Method for operating an autonomous vehicle, and autonomous vehicle

Abstract

The invention relates to a method for operating an autonomous vehicle (1) in a surrounding area. The autonomous vehicle (1) has at least one laser scanner (2) for capturing laser scans in order to detect objects, a navigation computer (12) for localizing the autonomous vehicle (1), a drive device (18) for driving the autonomous vehicle (1), and a control unit (16) for controlling the drive device (18), wherein the control unit (16) transmits information relating to a movement of the autonomous vehicle (1) to the navigation computer (12). The navigation computer (12) analyzes captured laser scans when the autonomous vehicle (1) is in movement, and the navigation computer (12) suspends the analysis of the captured laser scans when the autonomous vehicle (1) is at rest. The invention also relates to an autonomous vehicle (1) which can be operated using the method according to the invention.

Description

[0001] Method for operating an autonomous vehicle and autonomous vehicle

[0002] Description:

[0003] The invention relates to a method for operating an autonomous vehicle in an environment, wherein the autonomous vehicle comprises at least one laser scanner for recording laser scans for detecting objects, a navigation computer for locating the autonomous vehicle, a drive device for driving the autonomous vehicle, and a control unit for controlling the drive device. The invention also relates to an autonomous vehicle that can be operated using the method according to the invention.

[0004] The environment is typically an industrial application, such as a production plant, an industrial hall, or a logistics center. It can also be an urban environment, such as a street or a marketplace. Autonomous vehicles, for example, are used to transport materials within the environment. The environment also includes other objects, such as walls, columns, production machines, pallets, boxes, containers, or transport trolleys, as well as people and other autonomous vehicles.

[0005] The autonomous vehicles also have sensors, particularly laser scanners for recording laser scans to detect such objects. The autonomous vehicles each have a map of their surroundings. The objects in the surroundings, such as walls, columns, production machinery, pallets, boxes, containers, transport trolleys, or production machinery, are assigned objects that are listed on the map.

[0006] DE 102021 000 349 A1 discloses a method for operating a technical installation comprising at least one mobile system. A map of the technical installation is generated, which contains information about at least one accessible area and at least one restricted area.

[0007] DE 102019205900 A1 discloses a method for controlling sensors or components of a vehicle by a control unit. Measurement data is received and evaluated, and the evaluation of the measurement data is used to determine a traffic situation. DE 102021108040 A1 discloses a method for managing the power of electronic devices of a vehicle. The vehicle includes a power distribution unit that controls the power supply from a power source to at least one electronic device.

[0008] If a laser scanner of an autonomous vehicle captures a laser scan and detects an object, the autonomous vehicle's location on the map can be determined by comparing the detected object with an object recorded on the map. Such an analysis of recorded laser scans is computationally intensive and consumes electrical energy.

[0009] The invention is based on the object of developing a method for operating an autonomous vehicle and an autonomous vehicle.

[0010] The object is achieved by a method for operating an autonomous vehicle having the features specified in claim 1. Advantageous embodiments and further developments are the subject of the subclaims. The object is also achieved by an autonomous vehicle having the features specified in claim 10.

[0011] A method for operating an autonomous vehicle in an environment is proposed. The autonomous vehicle comprises at least one laser scanner for recording laser scans to detect objects, a navigation computer for locating the autonomous vehicle, a drive device for driving the autonomous vehicle, and a control unit for controlling the drive device.

[0012] According to the invention, the control unit sends information about the movement of the autonomous vehicle to the navigation computer. The navigation computer evaluates recorded laser scans when the autonomous vehicle is moving. The navigation computer stops evaluating recorded laser scans when the autonomous vehicle is stationary.

[0013] Specifically, the control unit sends information to the navigation computer indicating whether the autonomous vehicle is moving or stationary. The navigation computer localizes the autonomous vehicle by evaluating recorded laser scans. This determines the location and orientation of the autonomous vehicle.

