Procedures for operating an autonomous vehicle

Abstract

The invention relates to a method for operating an autonomous vehicle (1) in an environment, wherein the autonomous vehicle (1) has a front laser scanner (10) and a rear laser scanner (11) for recording laser scans for detecting objects, and wherein the autonomous vehicle (1) has a map of the environment, and wherein the autonomous vehicle (1) has a navigation computer (13) which determines a position of the autonomous vehicle (1) in the map by comparing objects detected by the laser scanners (10, 11) with objects recorded in the map, wherein at least one special zone is defined in the map, and wherein, upon entry of the autonomous vehicle (1) into the special zone, the position of the autonomous vehicle (1) in the map is determined by the navigation computer (13) exclusively by comparing objects detected by exactly one of the laser scanners (10, 11).is determined using objects recorded on the map. The invention also relates to an autonomous vehicle that can be operated using the method according to the invention.

Description

[0001] The invention relates to a method for operating an autonomous vehicle in an environment, wherein the autonomous vehicle has a front laser scanner and a rear laser scanner for recording laser scans for detecting objects, and wherein the autonomous vehicle has a map of the environment, and wherein the autonomous vehicle has a navigation computer which determines a position of the autonomous vehicle in the map by comparing objects detected by the laser scanners with objects recorded in the map.

[0002] The environment is, in particular, a technical facility, such as a production plant, an industrial hall, a paint shop, or a logistics center. Autonomous vehicles are used, for example, to transport materials within the technical facility. The technical facility also contains other objects, such as walls, columns, production machines, pallets, boxes, containers, or transport trolleys, as well as people and other autonomous vehicles. The autonomous vehicles also have sensors, particularly laser scanners for recording laser scans, for detecting such objects.

[0003] Objects in the environment, such as walls, columns, production machinery, pallets, boxes, containers, or transport trolleys, are assigned to objects that are recorded on the map. If an object in the environment is detected by a laser scanner of an autonomous vehicle, the location of the autonomous vehicle on the map can be determined by comparing the detected object with an object recorded on the map.

[0004] DE 10 2023 002 384 A1 discloses a method for operating a technical system comprising several autonomous vehicles. The autonomous vehicles include laser scanners for recording laser scans to detect objects and have a map of the surroundings. By evaluating the detected objects, the locations of the autonomous vehicles on the map are determined.

[0005] An autonomous vehicle and a method for operating the autonomous vehicle are described in the document "MOBILE INDUSTRIAL ROBOTS: MiR 250: User Guide (en). Date: 07 / 2020. Revision: v.1.2." Odense, DK, 2020. 211 pages. URL: https: / / www.jugardkuenstner.de / fileadmin / daten / Bilder / Intralogistik / MiR_Transportsystem / MiR100_MiR200 / mir250 _user_guide_12_en.pdf.

[0006] This becomes problematic if the autonomous vehicle is in a position where one of the laser scanners is oriented inappropriately for detecting objects. In such a case, this can lead to incorrect detection of objects and thus an incorrect determination of the autonomous vehicle's position on the map.

[0007] The invention is based on the object of developing methods for operating an autonomous vehicle in an environment.

[0008] The object is achieved by a method for operating an autonomous vehicle in an environment having the features specified in claim 1. Advantageous embodiments and further developments are the subject of the subclaims.

[0009] A method for operating an autonomous vehicle in an environment is proposed. The autonomous vehicle has a front laser scanner and a rear laser scanner for recording laser scans to detect objects, and the autonomous vehicle has a map of the environment. Furthermore, the autonomous vehicle has a navigation computer that determines a position of the autonomous vehicle on the map by comparing objects detected by the laser scanners with objects recorded on the map.

[0010] According to the invention, at least one special zone is defined on the map. When the autonomous vehicle enters the special zone, the navigation computer determines the autonomous vehicle's position on the map exclusively by comparing objects detected by exactly one of the laser scanners with objects recorded on the map.

[0011] Special zones are defined within the environment at locations where it is known that one of the autonomous vehicle's laser scanners has an orientation unsuitable for detecting objects. Such locations are, for example, directly in front of a wall, in front of a mirror, or on a ramp. According to the invention, in such a special zone, only the laser scanner with a suitable orientation is used for position determination. This advantageously prevents incorrect detection of objects and thus an incorrect determination of the autonomous vehicle's position on the map.

