Autonomous transport system and procedures for operating an autonomous transport system

Abstract

The invention relates to an autonomous traffic system (10) comprising an autonomous vehicle (12) and a first object localization system (16) for localizing (102.1) mobile objects (17), in particular vulnerable road users (18), in order to avoid collisions between the vehicle (12) and the objects (17), wherein the first object localization system (16) comprises a radio sensor arrangement (22), wherein the first object localization system (16) is configured to determine tag localization information (106) of a radio tag (26) using the radio sensor arrangement (22) (104), wherein the first object localization system (16) is configured to determine object localization information (110, 150) of an object (17) based on the tag localization information (106) (108), wherein the first object localization system (16) is configured to output the object localization information (110, 150) to transfer to the vehicle (12) (112),wherein the vehicle (12) is equipped to move autonomously on the basis of the object localization information (110, 150) (114), characterized in that the radio sensor arrangement (22) is stationary.

Description

[0001] The invention relates to an autonomous traffic system comprising an autonomous vehicle, a first object localization system for localizing mobile objects, in particular vulnerable road users, in order to avoid collisions between the vehicle and the objects, wherein the first object localization system comprises a radio sensor arrangement, wherein the first object localization system is configured to determine tag localization information of a radio tag by means of the radio sensor arrangement, wherein the first object localization system is configured to determine object localization information of an object based on the tag localization information, wherein the object localization system is configured to transmit the object localization information to the vehicle, wherein the vehicle is configured to move autonomously based on the object localization information,

[0002] The invention also relates to a method for operating an autonomous traffic system, in particular an autonomous traffic system as described above, wherein the autonomous traffic system comprises an autonomous vehicle, wherein the method comprises: locating mobile objects in order to avoid collisions between the vehicle and the objects, wherein the locating of mobile objects comprises: determining tag localization information of a radio tag by means of a radio sensor arrangement, determining object localization information of an object on the basis of the tag localization information, wherein the method further comprises: transmitting the object localization information to the vehicle, moving the vehicle on the basis of the object localization information.

[0003] Autonomous vehicles typically have object localization systems for locating vulnerable road users (VRUs) to avoid collisions between the vehicles and the VRUs. Such object localization systems typically include sensors such as cameras, lidars, and radars, and locate VRUs based on optical and electronic image processing. However, a VRU moving toward a planned trajectory of the vehicle may be obscured from the vehicle's object localization system, e.g., by another parked vehicle or a building. This can increase the risk of collision, as the available braking time is sometimes significantly reduced.

[0004] Publications US 2022 / 0388505 A1 and WO 2021 / 118675 A1 disclose autonomous traffic systems with localization systems for locating vulnerable road users (VRUs). Both publications describe "passive mechanisms," characterized by the fact that the VRU does not carry a mobile device, such as a smartphone. In these passive mechanisms, stationary units detect the VRU using optical sensors such as cameras and transmit the information for locating the vulnerable road users to the vehicles. A disadvantage is that the use of optical sensors and cameras for localization requires a relatively high computational effort and therefore time. Both publications also describe "active mechanisms," characterized by the fact that the VRUs carry a mobile device, such as a smartphone.With these active mechanisms, the vehicles communicate with the VRUs' mobile devices, allowing the vehicles to determine the VRUs' position. One disadvantage is that the detection accuracy using these devices and technologies is significantly less accurate than with the tags used here. Another disadvantage is that the use of smartphones cannot be easily mandated, or the costs for dedicated smartphones are simply too high. Furthermore, this would require, for example, the installation of special software on the mobile device, which is not the case with tags.

[0005] The paper, Li, Chunxu, Henry Bulman, Toby Whitley, and Shaoxiang Li, 2022. "Ultra-Wideband Communication and Sensor Fusion Platform for the Purpose of Multi-Perspective Localization," Sensors 22, no. 18: 6880. https: / / doi.org / 10.3390 / s22186880, primarily describes a system for localizing robots using stationary ultra-wide-band (UWB) anchors. The robots carry UWB tags whose location can be determined using the UWB anchors. Chapter 5 also describes a system involving a tractor equipped with UWB anchors, with people near the tractor wearing UWB tags. While localization using UWB anchors and tags enables or improves precise localization, the latter system has the disadvantage that the tractor may not be able to locate people who are occluded to the tractor and its UWB anchors.

