Method for executing handling instructions with a working machine

Abstract

The invention relates to a method for executing handling instructions with a working machine, wherein the method comprises, inter alia, the following steps: determining whether the respective orientation of the handling instruction corresponds with the direction of travel of the working machine within a first tolerance; for handling instructions with an orientation differing by no more than the first tolerance relative to the direction of travel, determining a respective absolute distance between the working machine and the respective handling instruction based on the position of the working machine and the respective position of the handling instruction; for handling instructions with an absolute distance that is smaller than a first predefinable value, determining a respective relative distance between the working machine and the respective handling instruction in the direction of travel of the working machine and transverse to the direction of travel of the working machine based on the position of the respective handling instruction, the position of the working machine and the direction of travel of the working machine; and for handling instructions with a relative distance that is smaller than a second predefinable value, actuating an external control device for carrying out the respective handling instruction. The invention also relates to a control device and a working machine.

Description

Technical field

[0001] The technical field relates to a method for executing instructions with a working machine, as well as a control unit which is set up to execute the method for executing instructions and a working machine with such a control unit. State of the art

[0002] Methods for executing repetitive instructions are known from the prior art. For example, US 2021 / 0148083 A1 discloses systems and methods for guiding an autonomous loader to a dump truck. In some embodiments, a method may include receiving geolocation data for a dump truck, receiving geolocation data for an autonomous loader, raising a bucket on the autonomous loader, steering the autonomous loader using the loader's geolocation data and the dump truck's geolocation data so that the bucket is positioned over the dump truck's superstructure or loading platform, and rotating the bucket downwards to discharge a load onto the dump truck's loading platform. Description of the invention

[0003] The invention relates to a method for executing instructions with a working machine. The working machine can be a truck or construction machine, such as a wheel loader, excavator, or bulldozer. An instruction, or event, can be a directive to perform an action. The instruction can consist of commands to execute the action. The action can be an action to be performed with the working machine. For example, the action could be raising a bucket of the working machine. The method can be executed iteratively. The method can be executed at periodic intervals. The method can be used to execute repetitive instructions. In particular, the method can be used to execute location-dependent and repetitive instructions.For example, at a first location, a first action instruction can always be executed by the procedure whenever the machine is at that first location. The procedure allows the execution of the first action instruction at the first location to be carried out automatically.

[0004] The process includes a step for reading information related to instructions. This information can be read from a service tool, such as a central service tool. If the process is executed iteratively, the reading step can occur only in the first step. Alternatively or additionally, the reading step can be performed whenever information related to instructions has been updated, for example, by the central service tool. For each instruction, information is read for one position and up to one orientation. The position of the instruction can describe the location where the instruction is to be executed. In other words, each instruction can be uniquely assigned a position where it is to be carried out.Additionally, information regarding the orientation of the action instruction can be read in. This orientation information can be used to execute the instruction, meaning the instruction is only carried out when the machine is moving in the direction specified in the instruction. Alternatively, information about a position can be read in for an action instruction, but no information about its orientation. In other words, such an action instruction can be applied regardless of direction. The position information can be provided as two-dimensional coordinate information, and the orientation information as a degree value in a global and stationary reference frame.

[0005] Furthermore, the method includes a step for acquiring the position of the machine. This acquiring step can occur in any iterative step of executing the method. For example, a first position of the machine can be acquired at a first time, and a second position, different from the first, can be acquired at a second, later time. The method also includes a step for determining a change in the machine's position. This step can be based on the acquired position of the machine. In particular, the step can be based on positions acquired at least two different times.

[0006] The method further includes a step of determining the direction of travel of the working machine based on changes in the working machine's position. Thus, the step of determining the direction of travel can be performed depending on the working machine's changing position over time.

[0007] The procedure further includes a step to determine whether the orientation of the instruction matches the direction of travel of the machine within a first tolerance. For each instruction for which an orientation has been recorded, the orientation can be compared with the direction of travel of the machine. The first tolerance can be specified in degrees and, for example, stipulate that a deviation of up to 10° is permissible for the orientation of a given instruction to match the direction of travel. If the direction of travel of the machine cannot be determined accurately enough due to its slow speed, the step of determining whether the orientation matches the direction of travel can be skipped or positively evaluated for each instruction.The determination step can only be performed for instructions for which an orientation has been defined. For instructions without an orientation, this determination step can be skipped.

