Methods for processing instructions to an autonomous vehicle and autonomous vehicles trained to execute such instructions.

Abstract

vehicle (107) that is trained, - to execute predefined instructions; - to identify at least one marker (105) in its vicinity to which one or more instructions for action are assigned; and - to determine the action instructions assigned to the marker (105); wherein the vehicle (107) stops or interrupts the execution of the predefined action instructions when it has detected the at least one marker (105) in its environment, and executes the action instructions assigned to the marker (105), and the vehicle (107) resumes the execution of the predefined action instructions when it has finished executing the action instructions assigned to the at least one marker (105), and the vehicle (107) stops when it detects a marking (105) in its environment to which a corresponding instruction for action is assigned, characterized in that the vehicle (107) is trained to determine one or more vehicle identifiers that are assigned to the at least one marker (105); wherein the vehicle (105) ignores the marker if its own vehicle identifier is not among the vehicle identifiers assigned to the marker (105).

Description

[0001] The invention relates to a vehicle according to the preamble of claim 1 and methods for controlling such a vehicle according to claims 3 to 5.

[0002] Self-driving transport vehicles controlled by markers are known from the prior art. The markers contain position data and control information, which are evaluated and implemented by the vehicle. US 9,586,585 B2 relates to an automated driving system that can recognize traffic police officers using signaling devices such as hand signals, flags, or signs and can specifically assign their signals to the vehicle. DE 10 2017 218 047 A1 relates to a device and a method for selecting a situation-dependent range of functions in a partially automated vehicle.

[0003] The transport vehicles follow predefined operating instructions. Deviations from these instructions are only possible through interventions via operating or programming interfaces. In particular, it is not possible to immediately stop or interrupt the execution of the operating instructions without switching off the respective vehicle.

[0004] The invention is based on the objective of increasing the flexibility of a vehicle that executes predefined instructions. This objective is achieved by a vehicle according to claim 1 and a method for controlling such a vehicle according to claims 3 to 5.

[0005] The vehicle according to the invention is designed to execute predefined instructions. It is preferably a forklift or other transport vehicle. In particular, it can be a self-driving vehicle. A self-driving vehicle is capable of driving independently, that is, without the intervention of a driver.

[0006] An instruction is a directive to the vehicle to perform a specific action. This action can, in particular, involve the movement of the vehicle. Specifically, the vehicle's speed and direction of travel can be determined in this way. A series of such instructions ultimately results in a route for the vehicle.

[0007] Predefined instructions are instructions that are executed sequentially and are already defined at runtime, i.e., during the operation of the respective vehicle.

[0008] The predefined instructions can be defined in various ways. For example, it is possible to store the predefined instructions on a storage medium that is read by the vehicle at runtime.

[0009] The vehicle is designed to detect at least one marking in its vicinity. Preferably, the vehicle detects the marking using one or more environmental sensors.

[0010] The vehicle's environment refers to the area surrounding the vehicle. It is therefore a spatial area in which the vehicle is located, and whose position is defined by the vehicle's position. In particular, the environment can be limited by the range of one or more of the vehicle's environmental sensors.

[0011] A marking, also called a marker, is a graphic identifier. In particular, the marking can be a code, such as a QR code or a barcode. Characters or numbers are also suitable as markings – individually or in combination with other identifiers. The marking can be applied to a sign or sticker, or directly to an object located in the vicinity of the vehicle.

[0012] One or more instructions are assigned to the marking. This means that the marking contains encoded information that constitutes the instructions or to which the instructions are assigned. The assignment of instructions to the information is preferably done using a corresponding data record stored on a data carrier in the vehicle or to which the vehicle has access via a data connection.

[0013] In order to execute the instructions associated with the marking, the vehicle is trained to determine these instructions. To do this, the vehicle deciphers the information encoded in the marking and, if necessary, reads the instructions by accessing the aforementioned data set.

[0014] As soon as the vehicle detects at least one marking in its environment, it, according to the invention, stops or interrupts the execution of the predefined instructions in order to execute the instructions associated with the marking. This requires that it has previously determined the instructions associated with the marking.

[0015] The invention prioritizes the action instructions associated with a marker over predefined action instructions. This makes it possible to influence the vehicle's actions at runtime by arranging appropriate markers in the vehicle's vicinity. In particular, it is possible to select the marker, and thus the action instructions associated with it, only at runtime, while the predefined action instructions are already being executed. This allows the vehicle's control to be flexibly adapted to changing circumstances or unforeseen events.

[0016] According to the invention, the vehicle resumes the interrupted execution of the predefined instructions once it has completed the execution of the instructions associated with the marking. This has the advantage over switching off the vehicle that the intended operational sequence, as defined by the instructions, is not aborted but only interrupted.

