Method for operating a transport vehicle, control device, storage medium and transport vehicle

Abstract

The invention relates to a method for providing a transport vehicle, wherein the transport vehicle can be operated in three operating modes, of which one enables motor-assisted manual driving, a second implements an automatic following function, and a third enables an automatic travel to a location or the following of a predefined route. The invention further relates to an associated control device, an associated storage medium and an associated transport vehicle.

Description

[0001] Method for operating a transport vehicle, control device, storage medium and transport vehicle

[0002] The invention relates to a method for operating a transport vehicle, an associated control device, an associated storage medium and an associated transport vehicle.

[0003] Transport vehicles are often used to transport goods to delivery locations. For example, such a transport vehicle can be loaded with packages to be delivered to homes or businesses. However, the transport vehicles currently available are often difficult to handle and only partially functional for numerous locations.

[0004] It is therefore an object to provide a method for operating a transport vehicle that provides alternative or improved functionalities compared to prior art designs. Furthermore, a control device, a non-volatile computer-readable storage medium, and a transport vehicle are to be provided. This is achieved by a method, a control device, a non-volatile computer-readable storage medium, and a transport vehicle according to the respective claims. Advantageous embodiments are claimed, for example, in the subclaims. The content of the claims is incorporated into the content of the description by express reference.

[0005] The invention relates to a method for operating a transport vehicle. The method comprises the following steps:

[0006] Providing a user with a selection function between at least a first operating mode, a second operating mode and a third operating mode, and in response to actuation of the selection function, operating the transport vehicle in a selected operating mode.

[0007] The first operating mode is preferably motor-assisted or motor-driven manual driving of the transport vehicle. The second operating mode is preferably a follow function, in which the transport vehicle automatically follows a target object. The third operating mode is preferably a self-driving function, in which the transport vehicle automatically heads to a specified location or follows a specified route.

[0008] Such a process significantly increases the flexibility of using a transport vehicle. This provides significant support to delivery personnel, allowing the transport vehicle to always adapt to current needs. Thus, a delivery person can always receive ideal support from the transport vehicle. Delivery services can thus be carried out much more efficiently.

[0009] A transport vehicle can basically be understood as a vehicle that is capable of transporting goods such as packages to specific locations. A transport vehicle is, for example, loaded at a delivery base and is then used to travel a predetermined route along which loaded goods are to be delivered and / or new goods are to be picked up. For example, a transport vehicle can be a cargo bike, whereby such a cargo bike is typically operated by an operator. In particular, it can be ridden, with such riding typically being assisted. It is therefore typically not moved exclusively by muscle power. Typically, it is at least partially steered manually so that it can participate in normal road traffic. The selection function can, in particular, be implemented in such a way that it can be operated by an operator.This can be possible at any time during use of the transport vehicle. Exemplary embodiments are described in more detail below. In particular, in response to actuation of the selection function, the transport vehicle can be operated in the selected operating mode until a new operating mode is selected and / or until the transport vehicle is deactivated. For example, the transport vehicle can be parked at the end of a delivery trip and thereby deactivated, for example by completely or partially deactivating the transport vehicle's electrical systems. Alternatively or additionally, however, it can also be provided that the operating mode is changed automatically. This will be discussed in more detail below.

[0010] The first operating mode is motor-assisted or motor-driven manual driving of the transport vehicle. The transport vehicle is typically driven manually, i.e., a driver steers the transport vehicle and determines its speed. For example, the transport vehicle can be powered partly by muscle power and partly by an electric motor. The use of an internal combustion engine is also possible. This operating mode is typically suitable for covering longer distances. For example, the transport vehicle can participate in normal public road traffic in the first operating mode. It can also be intended that the transport vehicle runs entirely on motor power in the first operating mode. This is referred to as motor-driven.

[0011] The second operating mode can be used, in particular, to follow an operator moving as a pedestrian. This can occur particularly near a destination area, for example, when the operator removes a parcel or other goods from the transport vehicle and takes it to a drop-off location. In this case, several delivery stations located close to one another often have to be served, where it is not worthwhile to temporarily climb onto the transport vehicle and steer it manually, for example. In this case, the operator can move as a pedestrian and perform their tasks, with the transport vehicle following them in a defined manner. Possible implementations will be discussed in more detail below.

[0012] The third operating mode is specifically designed to send the transport vehicle to a defined location without the need for active control or monitoring by the operator. This allows, for example, an operator to perform tasks at a specific location while a transport vehicle drives itself to a new location. This can save time.

[0013] According to a further development, the method further comprises the following steps: detecting an object in an environment of the transport vehicle, detecting in which area of ​​several areas into which the environment of the transport vehicle is divided and to which a function is assigned, the object is located, and

[0014] In response to the object being located in an area, execute the function assigned to the area.

[0015] This allows for particularly convenient control of the transport vehicle's functions, particularly optimized for use in mail delivery operations. Typically, the object is a person or the user of the transport vehicle. By standing in an area around the transport vehicle, the user can activate or deactivate certain functions without requiring contact with the transport vehicle or manual operation of a control unit.

[0016] A function can be activating the first operating mode. A function can be activating the second operating mode. A function can be activating the third operating mode. This allows a specific operating mode to be automatically activated depending on the user's location in a specific area.

[0017] The areas can, in particular, be rectangular. However, other shapes are also possible. They can, in particular, be stored in the control electronics of the transport vehicle and can be continuously updated and defined around the transport vehicle. Typically, they can be specified in a coordinate system defined by the transport vehicle.