[0014] When the vehicle is stationary, there is no change in location or orientation. Localization of the autonomous vehicle is therefore not necessary. The last localization performed when the autonomous vehicle was still moving is still valid. The method according to the invention thus saves electrical energy as long as the navigation computer is not evaluating recorded laser scans.

[0015] According to a preferred embodiment of the invention, the autonomous vehicle has a map of its surroundings, wherein the surroundings comprise at least one object associated with an object listed on the map. When the autonomous vehicle is moving, a laser scan is recorded by the at least one laser scanner of the autonomous vehicle, and objects detected in the laser scan are compared by the navigation computer with objects listed on the map. By comparing detected objects with objects listed on the map, a location and orientation of the autonomous vehicle can be determined.

[0016] According to an advantageous development of the invention, the navigation computer has an evaluation unit for evaluating recorded laser scans and an input unit for receiving information from the control unit. When the input unit receives information that the autonomous vehicle is at rest, the evaluation unit is switched off or placed in a sleep state. This sleep state is also referred to as sleep mode. By switching off the evaluation unit, electrical energy is saved. The input unit, which has a relatively low energy consumption, remains in operation.

[0017] According to an advantageous development of the invention, when the input unit receives information that the autonomous vehicle is moving, the evaluation unit is switched on or reactivated. For example, a wake-up from sleep mode occurs. Thus, the evaluation of recorded laser scans for localizing the autonomous vehicle takes place when the autonomous vehicle is moving. According to an advantageous embodiment of the invention, when the autonomous vehicle is stationary, the at least one laser scanner is switched off. Switching off the laser scanner also saves electrical energy.

[0018] According to an advantageous embodiment of the invention, the control unit determines information about the movement of the autonomous vehicle by evaluating read-in odometry data. Odometry data includes, for example, signals from a rotary encoder that measures the rotational speed of a wheel.

[0019] According to a further advantageous embodiment of the invention, the control unit determines the information about a movement of the autonomous vehicle by evaluating data received from a gyroscope and / or an accelerometer. In particular, the data received from the gyroscope and / or the accelerometer are combined with odometry data.

[0020] According to an advantageous embodiment of the invention, the control unit determines information about the movement of the autonomous vehicle by evaluating control signals output to the drive device. Control signals include, for example, specifications for wheel rotational speeds and wheel orientations relative to a chassis of the autonomous vehicle.

[0021] According to a preferred embodiment of the invention, the autonomous vehicle comprises an electrical energy storage device for supplying the drive system and a communication device for wireless communication via a network. The communication device serves, for example, for communication with other autonomous vehicles and with a central server.

[0022] An autonomous vehicle according to the invention comprises at least one laser scanner for recording laser scans to detect objects, a navigation computer for locating the autonomous vehicle, a drive device for driving the autonomous vehicle, and a control unit for controlling the drive device. The autonomous vehicle can be operated using the method according to the invention.

[0023] According to an advantageous development of the invention, the information that the autonomous vehicle is at rest is transmitted from the communication device to other autonomous vehicles and / or to a central server. Thus, other autonomous vehicles and / or the central server know the location of the autonomous vehicle after the navigation computer has stopped evaluating the recorded laser scans.

[0024] The invention is not limited to the combination of features in the claims. Further possible combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to those skilled in the art, particularly from the problem and / or the problem posed by comparison with the prior art.

[0025] The invention will now be explained in more detail with reference to the accompanying drawings. The invention is not limited to the exemplary embodiments shown in the drawings. The drawings only represent the subject matter of the invention schematically. They show:

[0026] Figure 1 : a schematic representation of an autonomous vehicle and

[0027] Figure 2: a schematic representation of a navigation computer.

[0028] Figure 1 shows a schematic representation of an autonomous vehicle 1. The autonomous vehicle 1 is operated in an environment, in this case a technical facility. The technical facility is an industrial application, for example, a production plant, an industrial hall, or a logistics center. Several autonomous vehicles 1 are present in the technical facility. Only one such autonomous vehicle 1 is shown in this illustration. The autonomous vehicles 1 are used, in particular, for transporting materials.

