Method, control unit for handling a vehicle configured to follow a set of pre-recorded routes

Abstract

A method for handling a vehicle (1) configured to follow a set of pre-recorded routes when travelling from a first position (4) to a second position (6) in a work site (100) is provided. The set of pre-recorded routes comprises a first pre-recorded route (10) and a second pre-recorded route (20). The method comprises determining that one or more transition conditions are fulfilled. The one or more transition conditions at least comprise that a first part (11) of the first pre-recorded first route (10) overlaps a second part (21) of the second pre-recorded route (20). The method comprises, with the proviso that the one or more transition conditions are determined to be fulfilled, triggering the vehicle (1) to follow the second pre-recorded route (20).

Description

[0001] METHOD, CONTROL UNIT FOR HANDLING A VEHICLE CONFIGURED TO FOLLOW A SET OF PRE-RECORDED ROUTES

[0002] TECHNICAL FIELD

[0003] Embodiments herein relate to a method and a control unit for handling a vehicle configured to follow a set of pre-recorded routes when travelling from a first position to a second position in a work site. Furthermore, a vehicle, a computer program, and a carrier are also provided herein.

[0004] BACKGROUND

[0005] Autonomous work vehicles may operate and travel in work sites by being configured to follow pre-recorded routes. To record, generate and commission long pre-recorded routes is complex and time-consuming. In particular, a recording phase of a long route is very sensitive to errors as if a mistake is made somewhere along the recorded route, the entire route needs to be re-recorded. Moreover, when a recorded route needs to be updated upon significant changes in the environment of the route, long routes are likely to have to be updated more often than shorter routes.

[0006] Hence there is a strive to improve handling of pre-recorded routes.

[0007] SUMMARY

[0008] As a part of developing embodiments herein one or more problems have been identified and will first be discussed. Due to problems with the use of long routes being difficult to handle, e.g., as an update requires a recording of a long route which takes time and reduces productivity, it may be desirable to instead of a long route, have several shorter routes that can be combined to cover long tramming distances rather than using one long route.

[0009] However, when following and operating along a pre-recorded route, also referred to as a playback of a pre-recorded route, a vehicle first needs to finish following a first route, stop, and then travel to the start of a second route and / or arrange its pose to align with the second route, and only then start to follow the second route. In other words, there is a performance degradation related to switching routes, which for long routes is negligible, but for short routes quickly becomes productivity limiting as a vehicle that is often switching routes will stand still and / or perform aligning operations most of its time. An object of embodiments herein is to improve efficiency and flexibility of using prerecorded routes in a work site.

[0010] According to a first aspect, a method for handling a vehicle configured to follow a set of pre-recorded routes when travelling from a first position to a second position in a work site is provided. The set of pre-recorded routes comprises a first pre-recorded route and a second pre-recorded route.

[0011] The method comprises determining that one or more transition conditions are fulfilled. The one or more transition conditions at least comprise that a first part of the first pre-recorded first route overlaps a second part of the second pre-recorded route.

[0012] The method comprises, with the proviso that the one or more transition conditions are determined to be fulfilled, triggering the vehicle to follow the second pre-recorded route.

[0013] In this way, the vehicle may start to follow the second pre-recorded route without any performance degradation and thereby improving efficiency of using the set of prerecorded routes. In particular since it is determined that the one or more transition conditions are fulfilled, and since the first pre-recorded first route overlaps the second part of the second pre-recorded route, the vehicle is already in correct pose and location to start to follow the second route, and may thereby proceed without any or minimal performance degradation to the vehicle operations when starting to follow the second prerecorded route.

[0014] Furthermore, since at least the first pre-recorded route and the second pre-recorded route are used for the vehicle to travel between the first position to the second position, an increased flexibility for recording routes is achieved since smaller distances may be recorded at least partly overlapping one another, thereby allowing quicker and more flexible updates of parts of the travel path between the first position and the second position.

[0015] In some examples, the set of pre-recorded routes is a queue of pre-recorded routes. In these examples, the vehicle is configured to travel from the first position to the second position by following each route in the set of pre-recorded routes in an order indicated by the queue of pre-recorded routes.

[0016] In this way, efficiency of the vehicle operating in the set of pre-recorded routes is further improved. This is since the vehicle may, without any or with minimal performance degradation when starting to follow the subsequent route in the queue, in the order indicated by the queue of pre-recorded routes. Since the queue may imply three or more route to follow between the first and second position, further increased flexibility for recording routes is achieved as even smaller distances may be recorded, also allowing quicker and more flexible updates of parts of the travel path between the first position and the second position.

[0017] Furthermore, the routes in the queue may flexibly be predefined and / or queued dynamically with pre-recorded routes, thereby further improving flexibility.

[0018] In some examples, the one or more transition conditions comprise that the vehicle is travelling within a predefined transition zone.

[0019] In this way, it is possible to further improve performance of the vehicle when the vehicle is to follow the second pre-recorded route. This is since there may be an optimal area and / or time for transition to follow the second pre-recorded route. The transition zone may, for example, be where the first and second routes are both straight, where or when the vehicle is to travel at a low recorded speed, where or when the vehicle is not performing any action besides travelling, etc. The optimal area may thereby be used for transitioning the vehicle to follow the second pre-recorded route by determining that the vehicle is travelling within said predefined transition zone.

[0020] In some examples, the second pre-recorded route is associated with a second speed profile for following the second pre-recorded route. In these examples, the one or more transition conditions comprise that a speed of the vehicle is lower or equal to a maximum speed indicated by the second speed profile.

[0021] In this way, it is possible to further improve performance when the vehicle is to follow the second pre-recorded route. This is since if the second pre-recorded route is triggered to be followed when the vehicle is travelling above the maximum speed indicated by the second speed profile, there may be a risk that the vehicle need to stop due to safety hazards or that it is simply not possible or preferred for the vehicle to follow the second pre-recorded route in that speed. Hence, the triggering of the vehicle to follow the second pre-recorded route may in this way be restricted to that the vehicle at most travels the maximum speed of the second speed profile, or else the triggering to follow the second pre-recorded route may be deferred until the vehicle has reduced its speed to be at most the maximum speed of the second speed profile.

[0022] In some examples, the one or more transition conditions comprise that a localization mechanism of the vehicle fulfills a localization quality condition.

[0023] In this way, it is possible to further improve performance for when the vehicle is to follow the second pre-recorded route. This is since when the localization quality condition is fulfilled, it may be determined that the vehicle is well aligned with the second pre- recorded route and that the vehicle is able to perform localization at a sufficient quality for being able to follow the second pre-recorded route.

[0024] In some examples, the second pre-recorded route is associated with a second travelling direction for following the second pre-recorded route. In these examples, the one or more transition conditions comprise that the vehicle travels in the second travelling direction.

[0025] In this way, it is possible to further improve performance for when the vehicle is to follow the second pre-recorded route. This is since it may be assured that the vehicle only follows routes in a correct travelling direction.

[0026] In some examples, the second pre-recorded route is associated with a second vehicle angle. In these examples, determining that the vehicle fulfills the one or more transition conditions comprises obtaining angular sensor data of the vehicle. In these examples, the one or more transition conditions comprise that the angular sensor data is within an error margin of the second vehicle angle.

[0027] In this way, it is possible to further improve performance of the vehicle to follow the second pre-recorded route. This is since if the second pre-recorded route is triggered to be followed when the vehicle is travelling with angular sensor data, e.g., when being an articulated vehicle, not allowed by the one or more transitioning conditions, there may be a risk that the vehicle need to stop due to safety hazards or that it is simply not possible or preferred for the vehicle to have such an angle when following the second pre-recorded route. Hence, the triggering of the vehicle to follow the second pre-recorded route may in this way be restricted to that the vehicle’s angular sensor data is within the error margin of the second vehicle angle, or else the triggering to follow the second pre-recorded route may be deferred until the vehicle has been angled, e.g., straighten up, to meet the second vehicle angle.

[0028] In some examples, the second pre-recorded route is recorded by a second vehicle of a second vehicle type. In some of these examples, the one or more transition conditions comprise that the vehicle is compliant with the second vehicle type.