[0006] It is an object of the invention to improve safety in an autonomous traffic system.

[0007] This purpose is achieved by an autonomous traffic system according to claim 1, in particular in that the radio sensor arrangement is stationary.

[0008] The system according to the invention determines object location information using a stationary radio sensor array. Due to the stationary arrangement of the radio sensor array, the first object location array can generally locate objects that are hidden from the vehicle. When the first object location system transmits the object location information of an object that is hidden from the vehicle to the vehicle, the first object location system ensures that the vehicle is able to detect objects that it would otherwise not be able to detect. In other words, the first object location system, which transmits the object location information to the vehicle, ensures that the vehicle can also "see" hidden objects.

[0009] Although objects can theoretically be occluded even for the first object localization system, the autonomous vehicle itself and the additional and stationary first object localization system together are capable of detecting an object and its object localization information with significantly higher reliability than the vehicle alone would be able to do.

[0010] The system according to the invention thus offers a high degree of safety, as collisions can be avoided with high reliability.

[0011] The stationary arrangement of the radio sensor arrangement also has the advantage that the first object localization arrangement can be easily arranged taking into account the environment, for example taking into account large stationary objects, such as buildings, or for example taking into account typical behaviors of mobile objects, such as taking into account typical parking spaces.

[0012] The first object localization system can also help when the vehicle's sensors aren't working as expected, for example, in bad weather conditions. This further increases safety.

[0013] Since the radio sensor arrangement is stationary, it is essentially separate from the vehicle.

[0014] The wireless sensor array ensures fast and reliable object localization. In particular, the wireless sensor array can operate with less computational effort and therefore with simpler hardware, making it more robust than a camera-based object localization system because no image processing is required. Furthermore, wireless sensors are generally more easily accepted by people than camera-based systems because they do not use cameras and therefore do not require facial recognition techniques.

[0015] A mobile object to be located can generally be any moving object, e.g. a person, an animal or a vehicle. In particular, the mobile object can be a vulnerable road user (VRU). If the object is another vehicle, it can in particular be a vehicle that is not set up to communicate with the autonomous vehicle. The first object localization system can therefore also detect and locate vehicles that are either not autonomous or not connected to the system. An example of such a system is a manually operated vehicle, such as a forklift truck, moving on a factory premises where autonomous vehicles are also operating. Other examples are slow-moving trains or large, partially mobile infrastructure such as loading cranes and the like.

[0016] The method may preferably also comprise fusing the object localization information with an output of a sensor system of the vehicle.

[0017] According to one embodiment, the radio sensor array is a UWB anchor array, and the radio tag is a UWB tag. This embodiment ensures particularly high precision and detection speed when locating the object. UWB stands for "Ultra Wide Band." UWB anchors are electronic devices that capture the UWB pulses emitted by the UWB tags and forward them to a control unit to calculate the positions of the tags based on the time of flight (ToF) of the tag pulses to each anchor.

[0018] Alternatively, the wireless sensor array can also be based on a different wireless technology. For example, the wireless sensor array can be a Bluetooth, Wi-Fi, RFID, or similar sensor array, and the wireless tag can be a corresponding tag. Of particular note here are technologies based, for example, on the so-called angle-of-arrival principle, in which increased localization precision can be achieved even with fundamentally less accurate technologies through a special antenna arrangement based on phase or angle measurement.

[0019] Object localization information can generally include the object's position, trajectory, velocity, and / or orientation. Such information further improves collision avoidance because potential collisions can be predicted with greater accuracy.

[0020] The object location information can also include object identity information and / or object type information. The information transmitted by the tag can also include information about the type of tagged object. Example: Such tags usually have unique identifiers as their name. These could be assigned to an object class in a database. For example, tags whose unique identifiers begin with a P could be incorporated into a high-visibility vest and would therefore always designate a pedestrian, while those with a V declare a vehicle. This additional information could then be used later on to improve the processing of the information. For example, in the form of a sanity check: Does the measured speed or the location data match the type of object? A tag declared as a pedestrian that is moving at 40 km / h is more likely to be sitting in a car than walking.