[0012] According to an advantageous development of the invention, when the autonomous vehicle exits the special zone, the navigation computer determines the position of the autonomous vehicle on the map by comparing objects detected by the front laser scanner and the rear laser scanner with objects recorded on the map. This improves the detection of objects and thus the determination of the autonomous vehicle's position on the map.

[0013] According to an advantageous embodiment of the invention, at least one special zone is defined on the map as a front scanner zone. When the autonomous vehicle enters the front scanner zone, the navigation computer determines the position of the autonomous vehicle on the map exclusively by comparing objects detected by the front laser scanner with objects recorded on the map. Front scanner zones are defined within the environment at locations where it is known that the rear laser scanner of the autonomous vehicle has an orientation unsuitable for detecting objects.

[0014] According to an advantageous embodiment of the invention, at least one special zone is defined on the map as a back-scanning zone. When the autonomous vehicle enters the back-scanning zone, the navigation computer determines the position of the autonomous vehicle on the map exclusively by comparing objects detected by the rear laser scanner with objects recorded on the map. Back-scanning zones are defined within the environment at locations where the front laser scanner of the autonomous vehicle is known to have an orientation unsuitable for detecting objects.

[0015] According to an advantageous embodiment of the invention, at least one special zone is defined on the map as a forward scan zone. When the autonomous vehicle enters the forward scan zone, the navigation computer determines the position of the autonomous vehicle on the map exclusively by comparing objects detected by the laser scanner that reaches the forward scan zone first with objects recorded on the map. Forward scan zones are defined within the environment at locations where it is known that the laser scanner that reaches the forward scan zone last—i.e., the laser scanner located at the rear in the current direction of travel—has an orientation unsuitable for detecting objects.

[0016] According to an advantageous embodiment of the invention, at least one special zone is defined on the map as a reverse scan zone. When the autonomous vehicle enters the reverse scan zone, the navigation computer determines the position of the autonomous vehicle on the map exclusively by comparing objects detected by the laser scanner that last reaches the reverse scan zone with objects recorded on the map. Reverse scan zones are defined within the environment at locations where it is known that the laser scanner that first reaches the forward scan zone—i.e., the laser scanner located at the front in the current direction of travel—has an orientation unsuitable for detecting objects.

[0017] According to an advantageous embodiment of the invention, at least one special zone is defined in the map as a directional scanning zone. When the autonomous vehicle enters the directional scanning zone, the navigation computer determines the position of the autonomous vehicle on the map exclusively by comparing objects detected by the laser scanner, which is offset from a center point of the autonomous vehicle in a predetermined direction, with objects recorded on the map. Directional scanning zones are defined within the environment at locations where it is known that the laser scanner, which is oriented in a specific direction, has an orientation unsuitable for detecting objects.

[0018] According to an advantageous development of the invention, the environment comprises a flat floor and a ramp that slopes toward the flat floor. The ramp is defined as a directional scan zone in the map of the environment.

[0019] Preferably, the predetermined direction in which the laser scanner is offset from the center of the autonomous vehicle is directed uphill. On a ramp, it is known that a laser scanner directed downhill has an orientation unsuitable for detecting objects. Downhill, the laser scanner only sees the ground, not objects on the ground.

[0020] The invention is not limited to the combination of features in the claims. Further possible combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to those skilled in the art, particularly from the problem and / or the problem posed by comparison with the prior art.

[0021] The invention will now be explained in more detail with reference to the accompanying drawings. The invention is not limited to the exemplary embodiments shown in the drawings. The drawings only represent the subject matter of the invention schematically. They show: Fig. 1: a schematic top view of an autonomous vehicle and Fig. 2: a schematic side view of an autonomous vehicle in an environment.

[0022] Fig. Figure 1 shows a schematic plan view of an autonomous vehicle 1. The autonomous vehicle 1 is used in particular for transporting material within an environment. The autonomous vehicle 1 has a preferred direction of travel 3. The autonomous vehicle 1 is configured to move in the preferred direction of travel 3, opposite to the preferred direction of travel 3, and also laterally to the preferred direction of travel 3.