[0029] In this way, it is possible to further improve flexibility for recording the set of prerecorded routes. This is since the second vehicle may be used for the recording, as long as the second vehicle type is compliant with the vehicle. The vehicle being compliant with the second vehicle type may mean that they have the same vehicle type, similar vehicle types, and / or sensors at attached with the same distances to the ground.

[0030] In some examples, triggering the vehicle to follow the second pre-recorded route further comprises triggering the vehicle to stop following the first pre-recorded route. In other words, the triggering of the vehicle to follow the second pre-recorded route may be a switch from the vehicle following the first pre-recorded route to the second prerecorded route.

[0031] In some examples, the second pre-recorded route is indicative of one or more operations to perform at the work site when following the second pre-recorded route. In these examples, triggering the vehicle to follow the second pre-recorded route further comprises triggering the vehicle to perform said one or more operations.

[0032] In this way, it is possible to further improve performance for when the vehicle is to follow the second pre-recorded route. This is since the vehicle may perform said one or more operations when following the second pre-recorded route.

[0033] In some examples, the second pre-recorded route is associated with the second speed profile for following the second pre-recorded route. In some of these examples, triggering the vehicle to follow the second pre-recorded route further comprises triggering the vehicle to follow the second pre-recorded route based on the second speed profile.

[0034] In this way, it is possible to further improve performance for when the vehicle is to follow the second pre-recorded route. This is since if the vehicle is travelling at a lower speed than what is indicated by the second speed profile, the vehicle may be triggered to speed up to the speed indicated by the second speed profile.

[0035] According to a second aspect, a control unit is provided. The control unit is configured to perform any of the methods herein. In some examples, the control unit is configured to perform the method according to the first aspect.

[0036] According to a third aspect, a vehicle is provided. The vehicle is configured to follow a set of pre-recorded routes when travelling from a first position to a second position in a work site. The set of pre-recorded routes comprises a first pre-recorded route and a second pre-recorded route. The vehicle further comprises a control unit according to the second aspect.

[0037] According to a fourth aspect, a computer program is provided. The computer program comprises instructions, which when executed by a processor, causes the processor to perform the method according to the first aspect.

[0038] According to a fifth aspect a carrier is provided. The carrier comprises the computer program of the fourth aspect. The carrier may be at least one selected from the group consisting of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, and a computer-readable storage medium. The advantages of any one or more out of the second, third, fourth, and / or fifth aspect corresponds to the advantages of the first aspect. All embodiments, examples and / or options related to and / or applying to any of the listed aspects above and / or their further descriptions in the detailed description below, apply to all other aspects in a corresponding manner.

[0039] Further advantages and advantageous features of embodiments herein are disclosed in the following detailed description and in the dependent claims.

[0040] BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Examples of embodiments herein are described in more detail with reference to attached drawings in which:

[0042] Fig. 1 is a schematic block diagram illustrating a scenario according to exemplary embodiments herein.

[0043] Fig. 2 is a flowchart depicting a method according to exemplary embodiments herein.

[0044] Fig. 3 is a schematic diagram illustrating exemplary embodiments herein.

[0045] Fig. 4 is a schematic diagram illustrating exemplary embodiments herein.

[0046] Fig. 5 is a schematic diagram illustrating exemplary embodiments herein.

[0047] Fig. 6 is a schematic diagram illustrating exemplary embodiments herein.

[0048] Fig. 7 is a schematic diagram illustrating exemplary embodiments herein.

[0049] Fig. 8 is a schematic block diagram illustrating exemplary embodiments of a control unit.

[0050] DETAILED DESCRIPTION

[0051] Fig. 1 illustrates a scenario in work site 100 according to exemplary embodiments herein. The work site 100 may be any suitable area where one or more vehicles follow pre-recorded routes, e.g., to perform operations and / or work in the work site 100.

[0052] The work site 100 may be a confined area. The work site 100 may be a quarry, a pit, or an underground environment such as a mine e.g., comprising a set of tunnels, a mine, and / or any other natural and / or man-made cavities below ground. The work site 100 may be arranged with obstacles 8 such as walls, rock foundation, buildings, water, etc. The obstacles 8 may be anything that a vehicle cannot or should not travel through. The obstacles 8 may be static or at least semi-static objects.

[0053] Alternatively, the work site 100 may be an area separated from manual road-traffic.

[0054] In the work site 100, vehicles may operate such as a vehicle 1. The vehicle 1 may be any type of vehicle, e.g., a heavy-duty vehicle, a Load Haul Dump (LHD) vehicle, a car, a bus, a truck, a mine truck, an autonomous work vehicle, a mining vehicle, a dump truck, an excavator, a work equipment, a drill, a truck, a loader vehicle, or any suitable vehicle that may be able to follow pre-recorded routes in the work site 100. The vehicle 1 may be any suitable work vehicle comprising equipment to perform operations in the work site 1. For example, the vehicle 1 may comprise a boom and / or a bucket for loading and / or transporting materials. Additionally or alternatively, the vehicle 1 may comprise means for transporting material, such as a container or any other suitable transport entity / platform. The vehicle 1 may be an articulated vehicle. The vehicle 1 may comprise, or be attached to, one or more trailers and / or other suitable vehicle units.

[0055] The vehicle 1 may be autonomous or at least partly autonomous. The vehicle 1 may comprise one or more sensors used for localization in the work site 100. The vehicle 1 may use the one or more sensors for one or more localization mechanisms, i.e. to find a position of the vehicle 1 in the work site.

[0056] The vehicle 1 may be configured to travel from a first position 4 to a second position 6 in the work site 100. The first position 4 and the second position 6 may respectively be any suitable positions in the work site 100. The first position 4 and the second position 6 may respectively be predefined and / or selected by a user, etc.

[0057] To travel in the work site, e.g., from the first position 4 to the second position 6, a set of pre-recorded routes may be available for the vehicle 1 to follow.

[0058] The set of pre-recorded routes may comprise at least a first pre-recorded route 10 and a second pre-recorded route 20. The set of pre-recorded routes may further comprise additional pre-recorded routes, e.g., any suitable number of pre-recorded routes, e.g., three or more routes. The set of pre-recorded routes may be a queue of prerecorded routes. The queue may indicate which routes for the vehicle 1 to follow, and in which order.

[0059] In some examples, the set of pre-recorded routes may be predefined and may be obtained, e.g., from local storage or received by a remote entity such as a server. In some examples the set of pre-recorded routes may alternatively be obtained dynamically, e.g., one pre-recorded route at a time.

[0060] A pre-recorded route may be a route that has been recorded by a recording vehicle (not shown). The recording vehicle has previously travelled and / or performed one or more operations which may part of each respective pre-recorded route in the set of prerecorded routes. Following a pre-recorded route, also referred to as a playback, may mean to travel as the recording vehicle has previously travelled and / or to perform said one or more operations.

[0061] A pre-recorded route in the set of routes may further indicate conditions to adhere to when following the respective pre-recorded route. For example, the respective prerecorded route may have a speed profile indicating an preferred and / or maximum speed of the vehicle 1. In some examples herein a speed profile may indicate preferred and / or maximum speed for one or more locations along a pre-recorded route.

[0062] This may be since the respective pre-recorded route may not be suitable to drive faster than the allowed and / or maximum speed. Additionally or alternatively, the respective pre-recorded route may be associated with a vehicle angle maximum and / or preferred in any part of the respective route for the vehicle 1. This may be since the respective pre-recorded route may not be suitable to drive at a different angle than the maximum and / or preferred, e.g., as the vehicle 1 and / or attached trailers of the vehicle 1 may be at risk. Additionally or alternatively, the respective pre-recorded route may be associated with a driving direction for the vehicle 1. Additionally or alternatively, the respective pre-recorded route may be associated with sensor measurements for localization in the work site 100, which may need to be replicated by the vehicle 1 to confirm that the vehicle 1 is following the respective pre-recorded route.