[0021] According to one embodiment, the first object localization system is configured to determine the tag localization information using triangulation. This is a simple yet precise and reliable approach to localizing the tag.

[0022] The radio sensor arrangement can preferably comprise at least three radio sensors. This ensures particularly precise object localization. The at least three radio sensors can preferably be UWB anchors.

[0023] According to one embodiment, the first object localization system comprises a, in particular stationary, first detector arrangement, in particular a camera arrangement, wherein the first detector arrangement is stationary, and wherein the first object localization system is configured to determine the object localization information based on an output of the first detector arrangement. In this embodiment, the object localization information is determined by fusing sensor data from the radio sensor arrangement on the one hand and the first detector arrangement on the other. This ensures a more comprehensive and more accurate determination of the object localization information of the object. The first detector arrangement can comprise one or more detectors. The first detector arrangement can preferably comprise a camera, video camera, an infrared camera, a time-of-flight (ToF) camera, a radar detector, a lidar detector, and / or an ultrasound detector.The one or more detectors of the detector array may be positioned at substantially the same positions as the one or more wireless sensors of the wireless sensor array.

[0024] According to one embodiment, the vehicle comprises a radio tag, and the first object location system is configured to determine vehicle location information of the vehicle based on tag location information of the vehicle's radio tag and to transmit the vehicle location information to the vehicle. This improves the location determination of the vehicle itself by providing additional information. In this way, the vehicle can adapt its self-location system or continue driving if the vehicle's self-location system is not functioning as desired. This embodiment is fundamentally to be understood as meaning that in addition to locating objects that could collide with the vehicle, the vehicle itself is also located.

[0025] According to one embodiment, the autonomous traffic system comprises a restricted-access area, wherein the vehicle is configured to move within the restricted-access area, and wherein the first object localization system is configured to monitor the restricted-access area. The advantages of the invention are enhanced in such a system because, in a restricted-access area, it is particularly easy to enforce that mobile objects, in particular people, wear radio tags at all times when moving within the restricted-access area. Thus, the embodiment ensures extremely reliable localization of mobile objects.

[0026] According to one embodiment, the vehicle comprises a second object localization system, wherein the second object localization system comprises a second detector arrangement, in particular a camera arrangement, wherein the second object localization system is configured to determine object localization information of an object based on an output of the second detector arrangement, and wherein the vehicle is configured to move autonomously based on the object localization information determined by the second object localization system. The vehicle is thus configured to detect objects with the aid of at least one detector, in particular a camera, and this is susceptible to the objects being obscured. In this embodiment, the invention improves collision avoidance and safety to a particularly high degree.

[0027] According to one embodiment, the first object localization system is configured to determine an orientation of an object by determining the respective tag localization information from at least two radio tags attached to the object. This further improves collision avoidance and safety by providing the vehicle with even more relevant information. The at least two radio tags should preferably be spaced as far apart as possible to improve the accuracy of determining the orientation. This can be advantageously used, for example, for determining the orientation of a vehicle, in particular a long vehicle such as a truck or a bus. This vehicle can be the autonomous vehicle of the system according to the invention or another vehicle.

[0028] According to one embodiment, the autonomous traffic system comprises at least one fastening device configured to be attached to the object, and wherein the fastening device comprises a radio tag. This simplifies ensuring that the object always carries a radio tag when moving within the autonomous traffic system. The fastening device is generally a device that facilitates attaching the tag to the object. The fastening device can be, for example, a safety vest, a collar, or a wristband.

[0029] The autonomous vehicle can be, for example, a commercial vehicle, a truck, a tractor unit, a trailer, in particular a truck - trailer, a bus, a train, a locomotive or a car.

[0030] The autonomous vehicle can be a fully or partially autonomous vehicle.

[0031] The autonomous traffic system may comprise more than one autonomous vehicle. The first localization system may be configured to transmit the determined object localization information to all autonomous vehicles.