[0023] The autonomous vehicle 1 has a center point 15, which corresponds, for example, to a center of gravity of the autonomous vehicle 1. Alternatively, the center point 15 is, for example, a geometric center of the autonomous vehicle 1, which corresponds to an intersection point of two diagonals of a rectangle, wherein the rectangle represents a contour of the autonomous vehicle 1 viewed from above. Alternatively, the center point 15 is a center of a drive axle.

[0024] The autonomous vehicle 1 has a drive device for driving the autonomous vehicle 1, an electrical energy storage device for supplying the drive device, and a control unit for controlling the drive device. Furthermore, the autonomous vehicle 1 has a communication device for wireless communication with other autonomous vehicles 1 and with a higher-level server. The communication device of the autonomous vehicle 1 is designed, for example, for data transmission via WLAN, Bluetooth, or light.

[0025] The autonomous vehicle 1 has a front laser scanner 10 and a rear laser scanner 11. The laser scanners 10, 11 are mounted at opposite corners of the autonomous vehicle 1 and each detect objects within an angular range of approximately 270°. The front laser scanner 10 is arranged at a corner of the autonomous vehicle 1 that is located in front of the center point 15 in the preferred direction of travel 3.

[0026] The rear laser scanner 11 is arranged at a corner of the autonomous vehicle 1, which is located behind the center point 15 in the preferred direction of travel 3.

[0027] The front laser scanner 10 is thus positioned in front of the center point 15 in the preferred direction of travel 3, and the rear laser scanner 11 is positioned behind the center point 15 in the preferred direction of travel 3. The front laser scanner 10 and the rear laser scanner 11 each serve to record laser scans for detecting objects in the surrounding area. When an object is detected, the laser scanners 10, 11 record the distance to the object and the direction in which the object is located.

[0028] The environment contains objects, such as walls, pillars, and production machines. Autonomous vehicle 1 has a map of the environment. These objects are each assigned to objects that are listed on the map of the environment. The positions of the objects are also listed as object positions on the map.

[0029] The autonomous vehicle 1 has a navigation computer 13. The navigation computer 13 is used to localize the autonomous vehicle 1, i.e., to determine the position of the autonomous vehicle 1 on the map. Laser scans are recorded by the laser scanners 10, 11 of the autonomous vehicle 1. The navigation computer 13 evaluates the recorded laser scans.

[0030] Objects detected in the laser scans are compared by the navigation computer 13 with objects recorded on the map. The autonomous vehicle 1 is localized by comparing objects detected by the laser scanners 10, 11 with objects recorded on the map. The position and, optionally, the orientation of the autonomous vehicle 1 on the map are determined by the navigation computer 13.

[0031] Fig.Figure 2 shows a schematic side view of an autonomous vehicle in an environment. The environment could be a technical facility, such as a production plant, an industrial hall, a paint shop, or a logistics center. It is also conceivable, for example, that the environment represents part of a town or a residential area. The environment includes several autonomous vehicles 1. Only one such autonomous vehicle 1 is shown in the present illustration.

[0032] The environment has a flat floor 5. The environment also has a ramp 7, which slopes toward the flat floor 5. In the illustration shown here, the autonomous vehicle 1 is located on the ramp 7. The autonomous vehicle 1 is moving in its preferred direction of travel 3 and uphill on the ramp 7. The front laser scanner 10 is thus arranged offset uphill from the center point 15 of the autonomous vehicle 1.

[0033] In this case, ramp 7 is defined on the map of the surrounding area as a directional scan zone. The directional scan zone represents a special zone on the map. When the autonomous vehicle 1 enters the special zone, the position of the autonomous vehicle 1 on the map is determined by the navigation computer 13 exclusively by comparing objects detected by exactly one of the laser scanners 10, 11 with objects recorded on the map. Within the special zone, therefore, not both laser scanners 10, 11 are used to determine the position of the autonomous vehicle 1 on the map, but only one of the two laser scanners 10, 11.

[0034] When the autonomous vehicle 1 exits the special zone, the navigation computer 13 again determines the position of the autonomous vehicle 1 on the map by comparing objects detected by the front laser scanner 10 and the rear laser scanner 11 with objects recorded on the map. Outside the special zone, both laser scanners 10, 11 are used again to determine the position of the autonomous vehicle 1 on the map.

[0035] When the autonomous vehicle 1 enters the directional scanning zone, the position of the autonomous vehicle 1 on the map is determined by the navigation computer 13 exclusively by comparing objects detected by the laser scanner 10, 11, which is arranged offset from the center 15 of the autonomous vehicle 1 in a predetermined direction, with objects recorded on the map.