[0063] Additionally or alternatively, the respective pre-recorded route may comprise a respective path with an associated speed profile, and one or more maps defined with a coordinate system corresponding to a coordinate system of the respective path. The respective path may be a trajectory indicating how the vehicle 1 shall travel and / or operate in the work site 100. The respective path may be arranged with respect to a coordinate system. The one or more maps may be indicative of an environment surrounding the respective path, e.g., in the work site 100. The one or more maps enables the use of sensor data, e.g., Lidar / laser sensor data, to estimate a position of the vehicle 1 within the one or more maps, e.g., within the work site 100, and thereby within the coordinate system of the respective path. In other words, the vehicle 1 may use its sensors, obtain sensor data, and map the sensor data to information of the surroundings of the one or more maps to establish a current position of the vehicle 1.

[0064] A pre-recorded route in the set of pre-recorded may comprise a route task information indicative of any one or more out of: a relative start point for the respective pre-recorded route, a route endpoint limitation, e.g., where the respective pre-recorded route stops, a speed limitations along the respective pre-recorded route, e.g., as part of a speed profile.

[0065] The recording vehicle which has recorded a respective pre-recorded route in the set of pre-recorded routes may be compliant with a type of the vehicle 1. This may mean that the recording vehicle may be of the same type of the vehicle 1 , and / or has similar sensor configuration, e.g., the one or more sensors used for localization of vehicle 1 may be mounted in similar or same height(s) as sensors used for localization of the recording vehicle.

[0066] The first pre-recorded route 10 and the second pre-recorded route 20 may overlap between a first end-point 13 of the first pre-recorded route 10 and a second start-point 23 of the second pre-recorded route 20 corresponding to that a first part 11 of the first pre-recorded first route 10 overlaps a second part 21 of the second pre-recorded route 20, e.g., between the first end-point 13 and the second start-point 23 in the work site 100.

[0067] It should be noted that in Fig. 1 , the distance illustrated between the overlapping parts of the first pre-recorded route 10 and the second prerecorded route 20 is to illustrate the overlap between the respective pre-recorded routes. In some examples, the first part 11 and / or the second part 21 may completely overlap, i.e. align with the same coordinates in a coordinate system such that there is no distance between them, or that the distance is less than a threshold.

[0068] The first end-point 13 may be the last position of the first pre-recorded route 10, e.g., in a set first travelling direction of the first pre-recorded route 10.

[0069] The second start-point 23 may be the start position of the second pre-recorded route 20, e.g., in a set second travelling direction of the second pre-recorded route 10.

[0070] The vehicle 1 may initially be configured to follow the first pre-recorded route 10. When the vehicle reaches the overlapping part of the first part 11 and the second part 21 , the vehicle 1 , if it complies with one or more transitioning conditions, the vehicle 1 may immediately start following the second pre-recorded route 20. As the first pre-recorded route 10 and second pre-recorded route 20 overlap, there is no significant change in the motion of the vehicle 1 when the vehicle 1 transitions to follow the second pre-recorded route 20.

[0071] In the example of Fig. 1 , it is indicated that the first position 4 is connected with the first pre-recorded route 10, however, any suitable number of pre-recorded routes out of the set of pre-recorded routes may also appear in between the first position 4 and the first pre-recorded route 10. Likewise, in the example of Fig. 1, it is indicated that the second position 6 is connected with the second pre-recorded route 20, however, any suitable number of pre-recorded routes out of the set of pre-recorded routes may also appear in between the second position 6 and the second pre-recorded route 20.

[0072] Exemplary embodiments herein may mostly discuss relationships between the first pre-recorded route 10 and the second pre-recorded route 20 and how the vehicle shall be triggered to follow the second pre-recorded route 20. However, as the set of pre-recorded routes may comprise any suitable number of pre-recorded routes, it should be noted that same respective relationships between subsequent and / or overlapping pre-recorded routes in the set of pre-recorded routes shall apply as for the relationship between the first pre-recorded route 10 and the second pre-recorded route 20.

[0073] The vehicle 1 may be assigned with missions and / or tasks associated with following one or more pre-recorded routes in the set of pre-recorded routes.

[0074] Exemplary embodiments herein may be performed by any suitable control unit such as a control unit 70. The control unit 70 may be located in any suitable location. For example, the control unit 70 may be located in the work site 100, or at a remote location, e.g. above ground. The control unit 70 may be part of a server or control station, but may also be part of the vehicle 1 , e.g. comprised in the vehicle 1. The control unit 70 may be an Electronic Control Unit (ECU) of the vehicle 1.

[0075] The control unit 70 may also be a distributed unit, e.g., positioned within one or more remote locations and / or additionally comprised in the vehicle 1. For example, some exemplary embodiments herein may relate to remote entities performing actions, e.g., communicating and / or preparing / handling the set of pre-recorded routes for / with the vehicle 1.

[0076] The control unit 70 may be able to, e.g., to determine whether or not one or more transition conditions are fulfilled for following a pre-recorded route in the set of prerecorded routes. The control unit 70 may be able to, e.g., to trigger the vehicle 1 to follow a pre-recorded route in the set of pre-recorded routes. The control unit 70 may be able to, e.g., to control any suitable part of the vehicle 1, e.g., its motion and / or sensors for obtaining sensor data. The control unit 70 may be able to obtain a map of the work site 100, e.g., stored locally or obtainable remotely from a server.

[0077] A number of exemplary embodiments will now be described, which exemplary embodiments may be used in any suitable combination.

[0078] Fig. 2 illustrates an example embodiment of a method for handling the vehicle 1 configured to follow a set of pre-recorded routes when travelling from the first position 4 to the second position 6 in the work site 100. The set of pre-recorded routes comprises the first pre-recorded route 10 and the second pre-recorded route 20. The vehicle 1 may be configured to follow the first pre-recorded route 10. The vehicle 1 may be arranged in the first part 11 of the first pre-recorded route 10.

[0079] The method comprises the following actions below, which actions may be performed in any suitable order.

[0080] Action 201. The method comprises determining that one or more transition conditions are fulfilled. The one or more transition conditions at least comprise that the first part 11 of the first pre-recorded first route 10 overlaps the second part 21 of the second pre-recorded route 20. In other words, to be able to follow the second prerecorded route, the first part 11 of the first pre-recorded first route 10 needs to overlap the second part 21 of the second pre-recorded route 20. In this way, it is possible for the vehicle 1 to follow the first pre-recorded route 10 and to seamlessly switch to follow the second pre-recorded route 20, as will be further discussed with respect to Action 202 below.

[0081] Determining that the first part 11 of the first pre-recorded first route 10 overlaps the second part 21 of the second pre-recorded route 20 may be performed by comparing the first pre-recorded route 10 with the second pre-recorded route 20, e.g., positioning data of the respective pre-recorded routes.

[0082] The one or more transition conditions may comprise that the vehicle 1 is travelling within a predefined transition zone. The predefined transition zone may be a subset of the distance where the first route 10 overlaps the second part 21. Additionally or alternatively, the predefined transition zone may be an area where it is suitable for the vehicle 1 to start to follow the second pre-recorded route 20 instead of following the pre-recorded route 10. To reduce complexity for the vehicle 1 to follow the second pre-recorded route 20, the predefined transition zone may be arranged such that:

[0083] - within the predefined transition zone, the first pre-recorded route 10 and / or the second pre-recorded route 20, when followed by the vehicle 1 , relate to the vehicle 1 not performing any operations besides travelling, i.e. propelling the vehicle 1 along the respective pre-recorded route, the first pre-recorded route 10 and / or the second pre-recorded route 20, when followed by the vehicle 1 , relate to travelling forward and / or reverse without turning wheels of the vehicle 1 or wherein the wheels and / or the vehicle 1 are arranged to turn within a predefined angle interval and / or below a turning radius threshold, the first pre-recorded route 10 and / or the second pre-recorded route 20 may in the predefined transition zone have the same speed profile, e.g., indicating a constant speed, or the respective speed profiles e.g., maximum and / or preferred speeds, may differ by less than a threshold,

[0084] - when there is a speed profile difference between the first pre-recorded route 10 and the second pre-recorded route 20, the predefined transition zone has a distance matching a needed braking distance for reducing a speed of the vehicle 1 to match a speed profile of the second pre-recorded route 20.