[0032] The first object localization system can be configured to detect more than one object simultaneously. The first object localization system can be configured to transmit the object localization information of all detected objects to the vehicle or vehicles. In general, the object or objects can be part of the autonomous traffic system.

[0033] The object of the invention is also achieved by a method according to the independent claim directed thereto, in particular in that the radio sensor arrangement is stationary.

[0034] The methods described herein can be advantageously further developed by the individual features and embodiments of the systems described herein and vice versa.

[0035] The invention is described below with reference to the examples shown in the schematic drawings. Fig. 1 shows an autonomous transport system. Fig. 2 shows a fastening device. Fig. 3 shows another fastening device. Fig. 4 shows a method for operating an autonomous traffic system. Fig. 5 shows object localization information. Fig. 6 shows a determination of an orientation.

[0036] In Fig. 1 shows an autonomous transport system 10. The autonomous transport system 10 includes an autonomous vehicle 12. Fig. 1 also shows another vehicle 14, which may be, for example, a manually controlled vehicle.

[0037] The autonomous transport system 10 of the Fig. 1 comprises a first object localization system 16 for localizing mobile objects 17. Such a mobile object 17 is a vulnerable road user 18, i.e., a person moving in an area 20 in which the autonomous vehicle 12 also moves. The area 20 is a restricted-access area. This means that the vulnerable road user 18 can move within the area 20, but that the area 20 is not entirely public. Rather, the vulnerable road user 18 can move within the area 20, in particular, only under certain conditions. The area 20 can, for example, be the premises of a factory or a logistics center.

[0038] The vehicle 14 can also be an object 17 that is to be located. The focus in Fig. 1, however, is on the localization of the endangered road user 18, since this is hidden from the vehicle 12, as will be explained in more detail below.

[0039] In Fig. 1 shows a trajectory 21.1 of vehicle 12 and a trajectory 21.2 of vulnerable road user 18. Trajectories 21.1 and 21.2 have a shape that makes a collision likely if vehicle 12 does not take vulnerable road user 18 into account.

[0040] The vehicle 12 is configured to move within the restricted access area 20. The first object location system 16 is configured to monitor the restricted access area 20.

[0041] The first object localization system 16 comprises a radio sensor array 22, which includes a plurality of radio sensors, in this example, three radio sensors 22.1, 22.2, and 22.3. The radio sensor array 22 is preferably embodied as a UWB anchor array 24 and preferably includes three UWB anchors 24.1, 24.2, and 24.3.

[0042] Fig. 1 also shows a plurality of radio tags 26. A first radio tag 26.1 is attached to the endangered road user 18. A second radio tag 26.2 and a third radio tag 26.3 are attached to the autonomous vehicle 12. A fourth radio tag 26.4 and a fifth radio tag 26.5 are attached to the vehicle 14. The radio tags 26.2 and 26.3 attached to the vehicle 12 serve to more reliably determine the so-called ego localization of the vehicle 12, i.e., the location where the vehicle itself is located. The vehicle itself performs this, for example, using GPS data, as well as so-called SLAM algorithms, which operate on the basis of sensors mounted on the vehicle and orient themselves based on the environment. However, such systems are susceptible to incorrect measurements caused by the environment (e.g., tall buildings or metal walls). The use of radio tags on the restricted terrain allows for more precise localization in such circumstances.The localization data can then be coordinated with the vehicle's ego localization.

[0043] The radio tags 26 can preferably be UWB tags 28. In this case, a first UWB tag 28.1 is attached to the vulnerable road user 18. A second UWB tag 28.2 and a third UWB tag 28.3 are attached to the autonomous vehicle 12. A fourth UWB tag 28.4 and a fifth UWB tag 28.5 are attached to the vehicle 14.

[0044] The first object localization system 16 is configured to determine tag localization information of each of the radio tags 26 using the radio sensor array 22. The following will focus in particular on determining the tag localization information of the radio tag 26.1, which is attached to the endangered road user 18.

[0045] The first object localization system 16 is configured to determine object localization information of the endangered road user 18 based on the tag localization information of the radio tag 26.1. The first object localization system 16 is configured to transmit the object localization information of the endangered road user 18 to the vehicle 12 via a connection 30 between a control device 32 of the first object localization system 16 and the vehicle 12. The connection 30 is preferably a wireless connection. The control device 32 is connected to the radio sensors 22.1, 22.2, and 22.3 by respective connections 34. The connections 34 can also be wireless, for example.