[0008] The procedure further includes a step of determining an absolute distance between the machine and the respective instruction. This step of determining the absolute distance is performed for instructions with an orientation relative to the direction of travel that differs by no more than the first tolerance. InIn other words, the step of determining the absolute distance for all instructions with an orientation that differs from the machine's direction of travel by more than the tolerance can be avoided. If determining the machine's direction of travel was not possible due to insufficient vehicle speed, the step of determining the absolute distance for all instructions can be performed. The step of determining the absolute distance can also be performed for an instruction for which no orientation has been read and which is direction-independent. The absolute distance can be defined in absolute and stationary coordinates as the distance between the 2D coordinates of each instruction's position and the detected position of the machine. Determining the absolute distance is based on the machine's position and the respective position of the instruction.

[0009] The procedure further includes a step of determining a relative distance between the machine and the respective instruction, both in the machine's direction of travel and perpendicular to it. This step of determining the relative distance is performed for instructions with an absolute distance that is less than a first predefined value. The first predefined value can represent a passive search window, which can be constant or variable. Determining the relative distance can be omitted for all instructions with an absolute distance that is at least equal to or greater than the first predefined value. In other words, determining the relative distance can be performed for all instructions that lie within the passive search window.The step of determining the relative distance is based on the positions of the respective instructions, the position of the machine, and the direction of travel of the machine.

[0010] The procedure further includes a step of controlling an external control unit to execute the respective instruction. This control step is performed for instructions with a relative distance that is smaller than a second predefined value. The second predefined value can be an active search window. There can be a predefined value for a distance in the direction of travel and a different, predefined value for a distance perpendicular to the direction of travel. In other words, the active search window can be circular or rectangular. The position of the respective instruction can be singular, meaning it consists of only a single point in space. Alternatively, the position of the instruction can consist of a region, for example, a circular area, around a singular central point of the instruction.Targeting can occur if the position and, if applicable, the area around the position of the action instruction overlaps with the active search window of the machine. In other words, targeting can occur for all action instructions whose position lies within the active search window or whose area intersects the active search window.

[0011] Advantageously, a method has been demonstrated with which position-dependent action instructions can be executed. To verify which action instructions should be executed, the method can advantageously be used to ensure the most efficient execution possible. The sequence of steps in the method ensures that the necessary steps of determining the absolute and relative distances are only performed for those action instructions that are relevant, i.e., triggerable, based on the orientation and position of the action instruction and the direction of travel of the machine. This can reduce the computational effort of the steps by avoiding unnecessary steps.By using a direction component for the action instruction, the triggering can be made direction-dependent, and the computational effort can also be reduced by using this direction component early on.

[0012] According to another embodiment, the instruction can be for controlling a transmission, operating a work tool, controlling a drive motor, controlling a steering system, and controlling brakes. Controlling the transmission can involve engaging a differential lock and, alternatively or additionally, engaging a gear. Operating the work tool can, for example, involve raising a bucket on an excavator. Controlling the drive motor can, for example, involve controlling the drive motor with a minimum or maximum torque and, alternatively or additionally, with a minimum or maximum power output. Controlling the drive motor, steering, and brakes can describe an instruction for an autonomous driving function, a speed limit, or a driving strategy such as driving uphill or downhill.The instruction can alternatively or additionally involve setting a parameter in memory. For example, a parameter can be set that is used for comparison with sensor measurement data. For instance, a distance sensor can be influenced by a comparison parameter that can be parameterized via the instruction, such that the sensor's sensitivity can be adjusted to be more or less sensitive based on the instruction. Thus, when driving through certain sectors, represented as the position of an instruction, a distance sensor can be made more sensitive.

[0013] Advantageously, a single method can be used to execute various instructions that are to be carried out at specific positions. For example, when driving uphill, the transmission can always be controlled at the same position, namely at the bottom of the hill, to engage a lower gear. This relieves the operator of the machine by automatically performing the repetitive task of engaging a lower gear at the bottom of the hill.

[0014] According to a further embodiment, the method can also include a step of determining whether the respective instruction lies in the direction of travel or against the direction of travel of the machine. This determination step can be based on the direction of travel of the machine and the respective position of the instruction. In other words, it can be determined individually for each instruction whether it lies in the direction of travel or against the direction of travel of the machine. This can be achieved by dividing a machine coordinate system into two areas. A front area can extend from the machine in the direction of travel, and a rear area can extend from the machine against the direction of travel. Each instruction located in the front area can therefore be in the direction of travel, and each other can be against the direction of travel.