[0085] The second pre-recorded route 20 may be associated with a second speed profile for following the second pre-recorded route 20. The one or more transition conditions may comprise that a speed of the vehicle 1 is lower or equal to a maximum speed indicated by the second speed profile.

[0086] In other words, the second pre-recorded route 20 may in some examples only be followed by the vehicle 1 if the second speed profile is compliant with a first speed profile of the first pre-recorded route 10 and / or compliant with the speed of vehicle 1 , e.g., in the predefined zone, or alternatively in the first part 11 and the second part 21. Compliant with the second speed profile means that the first speed profile and / or the speed of the vehicle 1 is within an error margin of the second speed profile.

[0087] In some examples, additionally or alternatively, when the vehicle 1 follows the first pre-recorded route 10, the vehicle 1 may be configured to, or triggered by the control unit 70, to adapt its speed such that the speed of the vehicle 1 is compliant with the second speed profile when the vehicle 1 travels in the first part 11 , in the second part 21 , and / or in the predefined transition zone. The vehicle 1 may for example be triggered or configured to adapt its speed such that the speed of the vehicle 1 matches the speed of the second speed profile when reaching and / or before reaching the predefined transition zone.

[0088] The one or more transition conditions may comprise that a localization mechanism of the vehicle 1 fulfills a localization quality condition. A localization mechanism as used herein may mean one or more localization mechanisms. The localization mechanism may for example comprise localization by use of any one or more out of:

[0089] Light Detection and Ranging (Lidar),

[0090] Radio Detection and Ranging (Radar), one or more cameras, triangulation via wireless networks, trilateration via wireless networks,

[0091] Radio Frequency (RF) tags (anchor tags) positioned at predetermined positions, Global navigation satellite system (GNSS), e.g., Global Positioning System (GPS), and dead reckoning with reference to a reference position of the vehicle 1.

[0092] The localization quality condition may comprise that the localization mechanism has at least a certain accuracy when positioning the vehicle 1.

[0093] Fulfilling the localization quality condition may assert that the vehicle 1 may determine or be able to determine whether a location of the vehicle 1 is within the a predefined transition zone and / or in the first part 11 or the second part 21.

[0094] The second pre-recorded route 20 may be associated with a second travelling direction for following the second pre-recorded route 20. The one or more transition conditions may comprise that the vehicle 1 travels in the second travelling direction.

[0095] The second pre-recorded route 20 may be associated with a second vehicle angle. In some exemplary embodiments, determining that the vehicle 1 fulfills the one or more transition conditions may comprise obtaining angular sensor data of the vehicle 1. In some of these exemplary embodiments, the one or more transition conditions comprise that the angular sensor data is within an error margin of the second vehicle angle.

[0096] In some examples, the second vehicle angle and the angular sensor data may respectively comprise and / or be represented by any one or more out of a turning angle, a turning radius, a yaw moment and / or a yaw rate.

[0097] The one or more transition conditions may be predefined and / or obtained dynamically, e.g., from a remote entity and / or in a local storage e.g., of the control unit 70.

[0098] Action 202. The method comprises with the proviso that the one or more transition conditions are determined to be fulfilled, triggering the vehicle 1 to follow the second prerecorded route 20. In other words, when the one or more transition conditions are fulfilled, the vehicle 1 is triggered to follow the pre-recorded route 20.

[0099] In some exemplary embodiments, triggering the vehicle 1 to follow the second prerecorded route 20 may comprise triggering the vehicle 1 to stop following the first prerecorded route 10. In other words, the vehicle 1 may be triggered to switch from following the first pre-recorded route 10 and to instead follow the second pre-recorded route 20.

[0100] Triggering the vehicle 1 to follow the second pre-recorded route 20 may in some exemplary embodiments herein be referred to as a route switch or a seamless route switch.

[0101] In some examples, triggering the vehicle 1 to follow the second pre-recorded route 20 may cause the vehicle 1 to start following the second pre-recorded route 20, and since the one or more transition conditions are determined to be fulfilled, in particular since the first part 11 of the first pre-recorded first route 10 overlaps the second part 21 of the second pre-recorded route 20, the vehicle 1 may continue its operations and / or motion as if it were following the first pre-recorded route 10 in the first part 11 of the first prerecorded first route 10.

[0102] The second pre-recorded route 20 may be indicative of one or more operations to perform at the work site 100 when following the second pre-recorded route 20. In some exemplary embodiments, triggering the vehicle 1 to follow the second pre-recorded route 20 may comprise triggering the vehicle 1 to perform said one or more operations. In other words, the vehicle 1 may perform the one or more operations when following the second pre-recorded route 20. The one or more operations may comprise any one or more out of: an operation to steer an equipment of the vehicle 1 , e.g., a bucket and / or a boom, an operation to steer at least one wheel of the vehicle 1 , an operation to apply torque to at least one wheel of the vehicle 1 , an operation to change gear of the vehicle 1 , an operation to brake the vehicle 1 , and an operation to use localization sensor of the vehicle 1 , e.g., the localization mechanism described above.

[0103] The second pre-recorded route 20 may be associated with a second speed profile for following the second pre-recorded route 20. In some exemplary embodiments, triggering the vehicle 1 to follow the second pre-recorded route 20 may comprise triggering the vehicle 1 to follow the second pre-recorded route 20 based on the second speed profile. In some examples, to follow the second pre-recorded route 20 based on the second speed profile may mean for the vehicle 1 to not exceed one or more speeds indicated by the second speed profile.

[0104] In some examples related to any or both of Actions 201-202 above, the following examples may apply, in any suitable combination.

[0105] The set of pre-recorded routes may be a queue of pre-recorded routes. In some exemplary embodiments, the vehicle 1 is configured to travel from the first position 4 to the second position 6 by following each route in the set of pre-recorded routes in an order indicated by the queue of pre-recorded routes. In other words, the queue of the prerecorded routes may indicate the order in which the pre-recorded set of routes shall be followed by the vehicle 1 .

[0106] The second pre-recorded route 20 may recorded by a second vehicle of a second vehicle type. The one or more transition conditions may comprise that the vehicle 1 is compliant with the second vehicle type 1. The second vehicle type may be the same type of vehicle as the vehicle 1 . The second vehicle may have the same size and / or dimensions as the vehicle 1. The second vehicle may have sensors, e.g., used for localization mounted at the same locations as for the vehicle 1.

[0107] In some example embodiments, the method comprises obtaining the set of prerecorded routes, e.g., the first pre-recorded route 10 and / or the second pre-recorded route 20, prior to the vehicle 1 following a pre-recorded route in the set of pre-recorded routes.

[0108] In some example embodiments, the method comprises obtaining one or more prerecorded routes in the set of pre-recorded routes, e.g., the first pre-recorded route 10 and / or the second pre-recorded route 20, during the vehicle 1 being configured to follow a pre-recorded route in the set of pre-recorded routes, e.g., the first pre-recorded route 10. In some of these examples, obtaining the one or more pre-recorded routes may be a queueing operation, e.g., for dynamically allowing to set pre-recorded route for the vehicle 1 to follow.

[0109] In some example embodiments, the method comprises obtaining the one or more pre-recorded routes in the set of pre-recorded routes or obtaining the set of pre-recorded routes, may comprise receiving the one or more pre-recorded routes or the set of prerecorded routes from a remote entity, e.g., a Traffic Management System (TMS).

[0110] Examples, aspects, and / or embodiments above will now be further described and exemplified. The text below is applicable to, and / or may be combined with any one or more suitable examples, aspects, and / or embodiments described above.

[0111] Fig. 3 illustrates an example scenario of triggering the vehicle 1 to follow the second pre-recorded route 20. In Fig. 3, a predefined transition zone 300 is illustrated, e.g., as in the predefined transition zone discussed with respect to Actions 201-202 above.