[0046] The vehicle 12 is configured to move autonomously based on the object localization information.

[0047] The radio sensor arrangement 22 and the radio sensors 22.1, 22.2 and 22.3 are arranged stationary.

[0048] The first object localization system 16 comprises a first detector arrangement 36, in particular a camera arrangement. The first detector arrangement 36 comprises detectors 36.1, 36.2, and 36.3. The detectors can be implemented as cameras, for example. The detectors 36.1, 36.2, and 36.3 are directed toward the area 20 and the endangered road user 18. The first object localization system 16 is configured to determine the object localization information based on an output of the first detector arrangement 36. The output of the detector arrangement 36, or the outputs of the detectors 36.1, 36.2, and 36.3, are transmitted via the connections 34 to the control device 32. The control device 32 is configured to determine the object localization information based both on the tag localization information and on an output of the first detector arrangement 36. Thus, sensor data fusion takes place in the control device 32.This allows the object localization information to be determined particularly accurately.

[0049] The vehicle 12 includes two radio tags 26.2 and 26.3. The first object localization system 16 is configured to determine vehicle localization information of the vehicle 12 based on tag localization information of the radio tag 26.2 and / or 26.3 of the vehicle 12 and to transmit the vehicle localization information to the vehicle 12 via the connection 30. The use of two tags enables the orientation (angle) of the vehicle 12 to be determined.

[0050] The vehicle 12 includes a second object localization system 38. The second object localization system 38 includes a second detector arrangement 40, in particular a camera arrangement. The second object localization system 38 is configured to determine object localization information of an object based on an output of the second detector arrangement 40. The vehicle 12 is configured to move autonomously based on the object localization information determined by the second object localization system 38.

[0051] The vehicle 12 thus includes its own means for locating objects, with the means for locating objects operating on the basis of optical signals. This is common and advantageous for autonomous vehicles such as the vehicle 12. However, a disadvantage is that optical signals can easily be obscured by other objects. Fig. 1, the endangered road user 18 is obscured from the second detector arrangement 40 and thus from the second object localization system 38, namely by the vehicle 14.

[0052] However, the first object localization system 16 with the stationary radio sensor arrangement 22 enables the vehicle 12 to take the endangered road user 18 into account during the movement of the vehicle 12, in particular well before the endangered road user 18 is visible to the second detector arrangement 40 of the vehicle 12. Thus, the safety of the endangered road user 18 is significantly increased because the vehicle 12 can react to the endangered road user 18 much earlier, for example, by reducing the speed of the vehicle 12.

[0053] The first object localization system 16 is configured to determine the orientation of an object by determining the respective tag localization information of at least two radio tags attached to the object. In the example of Fig. 1, two radio tags 26.2 and 26.3, or 26.4 and 26.5, are attached to both vehicle 12 and vehicle 14. The first object localization system 16 can determine the respective orientations of the two vehicles 12 and 14 based on the relevant tag localization information.

[0054] Fig. 2 shows a fastening device 50.1 which is designed to be attached to a vulnerable road user (in Fig. 2 not shown). The fastening device 50.1 is designed as a high-visibility vest. A radio tag 26 is attached to the fastening device 50.1. Using the fastening device 50.1, the radio tag 26 can be attached to a vulnerable road user.

[0055] Fig. 3 shows a fastening device 50.2 which is designed to be attached to a vulnerable road user (in Fig. 3 not shown). The fastening device 50.2 is designed as a wristband. A radio tag 26 is attached to the fastening device 50.2. Using the fastening device 50.2, the radio tag 26 can be attached to a vulnerable road user.