[0015] This determination step can be performed qualitatively, thus avoiding the need to transform the coordinates of the action instructions' positions into the machine's coordinate system. The step of determining the absolute distance can be performed for each action instruction in the direction of travel of the machine. For all action instructions in the front area, the step of determining the absolute distance can be performed. The step of determining the absolute distance can be omitted for all action instructions against the direction of travel.In conjunction with the step of determining whether the orientation of the instruction corresponds to the direction of travel within a first tolerance, the step of determining the absolute distance can only be carried out for those instructions which are both in the direction of travel and whose orientation corresponds to the direction of travel within the first tolerance.

[0016] Advantageously, the procedure can thus ensure that the further steps of determining the absolute and relative distances are only carried out for the instructions that lie in the direction of travel and can therefore be approached and thus executed. This can save computing resources when executing the procedure.

[0017] According to a further embodiment, the method can also include a step of determining a direction vector relative to the machine for each instruction. This step of determining a direction vector can be performed for all instructions whose orientation coincides with the direction of travel within the first tolerance. Alternatively or additionally, this step can be performed for all instructions that lie in the direction of travel of the machine. The step of determining the direction vector can be based on the position of the machine and the position of the respective instruction. The step of determining the absolute distance for each instruction can be performed if the direction vector of the respective instruction coincides with the direction of travel of the machine within a second tolerance.The step of determining the absolute distance can be performed for all action instructions whose respective direction vector coincides with the direction of travel within the second tolerance. A direction vector of an action instruction can be the relative direction from the position of the machine to the position of the respective action instruction. In other words, a direction vector for an action instruction can be obtained by subtracting the position of the machine from the position of the respective action instruction in stationary coordinates.

[0018] Advantageously, the step of determining the absolute distance can thus be performed only for those instructions whose direction vector coincides with the direction of travel within the second tolerance. In other words, the step of determining the absolute distance can be performed only for those instructions in the direction in which the machine is moving. This avoids the computationally intensive determination of the absolute and, in particular, the relative distance for all other instructions whose direction vector does not coincide with the direction of travel within the second tolerance. The machine does not move towards these instructions, and therefore unnecessary computational effort for further determination steps can be avoided. Execution of these instructions cannot be expected.

[0019] According to a further embodiment, the method may also include a step of storing information about an instruction. The information about the instruction can be stored in a storage medium. This information may include the direction vector of the instruction, the absolute distance between the machine and the instruction, the relative distance between the machine and the instruction, whether the instruction is in the direction of travel of the machine, and whether the orientation of the instruction differs from the direction of travel of the machine by no more than the first tolerance.In other words, the storage step can store the values ​​determined in the steps of determining direction vectors, absolute distances, relative distances, and whether the instruction is in the direction of travel and whether its orientation matches the direction of travel. Thus, all available and determined information can be stored for all instructions. For example, for a first instruction, for which it has only been determined that its orientation differs from the direction of travel of the machine by more than the first tolerance, only this information needs to be stored. For a second instruction, for which the direction vector and absolute distance have also been determined, the direction vector and absolute distance can be additionally stored.For a third instruction, for which the relative distance has also been determined, this specific relative distance can also be stored.

[0020] Advantageously, within the iterative process, all specific information relating to all instructions can be stored for each iteration step. This allows access to this information in later iterations. As a result, the process can be used iteratively to execute the instructions, enabling individual computational steps to access previously defined values. This minimizes the computational effort in each iteration and increases the accuracy of the process.

[0021] According to another embodiment, information relating to instructions can be in the form of a list. For example, a first entry in the list can describe a first instruction, and a second entry can describe a second instruction. The list can be stored in the step of storing the instruction information. The method can further include a step of sorting the list of instructions. In other words, the sorting step can be performed in an iterative step of the method, depending on the step of storing the instruction information from a previous step of the method.Entries in the list of instructions can be sorted based on information from the step of determining the direction vector, the absolute distance, the relative distance, whether the orientation matches the direction of travel, and whether the instruction corresponds to the direction of travel. During the sorting step, the order of the instruction entries can be changed depending on the information provided about the instructions. For example, the first instruction for which all determination steps have been completed, including the determination of a relative distance, can be placed at the beginning of the list. A second instruction for which an absolute distance, but no relative distance, has been determined, can then be placed chronologically after this second instruction.The step of determining whether the respective orientation differs from the direction of travel by no more than the first tolerance can be performed based on the list sorted in the sorting step. Alternatively or additionally, the step of determining whether the instruction in each case lies in the direction of travel can be performed based on the list sorted in the sorting step. In In other words, values ​​determined in a first iterative pass of the procedure, such as relative and absolute distances, can be addressed by sorting the list of instructions. This sorted list can then be used in a subsequent, second iterative pass of the procedure. The determination steps can thus be performed in a sorted order according to the sorted instructions.