[0112] The predefined transition zone 300 may be arranged to comprise at least part of the first part 11 of the first pre-recorded route 10 and at least part of the second part 21 the second pre-recorded route 20. In other words, the predefined transition zone 300 may at least partly be arranged somewhere in-between the first end-point 13 and the second start-point 23. The predefined transition zone 300 may or may not comprise first end-point 13 and / or the second start-point 23. The predefined transition zone 300 may be a set area where the first pre-recorded route 10 and the second pre-recorded route 20 overlaps with advantageous conditions for the vehicle 1 to start to follow the second pre-recorded route 20. For example, a speed profile in the predefined transition zone 300 may comprise a maximum speed below a threshold for both the first pre-recorded route 10 and the second pre-recorded route 20 in the predefined transition zone 300. Additionally or alternatively, in the predefined transition zone 300 the speed profiler for the first pre-recorded route 10 and the speed profile for the second pre-recorded route 20 may be the same or be within an error threshold. Additionally or alternatively, the predefined transition zone 300 may have been arranged such that the one or more transitions conditions are likely to be fulfilled when the vehicle 1 follows the first pre-recorded route 10 inside the predefined transition zone 300. In other words, inside the predefined transition zone 300, it may be expected that the vehicle 1 has an expected behavior when following the first prerecorded route 10, which expected behavior fulfills the one or more transition conditions.

[0113] It should be noted that in Fig. 3, the distance illustrated between the overlapping parts of the first pre-recorded route 10 and the second prerecorded route 20 is to illustrate the overlap between the respective pre-recorded routes. In some examples, the first part 11 and / or the second part 21 may completely overlap, i.e. align with the same coordinates in a coordinate system such that there is no distance between them, or that the distance is less than a threshold.

[0114] Fig. 4 illustrates an example scenario of triggering the vehicle 1 to follow the second pre-recorded route 20. In the example scenario of Fig. 4, the first pre-recorded route 10 has a first travel direction 401, and the second pre-recorded route 20 has a second travel direction 402. In the example scenario of Fig. 4 the first travel direction 401 and the second travel direction 402 aligns and is part of the one or more transition conditions, e.g., as in Actions 201-202 above. When the vehicle 1 travels the first part 11 of the first pre-recorded route 10, the vehicle 1 may only be triggered to follow the second prerecorded route 20, when the first travel direction 401, and the second travel direction 402 are aligned in their travel direction, i.e. both are directed towards the second position 6.

[0115] It should be noted that in Fig. 4, the distance illustrated between the overlapping parts of the first pre-recorded route 10 and the second prerecorded route 20 is to illustrate the overlap between the respective pre-recorded routes. In some examples, the first part 11 and / or the second part 21 may completely overlap, i.e. align with the same coordinates in a coordinate system such that there is no distance between them, or that the distance is less than a threshold.

[0116] Fig. 5 illustrates an example scenario where the set of pre-recorded routes comprises at least three pre-recorded routes, including a third pre-recorded route 530.

[0117] Fig. 5 illustrates the first pre-recorded route 10 and the second pre-recorded route 20. Fig. 5 further illustrates, e.g., as in Fig. 1 , the first end-point 13 of the first pre-recorded route 10, the second start-point 23 of the second pre-recorded route 20, the first part 11 of the first pre-recorded first route 10 overlapping the second part 21 of the second prerecorded route 20. The third pre-recorded route 530 and the second pre-recorded route 20 may overlap between a second end-point 523 of the second pre-recorded route 20 and a third start-point 533 of the third pre-recorded route 530 corresponding to that a third part 503 of the second pre-recorded first route 20 overlaps a fourth part 504 of the third pre-recorded route 530, e.g., between the second end-point 523 and the third start-point 533 in the work site 100.

[0118] With regards to Actions 201-202 above, the first vehicle may, with the proviso that the one or more transition conditions are determined to be fulfilled, when following the first pre-recorded route 10 in the first part 11 , be triggered to follow the second pre-recorded route 20. Similarly, for the same or different one or more transition conditions but relating to the vehicle 1 being triggered to follow the third pre-recorded route 530, with the proviso that the one or more transition conditions are determined to be fulfilled, when following the second pre-recorded route 20 in the third part 503, be triggered to follow the third prerecorded route 530. In other words, the set of pre-recorded routes may be a queue of prerecorded routes, where the queue indicates that the vehicle 1 is to follow the first prerecorded route 10, and at the first part 11, with the proviso that the one or more transition conditions are determined to be fulfilled, the vehicle 1 is to be triggered to follow the second pre-recorded route 20. Then the vehicle 1 is to follow the second pre-recorded route 20, and at the third part 503, with the proviso that the one or more transition conditions are determined to be fulfilled, the vehicle 1 is to be triggered to follow the third pre-recorded route 530.

[0119] It should be noted that in Fig. 5, the distance illustrated between the overlapping parts of the first pre-recorded route 10 and the second prerecorded route 20 is to illustrate the overlap between the respective pre-recorded routes. In some examples, the first part 11 and / or the second part 21 may completely overlap, i.e. align with the same coordinates in a coordinate system such that there is no distance between them, or that the distance is less than a threshold.

[0120] Fig. 6 illustrates an example scenario of the vehicle 1 following the set of prerecorded routes, in particular when they are indicated as one mission in advance. In the example scenario of Fig. 6, a mission 601 may be transmitted to the vehicle 1 from a remote entity 600. The remote entity 600 may be a TMS. The mission 601 may be indicative of the set of pre-recorded routes. In this scenario, the set of pre-recorded routes comprises a first route task RT A, a second route switching task RST B, and a third route switching task RST C. In this example scenario, the control unit 70 may be arranged to be part of the vehicle 1 , e.g., configured to receive the mission 601 , or may be arranged to be part of the remote entity 600, e.g., configured to transmit the mission 601 to the vehicle 1 , or may be arranged to be a distributed control unit configured to perform both the receiving and transmitting actions.

[0121] A route task as used herein may be a pre-recorded route.

[0122] A route switching task as used herein may be a pre-recorded route which the vehicle 1 need to be triggered to follow while already following a pre-recorded route, e.g., including an operation for switching to following said pre-recorded route.

[0123] The first route task RT A may be the first pre-recorded route 10.

[0124] The second route switching task RST B may be the second pre-recorded route 20.

[0125] The third route switching task RST C may be the third pre-recorded route 530, e.g., as in Fig. 5.

[0126] The vehicle 1 may at an initial time 602a start to follow the first route task RT A.

[0127] The vehicle 1 may at a second time 602b, e.g., as in action 202, be triggered 603 to follow the second route switching task RST B, as a seamless route switch to RST B from RT A. The mission 601 may indicate the second time 602b and / or a location for switching to RST B, e.g., as part of action 202.

[0128] The vehicle 1 may at a third time 602c, e.g., as in action 202, be triggered 604 to follow the third route switching task RST C, as a seamless route switch to RST C from RST B. The mission 601 may indicate the third time 602c and / or a location for switching to RST C, e.g., as part of action 202.

[0129] Fig. 7 illustrates an example scenario of the vehicle 1 following the set of prerecorded routes, in particular by being indicated dynamically of new routes to follow. In the example scenario of Fig. 7, a first mission 701 may be transmitted to the vehicle 1 from a remote entity 700. The remote entity 700 may be a TMS, e.g., the remote entity 600.

[0130] The first mission 701 may be indicative the first route task RT A, e.g., as in Fig. 6. The first route task RT A may be the first pre-recorded route 10.

[0131] The vehicle 1 may initially, at a first time period 702, be configured to follow RT A, and / or be triggered to follow the first route task RT A, e.g., as in action 202.

[0132] When the vehicle 1 follows the first route task RT A, a second mission 703 may be transmitted to the vehicle 1 from the remote entity 700.

[0133] The second mission 703 may be indicative of a second route switching task RST B. The second route switching task RST B may be the second pre-recorded route 20. The vehicle 1 may then be triggered 705, to at a second time period 704, to follow the second route switching task RST B, e.g., by performing a seamless route switch to RST B.