[0036] In this case, the directional scanning zone is ramp 7. The specified direction in which the laser scanner 10, 11, which is used to determine the position of the autonomous vehicle 1 on the map, is offset from the center point 15 of the autonomous vehicle 1, is directed uphill in this case. Thus, in this case, the front laser scanner 10 is used to determine the position of the autonomous vehicle 1 on the map.

[0037] When the autonomous vehicle 1 enters the directional scanning zone shown here in the preferred direction of travel 3, i.e., when driving uphill on the ramp 7, the front laser scanner 10 is used exclusively to determine the position of the autonomous vehicle 1 on the map. The position of the autonomous vehicle 1 on the map is thus determined by the navigation computer 13 exclusively by comparing objects detected by the front laser scanner 10 with objects recorded on the map. List of reference symbols 1 autonomous vehicle 3 preferred direction of travel 5 flat floor 7 Ramp 10 front laser scanner 11 rear laser scanner 13 navigation computers 15 Center

Claims

[1] Method for operating an autonomous vehicle (1) in an environment, wherein the autonomous vehicle (1) has a front laser scanner (10) and a rear laser scanner (11) for recording laser scans for detecting objects, and wherein the autonomous vehicle (1) has a map of the surroundings, and wherein the autonomous vehicle (1) has a navigation computer (13) which by comparing objects detected by the laser scanners (10, 11), with objects listed on the map determines a position of the autonomous vehicle (1) in the map, characterized by , that at least one special zone is defined on the map, and that when the autonomous vehicle (1) enters the special zone the position of the autonomous vehicle (1) in the map from the navigation computer (13) exclusively by comparing objects that are detected by exactly one of the laser scanners (10, 11), with objects listed on the map is determined. [2] Method according to claim 1, characterized by , that when the autonomous vehicle (1) leaves the special zone the position of the autonomous vehicle (1) in the map from the navigation computer (13) by comparing objects detected by the front laser scanner (10) and the rear laser scanner (11), with objects listed on the map is determined. [3] Method according to one of the preceding claims, characterized by that at least one special zone is defined in the map as a front scanner zone, and that when the autonomous vehicle (1) enters the front scanner zone the position of the autonomous vehicle (1) in the map from the navigation computer (13) exclusively by comparing objects detected by the front laser scanner (10), with objects listed on the map is determined. [4] Method according to one of the preceding claims, characterized by that at least one special zone is defined in the map as a backscanner zone, and that when the autonomous vehicle (1) enters the backscanner zone the position of the autonomous vehicle (1) in the map from the navigation computer (13) exclusively by comparing objects detected by the rear laser scanner (11) with objects recorded in the map is determined. [5] Method according to one of the preceding claims, characterized by that at least one special zone is defined in the map as a forward scan zone, and that when the autonomous vehicle (1) enters the forward scan zone the position of the autonomous vehicle (1) in the map from the navigation computer (13) exclusively by comparing objects detected by the laser scanner (10, 11) that reaches the forward scan zone first, with objects listed on the map is determined. [6] Method according to one of the preceding claims, characterized by that at least one special zone is defined in the map as a reverse scan zone, and that when the autonomous vehicle (1) enters the reverse scan zone the position of the autonomous vehicle (1) in the map from the navigation computer (13) exclusively by comparing objects detected by the laser scanner (10, 11) that reaches the reverse scan zone last, with objects listed on the map is determined. [7] Method according to one of the preceding claims, characterized by that at least one special zone is defined in the map as a directional scanning zone, and that when the autonomous vehicle (1) enters the directional scanning zone the position of the autonomous vehicle (1) in the map from the navigation computer (13) exclusively by comparing objects detected by the laser scanner (10, 11) which is arranged offset from a center point (15) of the autonomous vehicle (1) in a predetermined direction, with objects listed on the map is determined. [8] Method according to claim 7, characterized by , that the environment has a flat floor (5) and a ramp (7) which is inclined to the flat floor (5), and that the ramp (7) is defined as a directional scan zone in the map of the surroundings. [9] Method according to claim 8, characterized by, that the predetermined direction in which the laser scanner (10, 11) is offset from the center point (15) of the autonomous vehicle (1), is directed uphill.

Images