[0022] Advantageously, when iterating the procedure, previously determined and stored information on instructions can be accessed. Sorting allows further determination in the next iterative step of the procedure to initially proceed in chronological order of the list, thus prioritizing the more relevant instructions. Therefore, the procedure can be preferentially used to execute the instructions that are chronologically higher up in the list.

[0023] According to a further embodiment, the method can also include a step of reading information for a new instruction. A new instruction can be a new event, for example, a new action at a new location. The reading step can be confirmed by a user. The user can confirm the instruction via a user interface of the machine, for example, a touchscreen. For instance, the user might be prompted to save the new instruction to engage a lower gear when driving uphill. The user can confirm this via the user interface. Alternatively or additionally, the user can enter a new instruction via the user interface and confirm it simultaneously.The step of determining whether the respective orientation differs from the direction of travel of the machine by no more than the first tolerance can be performed based on the new action instruction confirmed in the confirmation step. Alternatively or additionally, the step of determining whether the action instruction lies in the direction of travel can be performed based on the new action instruction confirmed in the confirmation step. Alternatively or additionally, the step of determining the direction vector of the new action instruction, the absolute distance, and the relative distance can be performed based on the confirmed new action instruction.

[0024] Therefore, the procedure can also be used for newly emerging instructions for action.

[0025] According to a further embodiment, the method can also include a step of accessing the user interface with information on instructions. This allows the user to see instructions on the touchscreen of the machine. The user interface access step can be based on the information on instructions stored in the saving step. In other words, the specific direction vectors, absolute distances, relative distances, whether the instruction is in the direction of travel, and whether its orientation differs from the direction of travel can be displayed. Furthermore, information on the actual action of the instruction can be displayed, for example, the action of lifting a shovel or the action of engaging a gear.

[0026] Thus, the procedure for displaying all available information can be used to provide instructions to the user of the machine.

[0027] According to a further embodiment, the method can also include a step of capturing user input via the user interface. The user input can include confirmation via the touchscreen. The execution step can be based on the user input captured in the capture step. In other words, only those instructions that have been confirmed and released by the user can be executed. Alternatively or additionally to executing the instruction depending on the capture step, stored information relating to at least one instruction can be deleted by user input and, alternatively or additionally, manipulated. For example, if the user believes that an obsolete instruction has been stored, the user can delete it.

[0028] Advantageously, this method can also be used for safety-critical instructions, as all safety-critical instructions can only be executed once they have been approved by the user. Furthermore, the user can manipulate the list to only see instructions relevant to them.

[0029] According to a further embodiment, the step of determining the relative distance in the direction of travel and perpendicular to the direction of travel can only be performed for those instructions for which the absolute distance between the machine and the respective instruction did not increase over time during the step of determining the absolute distance. In other words, it can be observed during iterative execution of the method that the absolute distance between the machine and the first instruction increases between two successive execution steps of the method. For such a first instruction, the step of determining the relative distance can be avoided, since the machine effectively moves away from the instruction, rendering the determination of the relative distance obsolete.

[0030] Advantageously, a computationally intensive step of determining the relative distance can thus be avoided for all those instructions where the absolute distance increases during iterative execution of the procedure and the instructions are therefore irrelevant.

[0031] According to a further embodiment, the second predefinable value can depend on a driving state of the machine. The driving state can, for example, describe a speed and, alternatively or additionally, an acceleration of the machine. Thus, the second predefinable value, or the active search window, can be larger at a high speed of the machine than at a slower speed. During lateral acceleration of the machine, for example when cornering, the second predefinable value can be larger, particularly in the lateral direction, than during lower lateral acceleration, for example, when the machine is traveling straight ahead.

[0032] Advantageously, this allows the system to react to different driving conditions by adjusting the second predefined value, i.e., the active search window. The method can therefore be used for executing instructions under various driving conditions of the machine. For example, if the machine is traveling faster, an instruction can be executed at a relative distance that would not be possible at a lower speed.