[0134] When the vehicle 1 follows the second route switching task RST B, a third mission 706 may be transmitted to the vehicle 1 from the remote entity 700.

[0135] The third mission 706 may be indicative of a third route switching task RST C. The third route switching task RST C may be the second pre-recorded route 530, e.g., as in Fig. 5 and / or Fig. 6.

[0136] The vehicle 1 may then be triggered 708, to at a third time period 707, to follow the third route switching task RST C, e.g., by performing a seamless route switch to RST C.

[0137] In this example scenario of Fig. 7, the control unit 70 may be arranged to be part of the vehicle 1 , e.g., configured to receive any one or more of the first mission 701 , the second mission 702, and / or the third mission 703, or may be arranged to be part of the remote entity 700, e.g., configured to transmit any one or more of the first mission 701 , the second mission 702, and / or the third mission 703 to the vehicle 1 , or arranged to be a distributed control unit configured to perform both the receiving and transmitting actions.

[0138] The third route switching task RST C may be the third pre-recorded route 530, e.g., as in Fig. 5.

[0139] Figs. 6 or 7 above may be seen as some non-limiting alternatives for preparing the vehicle 1 and / or the control unit 70 to perform Actions 201-202.

[0140] Further variations and examples

[0141] Below follows non-limiting examples of some exemplary embodiments herein.

[0142] In examples herein, a TMS, e.g., the TMS of Figs 6 or 7, may be configured to provide prerecorded routes, e.g., the set of prerecorded routes, to the vehicle 1, e.g., as provided in one or more missions.

[0143] In examples herein, an Automation Common Machine Server(ACMS) may be a control entity, e.g., a server, arranged to provide a communication interface between autonomous vehicles, e.g., the vehicle 1 and the TMS.

[0144] In examples herein, an Operator Station(OPS) may comprise a panel for controlling machines, e.g. , remotely, such as controlling the vehicle 1. The OPS may further comprise a user interface, e.g., buttons, and / or joysticks and / or a graphical user interface indicative of information of the vehicle 1 , e.g., sensor data, video, speed data, vehicle motion data, error messages etc. The OPS may be arranged to be managed by an operator. The OPS may transmit requests and / or instructions provided by an operator. The OPS may be an entity for a user to communicate and / or to provide requests and / or instructions to other entities herein, e.g., the vehicle 1 and / or the control unit 70. The OPS may be manned with an operator or may be unmanned, e.g., automated or remote controlled.

[0145] In examples herein, an Open Platform Communications (OPC) may be a standard specified by OPC foundation, for communications.

[0146] In examples herein, a Rig Control System (RCS) may be a control system for controlling autonomous / automated vehicles such as the vehicle 1.

[0147] The remote entities referred to in Fig. 1 , e.g., in which the control unit 70 may be distributed, may comprise the vehicle 1 , and / or any one or more out of:

[0148] • The TMS, e.g., the TMS of Figs 6 or 7, mentioned above and in examples below,

[0149] • The ACMS mentioned above and in examples below,

[0150] • The OPS mentioned above and in examples below,

[0151] • The OPC mentioned above and in examples below, and

[0152] • The RCS mentioned above and in examples below.

[0153] In examples herein, when a machine is referred to, a vehicle may be meant, in particular the vehicle 1.

[0154] In examples herein, Route A may be the first pre-recorded route 10.

[0155] In examples herein, Route task A may be operations of the vehicle 1 performed when following the first pre-recorded route 10. Additionally or alternatively Route Task A may be operations performed by the control unit 70 when the vehicle 1 follows, or is indicated / queued to follow the first pre-recorded route 10.

[0156] In examples herein, Route B may be the second pre-recorded route 20.

[0157] In examples herein, Route task B may be operations of the vehicle 1 performed when following the second pre-recorded route 20. Additionally or alternatively Route Task B may be operations performed by the control unit 70 when the vehicle 1 follows, or is indicated / queued to follow the second pre-recorded route 20.

[0158] In examples herein, a transition zone may mean the transition zone 300 and / or the first part 11 of the first pre-recorded first route and / or the second part 21 of the second pre-recorded route 20.

[0159] In examples herein, a mission may comprise one or more pre-recorded routes for the vehicle 1 to follow, e.g., at least part of the set of pre-recorded routes. In examples herein, any route switching task may refer to actions 201-202 above, e.g., triggering the vehicle 1 to follow the second pre-recorded route 20, with the proviso that the one or more transition conditions are determined to be fulfilled.

[0160] In examples herein, in particular for the example use cases below, condition(s) may refer to the one or more transition conditions.

[0161] The purpose of a seamless route switching function as described above, e.g., as in Actions 201-202, may for some examples be to enable switching from one route to another while the vehicle 1 is moving and thus combine the best of two worlds: a high productivity and the use of short route segments that are easy to record, generate and commission. Missions may be associated with the vehicle 1 being configured to travel from the first location 4 to the second location 6, e.g., to traverse a particular path, possibly including performing operations such as loading or dumping. For example, the vehicle 1 may be already actively executing a tram and dump mission to dump a bucket of the vehicle 1 at an ore pass D1 (not shown) but for some reason, may need to be redirected to an ore pass D2 (not shown) instead. Another example scenario may be where two machines are travelling along a same drift but in different directions and one of the machines, e.g., the vehicle 1, needs to be redirected into a passing place for the two machines to pass each other.

[0162] In exemplary embodiments herein, two main scenarios may follow.

[0163] SP A. A static seamless route switching for the vehicle 1 comprising a mission containing one first route task and one or several route switching tasks, e.g., may be dispatched by a remote control unit 70, and executed by the machine, e.g., as illustrated by Fig. 6.

[0164] SP B. A dynamic seamless route switching for the vehicle 1 by supporting a dynamic update of an existing mission with a route switching task that extends an already active route task of a specified mission, e.g., as illustrated by Fig. 7.

[0165] Exemplary non-limiting functionality discussed herein may target applications where there are machines comprising the vehicle 1, in a Fleet Control mode managed by a TMS, e.g., as exemplified above. However, exemplary embodiments herein may also be adapted to a non-Fleet Control mode such that seamless route switching, e.g., of actions 201-202, may be used for route missions dynamically assigned to the vehicle 1 from an OPS as well.

[0166] Dynamic seamless route switching as used herein may be used with any suitable TMS. For example, the TMS may provide pre-recorded routes for the vehicle to use for seamless route switching, e.g., as in actions 201-202. A first step towards an autonomous tramming along a particular pre-recorded route may start when the vehicle 1 receives a mission containing a route task. Autonomous tramming or auto-tramming as used herein may mean to follow the set of pre-recorded routes. A route task may specify a pre-recorded route but may also contain additional information referred to as route task information, e.g., comprising an interval for dynamic route start, e.g., a relative start point for triggering the vehicle 1 to follow the second prerecorded route, a route endpoint limitation and / or speed limitations along the pre-recorded route, e.g., as part of a speed profile.

[0167] Before autonomous tramming may be started, e.g., as in Actions 201-202 above, there may be a number of start conditions that has to be fulfilled. The start conditions may be the one or more transition conditions. The one or more transition conditions may e.g., comprise any one or more out of: that a respective sensor status for one or more sensors of the vehicle 1 indicates that the respective sensor is functional, that a boom angle of the vehicle 1 is within a set angle interval, that a bucket position of the vehicle 1 is within a predefined area relative the vehicle 1 , and that an articulation angle of the vehicle 1, e.g., with respect to a vehicle unit attached to the vehicle 1 , is within an error margin of an expected articulation angle of the vehicle 1 at a start point of a pre-recorded route, e.g., at the second part 21 or in the predefined transition zone 300.

[0168] When all one or more transition conditions are fulfilled, e.g., as in Action 201, the state of the route task may change to ready, and auto tramming may be started, e.g., triggered as in Action 202.