[0056] Fig. 4 shows a method 100 for operating an autonomous traffic system. For example, one according to Fig. 1. The autonomous transport system comprises a Fig. 4 autonomous vehicle (not shown). The method comprises a first localization 102.1 of mobile objects in order to avoid collisions between the vehicle and the objects. During the first localization 102.1, an endangered road user is located, for example. The first localization 102.1 of mobile objects comprises determining 104 a piece of tag localization information 106 of a radio tag using a stationary radio sensor arrangement and determining 108 an item of object localization information 110 of an object based on the tag localization information 106. The method also comprises transmitting 112 the object localization information 110 to the vehicle and moving 114 the vehicle based on the object localization information 110.

[0057] Determining 104 the tag localization information 106 includes triangulation 116.

[0058] The determination 108 of the object localization information 110 is also carried out on the basis of an output 118 of a first detector arrangement.

[0059] The method 100 includes a second localization 102.2 of the autonomous vehicle. The localization 102.2 of the autonomous vehicle includes determining 120 tag localization information 122 of a radio tag attached to the autonomous vehicle. The localization 102.2 of the vehicle also includes determining 124 vehicle localization information 126 of the autonomous vehicle based on the tag localization information 122. The method 100 also includes transmitting 128 the vehicle localization information 126 to the autonomous vehicle. The movement 114 of the vehicle also occurs based on the vehicle localization information 126.

[0060] The method 100 includes monitoring 128 a restricted-access area of ​​the autonomous traffic system. The monitoring 128 includes the first localization 102.1 and the second localization 102.2.

[0061] The method 100 includes determining 130 object location information 132 of an endangered road user. The object location information 132 of the endangered road user is determined based on an output 134 of a second detector array, which is part of the autonomous vehicle. The movement 114 of the vehicle occurs autonomously based on the object location information 132.

[0062] In Fig. 5, object localization information 150 is shown, which includes a position 152, a trajectory 154, a velocity 156 and an orientation 158 of the object.

[0063] In Fig.6 shows the determination 170 of an orientation 158 of an object. The determination 170 of the orientation 158 comprises a first determination 172.1 of tag localization information 174.1 of a first radio tag attached to the object. The determination 170 of the orientation 158 comprises a second determination 172.2 of tag localization information 174.2 of a second radio tag attached to the object. The orientation 158 is determined in a calculation step 176 based on the first tag localization information 174.1 and the second tag localization information 174.2. List of reference symbols (part of the description): 10 autonomous transport system 12 autonomous vehicle 14 vehicles 16 first object localization system 17 objects 18 vulnerable road users 20 Restricted access area 21.1 Trajectory 21.2 Trajectory 22 Radio sensor arrangement 22.1 Radio sensor 22.2 Radio sensor 22.3 Radio sensor 24 UWB anchor arrangement 24.1 UWB anchor 24.2 UWB anchor 24.3 UWB anchor 26 Radio Day 26.1 Radio Day 26.2 Radio Day 26.3 Radio Day 26.4 Radio Day 26.5 Radio Day 28.1 UWB tag 28.2 UWB tag 28.3 UWB Day 28.4 UWB Day 28.5 UWB day 30 connection 32 Control device 34 Connection 36 first detector arrangement 36.1 Detector 36.2 Detector 36.3 Detector 38 second object localization system 40 second detector arrangement 50.1 Fastening device 50.2 Fastening device 100 procedures 102.1 Determine 102.2 Determine 104 Investigate 106 Tag localization information 108 Investigate 110 Object localization information 112 Transfer 114 Move 116 Triangulation 118th issue 120 Investigate 122 Tag localization information 124 Investigate 126 Vehicle location information 128 Monitoring 130 Investigate 132 Object localization information 134th issue 150 Object localization information 152 positions 154 Trajectory 156 speed 158 Orientation 170 Investigate 172.1 Determine 172.2 Determine 174.1 Tag localization information 174.2 Tag localization information 176 calculation steps QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 2022 / 0388505 A1

[0004] WO 2021 / 118675 A1

[0004] Cited non-patent literature

[0000] Paper Li, Chunxu, Henry Bulman, Toby Whitley, and Shaoxiang Li. 2022. “Ultra-Wideband Communication and Sensor Fusion Platform for the Purpose of Multi-Perspective Localization” Sensors 22, no. 18: 6880. https: / / doi.org / 10.3390 / s22186880

[0005]