[0033] In another aspect, the invention relates to a control unit which is configured to execute the method according to an embodiment of the preceding aspect of the invention.

[0034] Another aspect concerns the machine equipped with such a control unit, as described in the previous section. The machine may have a GPS receiver for determining its position. Furthermore, the machine may have an interface for reading information related to operating instructions and for generating new ones. Additionally, the machine may have a user interface, such as a touchscreen, for displaying information related to operating instructions. The user interface can also be used to capture user input and confirm new operating instructions. Finally, the machine may have a transmission for executing the operating instructions. For example, the transmission may include a differential lock. Brief description of the characters

[0035] Figure 1 schematically shows the steps of a method for executing instructions according to one embodiment. Figure 2 schematically shows components of a machine and instructions for working with the machine. Detailed description of embodiments

[0036] Figure 1 Figure 1 schematically shows the steps of a procedure for executing instructions 4, 6, 8, 9 according to one embodiment. Instructions 4, 6, 8, 9 are in Figure 2 shown which schematic components of a working machine 2 and instructions 4, 6, 8, 9 around the working machine 2.

[0037] The machine 2 has a control unit 10, which is configured to execute the procedure. The machine 2 has an interface 3, which is configured to read in information on the instructions 4, 6, 8 in a reading step S0. The machine 2 has a GPS receiver 14 for recording S3 a position of the machine 2. Depending on the recording step S3 of the position of the machine 2, the control unit 10 is configured to determine a change in the position of the machine 2 at at least two different times in a determination step S3.1. The control unit 10 is configured to determine a direction of travel 2a of the machine 2 in a determination step S4 based on the change in the position of the machine 2 determined in step S3.1. The in the Figure 2 The direction of travel shown is 2a, which points to the right.

[0038] Control unit 10 is configured to execute step S5.1 of determining whether each orientation 4a, 6a of the action instruction 4, 6 corresponds to the direction of travel 2a within a first tolerance. The orientations 4a, 6a were read in step S0. As in Figure 2 As shown, some action instructions 4 and 6 each have an orientation 4a and 6a, respectively. The orientations 4a and 6a shown point to the right. Some action instructions 8 and 9 are direction-independent and have no orientation. In the reading step S0, no orientation was read for action instructions 8. The orientations 4a and 6a correspond within the first tolerance to the direction of travel 2a of the machine 2.

[0039] The control unit 10 is further configured to execute step S5.2 of determining whether the action instruction 4, 6, 8 is located in the direction of travel 2a. In the embodiment shown in Figure 2, action instructions 4, 6 are located in the direction of travel 2a, and action instruction 8 is located opposite the direction of travel 2a.

[0040] The control unit 10 is further configured to determine a step S6 of a direction vector for each action instruction 4, 6. The respective direction vector is determined relative to the position of the working machine 2 based on the position of the working machine 2 and the respective position of the action instruction 4, 6. The determination step S6 is performed for all action instructions 4, 6 whose orientation 4a, 6a corresponds to the direction of travel 2a within the first tolerance and which lie in the direction of travel 2a.

[0041] The control unit 10 is configured to execute step S7 of determining an absolute distance between the machine 2 and each of the instructions 4 and 6. Step S7 is performed for all instructions 4 and 6 with a direction vector that corresponds to the direction of travel of the machine 2 within a second tolerance. Thus, instruction 4 lies within the second tolerance of the direction of travel 2a of the machine 2, whereas instruction 6 lies outside this second tolerance. In other words, instruction 6 is too far removed from the direction of travel 2a of the machine 2. Therefore, step S7 is not performed for instruction 6, nor for instruction 8. This saves processing power.

[0042] The control unit 10 is configured to execute step S8 of determining a relative distance between the working machine 2 and the respective action instruction 4. The step of determining S8 is performed for action instruction 4 because the absolute distance between the position of action instruction 4 and the position of the working machine 2 is smaller than a first predefinable value. The first predefinable value is determined by a passive search window 16, shown in Figure 2 , described. In other words, instruction 4 is located in passive search window 16. This saves computing power, since the relative distance does not need to be determined for instructions 6 and 8.

[0043] The control unit 10 is further configured to execute a step of controlling S9 of an external control unit (not shown) to carry out the action instruction 4. Controlling S9 is performed for action instruction 4 because the relative distance is smaller than a second predefinable value. The second predefinable value is described by an active search window 18. In other words, action instruction 4 is located in the active search window 18. Action instruction 4 involves engaging a gear in the transmission of the working machine 2.

