] In an optional fifth step 105, which can follow the third step 103, an operating state O, N of at least one environment sensor 5 can be changed based on the detected operating range I, II, III. In a first operating state O, the at least one environment sensor 5 records the environment of the autonomous vehicle 1 and generates environment data. The at least one environment sensor 5 is therefore activated. In a second operating state N, the at least one environment sensor 5 does not record the environment of the autonomous vehicle 1 and does not generate any environment data. The at least one environment sensor 5 is therefore deactivated.

[0048] Here, the one of the environment sensors 5 that monitors a long-range area in the direction of travel 7 of the vehicle 1 is deactivated. The operating state N, O of this environment sensor 5 therefore changes to the second operating state N. For this reason, the arrow to the first operating state O is shown with a dashed line. Energy can be saved by deactivating this environment sensor 5.

[0049] The examples shown here are for illustrative purposes only. For example, additional environmental sensors can be activated when changing operating areas, such as those environmental sensors that monitor the immediate area around the vehicle. Reference symbol 1 vehicle 2 drive system 3 Control device 4 Positioning system 5 Environment sensor 6 external control center 7 Direction of travel 8 people 9 additional vehicles I first operating area II second operating area III third operating area A first speed profile B second speed profile C third speed profile N second operating state O first operating state V Procedure 101 first step 102 second step 103 third step 104 fourth step 105 fifth step

Claims

[1] Method (V) for adapting a speed of an autonomous vehicle (1) as a function of an operating range (I, II, III) of the autonomous vehicle (1), wherein the autonomous vehicle (1) is operable in at least two adjacent operating ranges (I, II, III), wherein - a speed profile (A, B, C) for the autonomous vehicle (1) is defined for each operating range (I, II, III), - a change between two operating ranges (I, II, III) is detected, -based on the detected operating range (I, II, III), a suitable speed profile (A, B, C) is selected from the speed profiles (A, B, C), - a drive system (2) of the autonomous vehicle (1) is controlled by a control device (3) of the autonomous vehicle (1) in such a way that it provides drive energy so that the speed of the autonomous vehicle (1) is adjusted and the autonomous vehicle (1) moves according to the selected speed profile (A, B, C), -the operating areas (I, II, III) are detected by means of a positioning system (4), - when a change between two operating ranges (I, II, III) is detected, at least one environmental sensor (5) of the autonomous vehicle (1) is additionally controlled by means of the control device (3), so that said sensor changes its operating state (N, O). [2] Method (V) according to claim 1, wherein the operating areas (I, II, III) are recognized by means of an area assignment by an external control center (6). [3] Control device (3) for an autonomous vehicle (1), wherein the control device (3) is connectable to a drive system (2) of the autonomous vehicle (1), wherein the drive system (2) is controllable by means of the control device (3), wherein the control device (3) is additionally connectable to at least one environment sensor (5) of the autonomous vehicle (1), wherein the at least one environment sensor (5) is controllable by means of the control device (3), and wherein the control device (3) has means for carrying out the method (V) according to claim 1 or 2. [4] Computer program product comprising instructions which, when the program is executed by a control device (3) according to claim 3, carry out the method (V) according to one of claims 1 to 2. [5] Autonomous vehicle (1) comprising a drive system (2) and a control device (3) according to claim 3, wherein the control device (3) is connected to the drive system (2).

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