[0029] The autonomous vehicle 1 comprises a drive device 18 for driving the autonomous vehicle 1, an electrical energy storage device for supplying the drive device 18, and a control unit 16 for controlling the drive device 18. Furthermore, the autonomous vehicle 1 comprises a communication device 14 for wireless communication with other autonomous vehicles 1 and with other participants in the technical system. The communication device 14 of the autonomous vehicle 1 is designed, for example, for data transmission via WLAN, Bluetooth, or light.

[0030] The autonomous vehicle 1 has two laser scanners 2. The laser scanners 2 are used to capture laser scans for detecting objects in the technical system. When an object is detected, the laser scanners 2 record the distance to the object and the direction in which the object is located. The laser scanners 2 are mounted at opposite corners of the autonomous vehicle 1 and each detect objects within an angular range of approximately 270°. Only one laser scanner 2 of the autonomous vehicle 1 is shown here.

[0031] The environment contains objects, such as walls, pillars, and production machines. Autonomous vehicle 1 has a map of the environment. These objects are each assigned to objects that are listed on the map of the environment. The positions of the objects are also listed as object positions on the map.

[0032] The autonomous vehicle 1 includes a navigation computer 12. The navigation computer 12 is used to locate the autonomous vehicle 1. When the autonomous vehicle 1 is moving, a laser scan is recorded by at least one laser scanner 2 of the autonomous vehicle 1. Objects detected in the laser scan are compared by the navigation computer 12 with objects listed on the map. By comparing detected objects with objects listed on the map, the navigation computer 12 determines the location and orientation of the autonomous vehicle 1.

[0033] The control unit 16 outputs control signals to the drive device 18. The control signals include, for example, specifications for wheel rotational speeds and wheel orientations relative to a chassis of the autonomous vehicle 1. The control unit 16 evaluates the control signals output to the drive device 18. By evaluating the control signals, the control unit 16 determines information about a movement of the autonomous vehicle 1.

[0034] The control unit 16 reads odometry data output by sensors of the autonomous vehicle 1. The odometry data includes, for example, wheel rotational speeds and wheel orientations relative to a chassis of the autonomous vehicle. The control unit 16 evaluates the read odometry data. By evaluating the odometry data, the control unit 16 also determines information about a movement of the autonomous vehicle 1.

[0035] The control unit 16 sends information about the movement of the autonomous vehicle 1 to the navigation computer 12. This information includes whether the autonomous vehicle 1 is moving or whether the autonomous vehicle 1 is at rest. The navigation computer 12 receives this information and uses it to detect whether the autonomous vehicle 1 is moving or whether the autonomous vehicle 1 is at rest.

[0036] When the autonomous vehicle 1 is moving, the navigation computer 12 evaluates the recorded laser scans. The navigation computer 12 compares objects detected in the laser scan with objects listed on the map. The autonomous vehicle 1 is localized by comparing detected objects with objects listed on the map. The navigation computer 12 determines the location and orientation of the autonomous vehicle 1 in the surrounding area.

[0037] When autonomous vehicle 1 is stationary, navigation computer 12 stops evaluating recorded laser scans. Thus, no comparison of detected objects with objects recorded on the map is performed. Thus, no localization of autonomous vehicle 1 occurs.

[0038] It is conceivable that the laser scanner 2 is also switched off or put into a standby state when the autonomous vehicle 1 is at rest. Thus, when the autonomous vehicle 1 is at rest, no laser scans are recorded.

[0039] Figure 2: shows a schematic representation of a navigation computer 12. The navigation computer 12 has an evaluation unit 32 and an input unit 31. The evaluation unit 32 is used to evaluate recorded laser scans. The input unit 31 is used to receive information from the control unit 16.

[0040] The control unit 16 sends information about a movement of the autonomous vehicle 1 to the input unit 31 of the navigation computer 12. This information includes whether the autonomous vehicle 1 is moving or whether the autonomous vehicle 1 is at rest. The input unit 31 of the navigation computer 12 receives said information and detects from it whether the autonomous vehicle 1 is moving or whether the autonomous vehicle 1 is at rest.