[0044] The control unit 10 is configured to execute a saving step S10. Saving S10 occurs depending on the determining steps S5.1, S5.2, S6, S7, and S8. Thus, all determined direction vectors, absolute and relative distances, whether the orientation 4a, 6a is in the direction of travel 2a, and whether the action instruction 4, 6, 8 is in the direction of travel 2a, are stored in a storage medium not shown.

[0045] The control unit 10 is configured to control a user interface 12, for example a touchscreen in the illustrated embodiment, in one step of a control signal S11. The control signal S11 is transmitted with information relating to action instructions 4, 6, and 8. This displays all specified values, such as direction vectors, absolute distances, and relative distances. The driver can thus access all information relating to all action instructions 4, 6, and 8 via the user interface 12.

[0046] The procedure further includes a step S12 for capturing user input via the user interface 12. The capture step S12 is dependent on the activation step S11. In other words, information is displayed to the user in step S11, which is then confirmed by the user in step S12. Thus, for a safety-critical instruction 4, the user can enable activation S9 in step S12.

[0047] The procedure further includes a sorting step S2 of a list of information relating to instructions 4, 6, 8. The sorting step S2 is dependent on the storage step S10 of information relating to instructions in an iteratively preceding execution step of the procedure. Furthermore, the sorting step S2 is dependent on the capture step S12 of user input. For example, the user can delete an instruction 4, 6, 8, and the sorting step S2 is then performed without this deleted instruction 4, 6, 8. Depending on the determined and stored information relating to instructions 4, 6, 8, entries relating to instructions 4, 6, 8 are sorted according to their relevance, based on direction vectors and distances. The determination step S5.1 and the determination step S5.Step 2 in the next iterative step of the procedure depends on the sorting step S2. Furthermore, steps S6-S9 depend on the sorted list.

[0048] The procedure further includes a step S1 of reading a new action instruction 9. Reading S1 is performed via interface 3. In a confirmation step S1.1, the user confirms the new action instruction 9 via the touchscreen using user interface 12. Thus, the new action instruction 9 is added to the existing list of action instructions 4, 6, 8 by the user's confirmation S1.1. An iterative next step of determining S5.1 and determining S5.2 then takes place for all action instructions 4, 6, 8, 9. Furthermore, steps S6-S9 depend on the sorted list. Reference sign

[0049] 2 Working machine 2a Direction of travel of the working machine 3 Interface 4, 6, 8, 9 Instruction 4a, 6a Orientation of the instruction 10 Control unit 12 User interface 14 GPS receiver 16 Passive search window 18 Active search window S0 Reading information on instructions S1 Reading a new instruction S1.1 Confirming the new instruction S2 Sorting a list of information on instructions S3 Capturing a position of the working machine S3.1 Determining a change in the position of the working machine S4 Determining a direction of travel of the working machine S5.1 Determining whether an orientation of the instruction matches the direction of travel of the working machine S5.2. Determine whether the instruction is in the direction of travel. S6. Determine a direction vector for each instruction. S7. Determine an absolute distance between the machine and each instruction. S8. Determine a relative distance between the machine and each instruction. S9. Control an external control unit to execute the instruction. S10. Store information about instructions. S11. Control the user interface with information about instructions. S12. Capture user input via the user interface.

Claims

1. Method for executing action instructions (4, 6, 8) using a work machine (2), the method comprising the steps of: reading in (S0) information about action instructions (4, 6, 8), with information about one position and about up to one alignment (4a; 6a) being read in for each action instruction (4; 6; 8), detecting (S3) a position of the work machine (2) and determining (S3.1) a change in the position of the work machine (2), characterized by determining (S4) a direction of travel (2a) of the work machine (2) on the basis of the change in the position of the work machine (2), determining (S5.1) whether the particular alignment (4a; 6a) of the action instruction (4; 6) matches the direction of travel (2a) of the work machine (2) within a first tolerance, determining (S7), for each action instruction (4; 6; 8) having an alignment (4a; 6a) with respect to the direction of travel (2a) that differs by no more than the first tolerance, an absolute distance between the work machine (2) and the respective action instruction (4; 6; 8) on the basis of the position of the work machine (2) and the respective position of the action instruction (4; 6; 8), determining (S8), for each action instruction (4; 6; 8) having an absolute distance that is less than a first predefinable value, a relative distance between the work machine (2) and the respective action instruction (4; 6; 8) in the direction of travel (2a) of the work machine (2) and transversely with respect to the direction of travel (2a) of the work machine (2) on the basis of the position of the respective action instruction (4; 6; 8), the position of the work machine (2) and the direction of travel (2a) of the work machine (2), and actuating (S9), for action instructions (4; 6; 8) having a relative distance that is less than a second predefinable value, an external control unit for executing the respective action instruction (4; 6; 8).