Claims

[1] Autonomous transport system (10) comprising an autonomous vehicle (12) and a first object localization system (16) for localizing (102.1) mobile objects (17), in particular endangered road users (18), in order to avoid collisions between the vehicle (12) and the objects (17), wherein the first object localization system (16) comprises a radio sensor arrangement (22), wherein the first object localization system (16) is configured to determine (104) tag localization information (106) of a radio tag (26) with the aid of the radio sensor arrangement (22), wherein the first object localization system (16) is configured to determine (108) object localization information (110, 150) of an object (17) on the basis of the tag localization information (106), wherein the first object localization system (16) is configured to transmit (112) the object localization information (110, 150) to the vehicle (12), wherein the vehicle (12) is configured to move (114) autonomously on the basis of the object localization information (110, 150), characterized by , that the radio sensor arrangement (22) is stationary. [2] Autonomous traffic system (10) according to one of the preceding claims, wherein the radio sensor arrangement (22) is a UWB anchor arrangement (24) and wherein the radio tag (26) is a UWB tag (28). [3] Autonomous traffic system (10) according to one of the preceding claims, wherein the object localization information (150) comprises a position (152), a trajectory (154), a speed (156) and / or an orientation (158) of the object (17). [4] Autonomous traffic system (10) according to one of the preceding claims, wherein the first object localization system (16) is configured to determine the tag localization information (106, 122) by means of triangulation (116). [5] Autonomous traffic system (10) according to one of the preceding claims, wherein the first object localization system (16) comprises a first detector arrangement (36), wherein the first detector arrangement (36) is stationary, and wherein the first object localization system (16) is configured to determine (108) the object localization information (110, 150) on the basis of an output (118) of the first detector arrangement (36). [6] Autonomous traffic system (10) according to one of the preceding claims, wherein the vehicle (12) comprises a radio tag (26.2, 26.3) and wherein the first object localization system (16) is arranged to to determine vehicle localization information (126) of the vehicle (12) on the basis of tag localization information (122) of the radio tag (26.2, 26.3) of the vehicle (12) and to transmit (128) the vehicle location information (126) to the vehicle (12). [7] Autonomous transport system (10) according to one of the preceding claims, wherein the autonomous transport system (10) comprises a restricted access area (20), wherein the vehicle (12) is adapted to move in the restricted access area (20), and wherein the first object location system (16) is configured to monitor (128) the restricted access area (20). [8] Autonomous traffic system (10) according to one of the preceding claims, wherein the vehicle (12) comprises a second object localization system (38), wherein the second object localization system (38) comprises a second detector arrangement (40), wherein the second object localization system (38) is configured to determine (130) object localization information (132) of an object (18) based on an output (134) of the second detector arrangement (40), and wherein the vehicle (12) is configured to move autonomously based on the object location information (132) determined by the second object location system (38). [9] Autonomous traffic system (10) according to one of the preceding claims, wherein the first object localization system (16) is configured to determine (170) an orientation (158) of an object (17) by determining (172.1, 172.2) the respective tag localization information (172.1, 172.2) of at least two radio tags (26) attached to the object (17). [10] Autonomous traffic system (10) according to one of the preceding claims, wherein the autonomous traffic system (10) comprises at least one fastening device (50.1, 50.2) which is adapted to be attached to the object (17), and wherein the fastening device (50.1, 50.2) comprises a radio tag (26). [11] Method (100) for operating an autonomous traffic system (10), in particular an autonomous traffic system (10) according to one of the preceding claims, wherein the autonomous traffic system (10) comprises an autonomous vehicle (12), wherein the method (100) comprises: Localizing (102.1) mobile objects (17) to avoid collisions between the vehicle (12) and the objects (17), wherein the localization (102.1) of mobile objects (17) comprises: Determining (104) tag localization information (104) of a radio tag (26) by means of a radio sensor arrangement (22), Determining (108) object localization information (110) of an object (17) on the basis of the tag localization information (106), The method (100) further comprises: Transmitting (112) the object location information (110) to the vehicle (12), moving (114) the vehicle (12) based on the object location information (110), wherein the method (100) characterized by is that the radio sensor arrangement (22) is stationary.

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