[0017] According to the invention, a signal is further provided that is associated with an instruction to stop the vehicle. If the vehicle detects such a signal, it stops according to the further invention. This is advantageous because stopping the vehicle is an appropriate response to numerous unforeseen events.

[0018] In order to selectively intervene in the control of individual, selected vehicles, one or more vehicle identifiers are assigned to the at least one marking according to the invention. The vehicle identifiers can, as described above, be directly encoded in the marking or linked to the marking by means of a data set.

[0019] A vehicle identification number (VIN) uniquely identifies a vehicle. A VIN is an identifier assigned to exactly one vehicle. This implies that different vehicles cannot have the same VIN.

[0020] The vehicle ignores the marker as required by the training protocol if its own vehicle identifier is not among those assigned to the marker, i.e., if the vehicle identifiers assigned to the marker differ from the vehicle's own identifier. In this case, the vehicle continues to execute the predefined instructions without interruption or cancellation.

[0021] A further preferred training system provides for at least two classes of markers. These classes characterize the priority of the markers they contain. Thus, markers in the first class are assigned a low priority, while markers in the second class are assigned a high priority. This means that the priority of markers in the first class is lower than that of markers in the second class. Conversely, the priority of markers in the second class is higher than that of markers in the first class.

[0022] The vehicle is further trained to determine whether at least one marker in its vicinity has a high or low priority. Based on this priority, the vehicle decides whether to proceed with predefined instructions. It continues executing these instructions if the marker has a low priority. This allows information or instructions to be transmitted to the vehicle via markers without interfering with its operational flow.

[0023] If at least one marker is assigned a high priority, the vehicle stops or interrupts the execution of the predefined instructions in order to execute the instructions assigned to the at least one marker instead.

[0024] A method according to the invention involves manual intervention in the operating sequence of a vehicle. According to the invention, a marker can be placed manually, i.e., by a person, in the vicinity of the vehicle according to the invention or a preferred embodiment. In particular, the marker can be held by a person located in the vicinity of the vehicle. The marker is preferably attached to a paddle, which the person brings into the detection range of the environmental sensors.

[0025] According to a further method according to the invention, a signal is transmitted to a display device located in the vicinity of the vehicle according to the invention or a preferred embodiment. The signal contains an encoded display, i.e., information to be displayed. The display device deciphers this information and displays it. This method makes it possible to issue virtually any instruction to the vehicle at runtime. In particular, it is possible to intervene in the sequence of predefined instructions from a control center.

[0026] Another method according to the invention provides for stopping the vehicle by placing a marker, to which an instruction for stopping the vehicle is associated, in the vicinity of a correspondingly enhanced vehicle. If the vehicle detects this marker, it stops.

[0027] A preferred embodiment of the invention is described in Fig. 1 shown. In detail: Fig. 1 one person and one vehicle.

[0028] The in Fig. Figure 101, depicted as a person, holds a paddle 103 with a QR code 105. The vehicle 107 has environmental sensors 109 with which it detects the QR code 105. The QR code 105 contains an instruction for the vehicle 107, which the vehicle 107 then executes. Reference sign 101 people 103 trowel 105 QR codes 107 vehicles 109 Environmental sensor

Claims

[1] vehicle (107) that is trained, - to execute predefined instructions; - to identify at least one marker (105) in its vicinity to which one or more instructions for action are assigned; and - to determine the action instructions assigned to the marker (105); wherein the vehicle (107) stops or interrupts the execution of the predefined action instructions when it has detected the at least one marker (105) in its environment, and executes the action instructions assigned to the marker (105), and the vehicle (107) resumes the execution of the predefined action instructions when it has finished executing the action instructions assigned to the at least one marker (105), and the vehicle (107) stops when it detects a marking (105) in its surroundings to which a corresponding action instruction is assigned, characterized by , that the vehicle (107) is trained to determine one or more vehicle identifiers that are assigned to the at least one marker (105); wherein the vehicle (105) ignores the marker if its own vehicle identifier is not among the vehicle identifiers assigned to the marker (105). [2] Vehicle (107) according to claim 1; characterized by , that the vehicle (107) is trained to determine whether the at least one marker (105) is assigned a high or a low priority; wherein the vehicle (107) only stops or interrupts the execution of the predefined instructions if the marker (105) is assigned a high priority. [3] Method for steering a vehicle (107) according to any of the preceding claims; characterized by , that a marker (105) is placed manually in the vicinity of the vehicle (107). [4] Method for steering a vehicle (107) according to one of claims 1 to 2; characterized by, that a signal is transmitted to a display device located in the vicinity of the vehicle (1007); wherein the display device displays the signal. [5] Method for stopping a vehicle (107) according to claim 1 ; characterized by , that a marker, to which a corresponding instruction for action is assigned, is placed in the vicinity of the vehicle (107).

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