2. Method according to Claim 1, wherein the action instruction (4; 6; 8) is one from actuating a transmission, operating an implement, actuating a drive motor, actuating a steering system and actuating brakes.

3. Method according to either of Claims 1 and 2, further comprising a step of determining (S5.2) whether the respective action instruction (4; 6; 8) is with the direction of travel (2a) or against the direction of travel (2a) of the work machine (2) on the basis of the direction of travel (2a) of the work machine (2) and the respective position of the action instruction (4; 6; 8), and the step of determining (S7) the absolute distance for a respective action instruction (4; 6; 8) being performed in the direction of travel (2a) of the work machine (2).

4. Method according to one of the preceding claims, further comprising a step of reading in (S1) information about a new action instruction (9), the reading-in step (S1) being confirmed by a user in a confirmation step (S1.1), and the step of determining (S5.1) whether the respective alignment (4a; 6a) differs from the direction of travel (2a) of the work machine (2) by no more than the first tolerance being performed on the basis of the new action instruction (9) confirmed in the confirmation step (S1.1).

5. Method according to one of the preceding claims, further comprising a step of determining (S6) one direction vector for a respective action instruction (4; 6; 8) on the basis of the position of the work machine (2) and the position of the respective action instruction (4; 6; 8), the step of determining (S7) the absolute distance for a respective action instruction (4; 6; 8) being performed if the direction vector of the respective action instruction matches the direction of travel (2a) of the work machine (2) within a second tolerance.

6. Method according to Claim 5, further comprising a step of storing (S10) information about an action instruction (4; 6; 8), the information being one from the respective direction vector of the action instruction (4; 6; 8), the absolute distance between the work machine (2) and the action instruction (4; 6; 8), the relative distance between the work machine (2) and the action instruction (4; 6; 8), whether the action instruction (4; 6; 8) is in the direction of travel (2a) of the work machine (2) and whether the alignment (4a; 6a) of the action instruction (4; 6) differs from the direction of travel (2a) of the work machine (2) by no more than the first tolerance.

7. Method according to Claim 6, wherein information about action instructions (4, 6, 8) is available in the form of a list, the list having been stored in the step of storing (S10) information relating to the action instruction (4; 6; 8), the method further comprising a step of sorting (S2) the list of information about action instructions (4, 6, 8), and the step of determining (S5.1) whether the respective alignment (4a; 6a) differs from the direction of travel (2a) of the work machine (2) by no more than the first tolerance being performed on the basis of the list sorted in the sorting step (S2).

8. Method according to either of Claims 6 and 7, further comprising a step of actuating (S11) a user interface (12) with information about action instructions (4, 6, 8) on the basis of the information about action instructions (4, 6, 8) that is stored in the storage step (S10).

9. Method according to Claim 8, further comprising a step of capturing (S12) a user input via the user interface (12), the actuation step (S9) being performed on the basis of the user input captured in the capture step (S12).

10. Method according to one of the preceding claims, wherein the step of determining (S8) the relative distance is carried out only for the action instructions (4, 6, 8) for which, in the step of determining (S7) the absolute distance between the work machine (2) and the respective action instruction (4; 6; 8), the absolute distance has not increased over the course of time.

11. Method according to one of the preceding claims, wherein the second predefinable value is dependent on a driving condition of the work machine (2).

12. Control unit (10) configured to carry out the method according to one of the preceding claims.

13. Work machine (2) having a control unit (10) according to Claim 12, a GPS receiver (14) for determining (S3.1) a position of the work machine (2), an interface (3) for reading in (S0) information about action instructions (4, 6, 8), a user interface (12) for displaying information about the action instructions (4, 6, 8) as a result of actuation (S11), for capturing (S12) a user input and for confirming (S1.1) a new action instruction (9), and further having a transmission for executing the action instructions (4, 6, 8) as a result of actuation (S9).

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