[0041] When the input unit 31 receives the information that the autonomous vehicle 1 is moving, the evaluation unit 32 is switched on or reactivated. The evaluation unit 32 of the navigation computer 12 then evaluates recorded laser scans. In this process, objects detected in the laser scan are compared by the evaluation unit 32 of the navigation computer 12 with objects shown on the map. The autonomous vehicle 1 is localized by comparing detected objects with objects shown on the map. The location and orientation of the autonomous vehicle 1 in the environment are determined by the navigation computer 12. When the input unit 31 receives the information that the autonomous vehicle 1 is at rest, the evaluation unit 32 is switched off or put into a sleep state. The evaluation unit 32 of the navigation computer 12 then stops evaluating recorded laser scans.Therefore, no comparison of detected objects with objects recorded on the map is performed. Therefore, no localization of the autonomous vehicle 1 is performed.

[0042] List of reference symbols

[0043] 1 autonomous vehicle 2 laser scanners

[0044] 12 navigation computers

[0045] 14 Communication device

[0046] 16 Control unit

[0047] 18 Drive device 31 Input unit

[0048] 32 Evaluation unit

Claims

Patent claims:

1. A method for operating an autonomous vehicle (1) in an environment, wherein the autonomous vehicle (1) comprises at least one laser scanner (2) for recording laser scans for detecting objects, a navigation computer (12) for localizing the autonomous vehicle (1), a drive device (18) for driving the autonomous vehicle (1), and a control unit (16) for controlling the drive device (18), characterized in that the control unit (16) sends information about a movement of the autonomous vehicle (1) to the navigation computer (12); and the navigation computer (12) evaluates recorded laser scans when the autonomous vehicle (1) is moving, and the navigation computer (12) stops the evaluation of recorded laser scans when the autonomous vehicle (1) is at rest.

2. Method according to claim 1, characterized in that the autonomous vehicle (1) has a map of the surroundings, wherein the surroundings comprise at least one item to which an object is assigned that is recorded in the map, and in that when the autonomous vehicle (1) is in motion, a laser scan is recorded by the at least one laser scanner (2) of the autonomous vehicle (1); and objects detected in the laser scan are compared by the navigation computer (12) with objects that are recorded in the map.

3. Method according to one of the preceding claims, characterized in that the navigation computer (12) has an evaluation unit (32) for evaluating recorded laser scans and an input unit (31) for receiving information from the control unit (16), and that when the input unit (31) receives the information that the autonomous vehicle (1) is at rest, the evaluation unit (32) is switched off or put into a standby state.

4. Method according to claim 3, characterized in that when the input unit (31) receives the information that the autonomous vehicle (1) is moving, the evaluation unit (32) is switched on or reactivated.

5. Method according to one of the preceding claims, characterized in that when the autonomous vehicle (1) is at rest, the at least one laser scanner (2) is switched off.

6. Method according to one of the preceding claims, characterized in that the control unit (16) determines the information about a movement of the autonomous vehicle (1) by evaluating read-in odometry data.

7. Method according to one of the preceding claims, characterized in that the control unit (16) determines the information about a movement of the autonomous vehicle (1) by evaluating control signals which are output to the drive device (18).

8. Method according to one of the preceding claims, characterized in that the autonomous vehicle (1) comprises an electrical energy storage device for supplying the drive device (18) and a communication device (14) for wireless communication via a network.

9. The method according to claim 8, characterized in that the information that the autonomous vehicle (1) is at rest is transmitted from the communication device (14) to other autonomous vehicles (1) and / or to a central server.

10. Autonomous vehicle (1), comprising at least one laser scanner (2) for recording laser scans for detecting objects, a navigation computer (12) for locating the autonomous vehicle (1), a drive device (18) for driving the autonomous vehicle (1) and a control unit (16) for controlling the drive device (18), wherein the autonomous vehicle (1) can be operated using the method according to one of the preceding claims.

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