[0169] In some exemplary embodiments herein, seamless route switching may be used to extend an existing route task with new parameters for seamless route switching, e.g., to dynamically add pre-recorded routes to the set of pre-recorded routes. In some examples, two pre-recorded routes of the set of pre-recorded routes may execute simultaneously for a short time e.g., when reaching the transition zone, e.g., the first pre-recorded route 10 and the second pre-recorded route 20, to verify that e.g. the localization of the vehicle 1 for the route switching task, e.g., Action 202, converges before switching to the second pre-recorded route 20. Execute simultaneously may mean that the vehicle 1 follows both the first pre-recorded route 10 and the second pre-recorded route 20 at the same time, e.g., as long as they do not diverge by more than a threshold. In some exemplary embodiments herein, the one or more transition conditions used for triggering to follow the second pre-recorded route 20, e.g., as in action 202, may additionally or alternatively comprise any one or more out of: a quality of localization mechanism of the vehicle 1 is above a threshold, - a path tracking deviation of the vehicle 1 , e.g., with respect to the first pre-recorded route 10 and / or the second pre-recorded route 20, is below a threshold, a pose of the vehicle 1 , e.g., is within an interval of the respective first pre-recorded route 10 and / or the second pre-recorded route 20, a speed of the vehicle 1, e.g., is within an interval of speed allowed by the respective first pre-recorded route 10 and / or the second pre-recorded route 20, and / or a speed of the vehicle 1 is below a speed threshold.

[0170] Example uses cases will be mentioned below. All use cases below may be nonlimiting use cases. All use cases may be combined individually or in any suitable combination with the actions described above, e.g., Actions 201-202. In below Example use cases, above definitions may apply. The machine may refer to the vehicle 1.

[0171] Example Use Case 1 - TMS dispatches a static seamless route switching mission on OPC

[0172]

[0173] Example Use Case 2 - Seamless route switching

[0174]

[0175] Example Use Case 3 - TMS dispatches a dynamic seamless route switching mission update on OPC

[0176]

[0177] Example RCS Use Case 1- validation that route switching can be done from route task A

[0178]

[0179] Example RCS Use Case 2- wait for route task A to change state to running

[0180]

[0181] Example RCS Use Case 3 - receiving the request route response

[0182]

[0183] Example RCS Use Case 4 - finish preparations of route the switching task

[0184] Checking if the transition zone is already reached in Example RCS use case 4 is in some examples explicitly not performed. If the route switch task is received late, or the previous route was very short, e.g., such that there was not time enough to prepare the route switch task, there may be no abort even if the transition zone is already reached as it may be most beneficial to let the machine do its best to perform the transition within the transition zone. If the conditions for switching the route are not fulfilled the execution of route A may in some examples continue until the machine / task reaches the end of the transition zone and completes, which may in turn cause the route switch task to abort. Example RCS Use Case 5 - seamless route task execution switch

[0185] The purpose of the optional second step in Example Use Case 5 in the main scenario may in some examples be to increase the tolerance against situations where the preparations of the route switch task have not finished before the transition zone is reached. Without step 2 it may be likely that the route switch will fail in case the machine has already entered the transition zone when the preparations are done, but on the other hand that situation should never occur. In other words, the use case may improve performance but is not necessary for performing the methods herein.

[0186] Alternative scenarios 1 and 2 in Example Use Case 5 are here may be to prevent some yet unforeseen corner cases to mess things up. If both tasks are running, they may normally pause simultaneously even without this functionality as e.g. a sensor error would trigger the same interlock of both tasks. One example where they would otherwise not react the same could be:

[0187] 1. The machine is close to the transition zone 2. A sensor state or reliability error is triggered and route task A changes state to pausing to stop

[0188] 3. While the machine is slowing down in the pausing state the error state is restored

[0189] 4. The moves a little further and enters the transition zone 5. Since the transition zone has been entered and the sensor state is Ok route task B changes state to running, resulting in inconsistent states for the two routes involved in the route switch

[0190] Example RCS Use Case 6 - resume task after pause

[0191] To perform exemplary embodiments herein, e.g. the method according to actions 201-202 above, may be performed by the control unit 70. The control unit 70 may be arranged in a centralized location, e.g. as part of a server, as part of a TMS, as part of a control station, or as part of a cloud service, and / or may be located in the work site 100, e.g. co-located with the vehicle 1 , e.g., at least partly comprised in the vehicle 1.

[0192] The control unit 70 may comprise an arrangement depicted in Fig. 8. The control unit 70 may comprise an input and output interface 800 e.g. for communicating with remote entities, e.g., a server controlling the control unit 70, and / or the vehicle 1 when the control unit 70 is being arranged remote from the vehicle 1. The control unit 70 may be able to control the motion and / or operations of the vehicle 1. The input and output interface 800 may comprise a wireless or wired receiver not shown, a transceiver, one or more antennas, and / or a wired or wireless transmitter not shown.

[0193] The control unit 70 may be configured to handle the vehicle 1 configured to follow a set of pre-recorded routes when travelling from the first position 4 to the second position 6 in the work site 100. The set of pre-recorded routes comprises a first pre-recorded route 10 and a second pre-recorded route 20. The method comprising:

[0194] The control unit 70 may further be configured to determine that one or more transition conditions are fulfilled, wherein the one or more transition conditions at least comprise that a first part 11 of the first pre-recorded first route 10 overlaps a second part 21 of the second pre-recorded route 20.

[0195] The control unit 70 may further be configured to, with the proviso that the one or more transition conditions are determined to be fulfilled, trigger the vehicle 1 to follow the second pre-recorded route 20.

[0196] The set of pre-recorded routes may be a queue of pre-recorded routes. The vehicle 1 may be configured to travel from the first position 4 to the second position 6 by following each route in the set of pre-recorded routes in an order indicated by the queue of prerecorded routes.

[0197] The one or more transition conditions comprise that the vehicle 1 may be travelling within a predefined transition zone 300.

[0198] The second pre-recorded route 20 may be associated with a second speed profile for following the second pre-recorded route 20. The one or more transition conditions may comprise that a speed of the vehicle 1 is lower or equal to a maximum speed indicated by the second speed profile.

[0199] The one or more transition conditions may comprise that a localization mechanism of the vehicle 1 fulfills a localization quality condition .

[0200] The second pre-recorded route 20 may be associated with a second travelling direction for following the second pre-recorded route 20. The one or more transition conditions may comprise that the vehicle 1 travels in the second travelling direction.

[0201] The second pre-recorded route 20 may be associated with a second vehicle angle.

[0202] The control unit 70 may further be configured to determine that the vehicle 1 fulfills the one or more transition conditions by obtaining angular sensor data of the vehicle 1. The one or more transition conditions may further comprise that the angular sensor data is within an error margin of the second vehicle angle. The second pre-recorded route 20 may be recorded by a second vehicle of a second vehicle type. The one or more transition conditions may comprise that the vehicle 1 is compliant with the second vehicle type 1.

[0203] The control unit 70 may further be configured to trigger the vehicle 1 to follow the second pre-recorded route 20 by triggering the vehicle 1 to stop following the first prerecorded route 10.

[0204] The second pre-recorded route 20 may be indicative of one or more operations to perform at the work site 100 when following the second pre-recorded route 20.

[0205] The control unit 70 may further be configured to trigger the vehicle 1 to follow the second pre-recorded route 20 by triggering the vehicle 1 to perform said one or more operations.

[0206] The second pre-recorded route 20 may be associated with a second speed profile for following the second pre-recorded route 20. The control unit 70 may further be configured to trigger the vehicle 1 to follow the second pre-recorded route 20 by triggering the vehicle 1 to follow the second pre-recorded route 20 based on the second speed profile.

[0207] The exemplary embodiments herein may be implemented through one or more processors, such as a processor 860 of a processing circuitry in the control unit 70, depicted in Fig. 8, together with a computer program 880 comprising instructions, which when executed by a processor, causes the processor to perform the functions and actions of the exemplary embodiments herein.

[0208] In some exemplary embodiments, a respective carrier 890 comprises the respective computer program 880, wherein the carrier 890 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium. For example, one such carrier may be in the form of a CD ROM disc or a memory stick. The computer program 880 may furthermore be provided as pure program code on a server and downloaded to the control unit 70. The carrier 890 may be at least one selected from the group consisting of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, and a computer- readable storage medium.

[0209] The control unit 70 may further comprise a memory 870 comprising one or more memory units. The memory 870 comprises instructions executable by the processor in the control unit 70. The memory 870 is arranged to be used to store e.g. information, indications, data, configurations, measurements, and applications to perform the exemplary embodiments herein when being executed in the control unit 70.

[0210] Those skilled in the art will appreciate that the units in the control unit 70 described above may refer to a combination of analog and digital circuits, and / or one or more processors configured with software and / or firmware, e.g. stored in the control unit 70, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry ASIC, or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip SoC.

[0211] When using the word "comprise" or “comprising” it shall be interpreted as nonlimiting, i.e. meaning "consist at least of".

[0212] It will be appreciated that the foregoing description and the accompanying drawings represent non-limiting examples of the methods and apparatus taught herein. As such, the apparatus and techniques taught herein are not limited by the foregoing description and accompanying drawings. Instead, the exemplary embodiments herein are limited only by the following claims and their legal equivalents.

Claims

CLAIMS1. A method for handling a vehicle (1) configured to follow a set of pre-recorded routes when travelling from a first position (4) to a second position (6) in a work site (100), the set of pre-recorded routes comprising a first pre-recorded route (10) and a second pre-recorded route (20), the method comprising: determining (201) that one or more transition conditions are fulfilled, wherein the one or more transition conditions at least comprise that a first part (11) of the first pre-recorded first route (10) overlaps a second part (21) of the second prerecorded route (20), and- with the proviso that the one or more transition conditions are determined to be fulfilled, triggering (202) the vehicle (1) to follow the second pre-recorded route (20).

2. The method according to claim 1, wherein the set of pre-recorded routes is a queue of pre-recorded routes, and wherein the vehicle (1) is configured to travel from the first position (4) to the second position (6) by following each route in the set of prerecorded routes in an order indicated by the queue of pre-recorded routes.

3. The method according to claim 1 or 2 wherein the one or more transition conditions comprise that the vehicle (1) is travelling within a predefined transition zone (300).

4. The method according to any preceding claim, wherein the second pre-recorded route (20) is associated with a second speed profile for following the second pre-recorded route (20), and wherein the one or more transition conditions comprise that a speed of the vehicle (1) is lower or equal to a maximum speed indicated by the second speed profile.

5. The method according to any preceding claim, wherein the one or more transition conditions comprise that a localization mechanism of the vehicle (1) fulfills a localization quality condition.

6. The method according to any preceding claim, wherein the second pre-recorded route (20) is associated with a second travelling direction for following the second prerecorded route (20), and wherein the one or more transition conditions comprise that the vehicle (1) travels in the second travelling direction.

7. The method according to any preceding claim, the second pre-recorded route (20) is associated with a second vehicle angle, and wherein determining (201) that the vehicle (1) fulfills the one or more transition conditions comprises obtaining angular sensor data of the vehicle (1) and wherein the one or more transition conditions comprise that the angular sensor data is within an error margin of the second vehicle angle.

8. The method according to any preceding claim, wherein the second pre-recorded route (20) is recorded by a second vehicle of a second vehicle type, and wherein the one or more transition conditions comprise that the vehicle (1) is compliant with the second vehicle type (1).

9. The method according to any preceding claim, wherein triggering (202) the vehicle (1) to follow the second pre-recorded route (20) further comprises triggering the vehicle (1) to stop following the first pre-recorded route (10).

10. The method according to any preceding claim, wherein the second pre-recorded route (20) is indicative of one or more operations to perform at the work site (100) when following the second pre-recorded route (20), and wherein triggering (202) the vehicle (1) to follow the second pre-recorded route (20) further comprises triggering the vehicle (1) to perform said one or more operations.

11. The method according to any preceding claim, wherein the second pre-recorded route (20) is associated with a second speed profile for following the second pre-recorded route (20), and wherein triggering (202) the vehicle (1) to follow the second prerecorded route (20) further comprises triggering the vehicle (1) to follow the second pre-recorded route (20) based on the second speed profile.

12. A control unit (70) configured to handle a vehicle (1) configured to follow a set of prerecorded routes when travelling from a first position (4) to a second position (6) in a work site (100), wherein the set of pre-recorded routes comprises a first pre-recorded route (10) and a second pre-recorded route (20), the control unit (70) further being configured to:determine that one or more transition conditions are fulfilled, wherein the one or more transition conditions at least comprise that a first part (11) of the first prerecorded first route (10) overlaps a second part (21) of the second pre-recorded route (20), and- with the proviso that the one or more transition conditions are determined to be fulfilled, trigger the vehicle (1) to follow the second pre-recorded route (20).

13. The control unit (70) according to claim 12, wherein the set of pre-recorded routes is arranged to be a queue of pre-recorded routes, and wherein the vehicle (1) is configured to travel from the first position (4) to the second position (6) by following each route in the set of pre-recorded routes in an order indicated by the queue of prerecorded routes.

14. The control unit (70) according to claim 12 or 13 wherein the one or more transition conditions are adapted to comprise that the vehicle (1) is travelling within a predefined transition zone (300).

15. The control unit (70) according to any of claims 12 -14, wherein the second prerecorded route (20) is adapted to be associated with a second speed profile for following the second pre-recorded route (20), and wherein the one or more transition conditions are adapted to comprise that a speed of the vehicle (1) is lower or equal to a maximum speed indicated by the second speed profile.

16. The control unit (70) according to any of claims 12 - 15, wherein the one or more transition conditions are adapted to comprise that a localization mechanism of the vehicle (1) fulfills a localization quality condition.

17. The control unit (70) according to any of claims 12 - 16, wherein the second prerecorded route (20) is adapted to be associated with a second travelling direction for following the second pre-recorded route (20), and wherein the one or more transition conditions are adapted to comprise that the vehicle (1) travels in the second travelling direction.

18. The control unit (70) according to any of claims 12 - 17, wherein the second prerecorded route (20) is adapted to be associated with a second vehicle angle, andwherein the control unit (70) is configured to determine that the vehicle (1) fulfills the one or more transition conditions by obtaining angular sensor data of the vehicle (1), and wherein the one or more transition conditions are adapted to comprise that the angular sensor data is within an error margin of the second vehicle angle.

19. The control unit (70) according to an of claims 12 - 17, wherein the second prerecorded route (20) is arranged to be recorded by a second vehicle of a second vehicle type, and wherein the one or more transition conditions are adapted to comprise that the vehicle (1) is compliant with the second vehicle type (1).

20. The control unit (70) according to any of claims 12 - 19, further configured to trigger the vehicle (1) to follow the second pre-recorded route (20) by triggering the vehicle (1) to stop following the first pre-recorded route (10).

21. The control unit (70) according to any of claims 12- 20, wherein the second prerecorded route (20) is adapted to be indicative of one or more operations to perform at the work site (100) when following the second pre-recorded route (20), and wherein the control unit (70) is configured to trigger the vehicle (1) to follow the second prerecorded route (20) by triggering the vehicle (1) to perform said one or more operations.

22. The control unit (70) according to any of claims 12- 21 , wherein the second prerecorded route (20) is adapted to be associated with a second speed profile for following the second pre-recorded route (20), and wherein the control unit (70) is configured to trigger the vehicle (1) to follow the second pre-recorded route (20) by triggering the vehicle (1) to follow the second pre-recorded route (20) based on the second speed profile.

23. A vehicle (1) configured to follow a set of pre-recorded routes when travelling from a first position (4) to a second position (6) in a work site (100), wherein the set of prerecorded routes comprises a first pre-recorded route (10) and a second pre-recorded route (20), and wherein the vehicle comprises the control unit (70) according to any of claims 12-22.

24. A computer program (880) comprising instructions, which when executed by a processor, causes the processor to perform actions according to any of the claims 1- 13.

25. A carrier (890) comprising the computer program (880) of claim 14, wherein the carrier is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.

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