[0018] In particular, a function can be automatic following of the object as a target object in the second operating mode. In other words, the second operating mode can be activated first, and then the object can be followed as intended for the target object in the second operating mode. The transport vehicle can follow behind the target object or it can follow to the side. In particular, a distance between the target object and the transport vehicle can be specified, which distance the transport vehicle should maintain as far as possible. Reference is made to the explanations given elsewhere in this regard. In particular, it can be provided that one or more areas are safety areas. It can be provided that a function assigned to an area is only executed if it has been previously detected that the object is located in a safety area assigned to the function.Staying in a safety area can thus enable a function. For example, this can enable the second operating mode, which is then activated by subsequently staying in an area. In particular, the user can, for example, enter an area, and the transport vehicle will then automatically follow them.

[0019] It can be configured to deactivate a function again when it is detected that the object is leaving an area to which the function is assigned. This can prevent unwanted movements of the transport vehicle. In particular, the transport vehicle can be automatically braked to a standstill when there is no longer an object in one of the areas or when the object is in an area to which a braking to a standstill function is assigned.

[0020] According to one embodiment, the areas overlap at least partially. In particular, safety areas can overlap with other areas that are not safety areas. However, a non-overlapping design of the areas is also possible.

[0021] In particular, the transport vehicle can be steered manually in the first operating mode. This can be done, for example, via a conventional steering device such as a handlebar or a steering wheel. The transport vehicle can thus participate in normal road traffic, for example, with an operator being able to react immediately to steer the vehicle as required by the intended purpose and traffic situation.

[0022] Preferably, the transport vehicle is in the first operating mode by

[0023] Muscle power, which is controlled by an electric motor and / or a

[0024] combustion engine. This means that manual travel can generally be provided, the speed of which can be controlled by the driver simply by pedaling faster or slower. Nevertheless, motor assistance is provided so that excessive physical strain on the operator is avoided. The muscle power can be applied in particular to one or more operating devices on the transport vehicle, for example pedals or cranks. These can in particular channel the muscle power to the wheels of the transport vehicle. Pedals can in particular be used to exert muscle power using the feet, which is then used accordingly. A crank can, for example, be operated by hand, which also enables operation by people who, due to a disability, cannot use their feet for this purpose.

[0025] The transport vehicle is preferably equipped with one or more brakes. For example, a brake can be manually operated. For example, a brake can be operated by an electronic vehicle control system. In particular, a brake can be used together with a motor to realize positive and negative acceleration. This applies in particular to all operating modes.

[0026] According to an advantageous embodiment, the transport vehicle automatically detects when a user assumes a posture for manually driving the transport vehicle. Preferably, the first operating mode is activated in response thereto. Such detection can be achieved, for example, using suitable sensors. For example, sensors can detect when the driver touches handles or exerts muscle force. Such functionality can assist a driver or operator in getting onto the transport vehicle and steering it manually at any time, since the first operating mode does not have to be activated manually first; instead, the transport vehicle detects this independently. Manual driving can, in particular, mean that the user steers the transport vehicle themselves and / or determines its speed, for example by operating pedals.

[0027] In particular, it can be provided that the transport vehicle detects, by means of one or more sensors, when a user assumes a posture for manually driving the transport vehicle. Such sensors can detect specific signs that the user assumes a posture for manually driving.

[0028] In particular, one, some, or all sensors can be arranged in one or more handlebar grips of the transport vehicle. In particular, one, some, or all sensors can detect touching of one or more handlebar grips. Handlebar grips can, in particular, be grips with which a handlebar, for example a handlebar, of the transport vehicle can be operated. This can, for example, be designed like a conventional bicycle or motorcycle. Gripping such handlebar grips typically indicates that the user intends to control the transport vehicle manually.

[0029] In particular, it can be provided that one, some, or all sensors detect the application of muscle force to the transport vehicle. This can, for example, be a force intended to drive or steer the transport vehicle. It typically indicates the user's intention to steer the transport vehicle manually.

[0030] In particular, it may be provided that one, some, or all sensors detect the application of pedal force to the transport vehicle's pedals. This typically indicates that the user intends to drive manually.

[0031] In particular, it can be provided that one, some, or all sensors detect the application of a steering force to a driver of the transport vehicle. Such a steering force is typically applied when the transport vehicle is to be steered manually. A steering force is, in particular, a force that specifies or changes the direction in which the transport vehicle should travel.

[0032] The transport vehicle can, in particular, be designed so that a user can climb onto a seat from either side. This allows for accessibility from both sides. The user can climb onto the seat from the right or left side.

[0033] The transport vehicle is preferably designed with only one seat for one user. In principle, however, multiple seats can also be provided, which can in particular be arranged one behind the other. This can reduce the width of the transport vehicle. The transport vehicle can in particular be a vehicle different from an automobile. An automobile is in particular a two-track, at least two-axle motor vehicle with an engine that enables a speed of more than 6 km / h or more than 60 km / h. In particular, the transport vehicle can be a cargo bike. The transport vehicle can in particular have a seat that is open at the top and sides, or at least open at the sides, or that can only be covered at the top. In particular, it can be provided that even if the seat is covered, for example to protect a user from rain, it is open at the sides.This can make boarding and disembarking easier, which can simplify delivery operations in particular. In particular, the transport vehicle under consideration here can be powered by a human-powered vehicle. It can, in particular, have pedals that allow muscle power to be exerted.

[0034] In particular, it can be provided that in the first operating mode, inputs from an automated or autonomous vehicle control system are generally rejected. This can be provided as a safety precaution to ensure that an operator can control the transport vehicle manually and there is no risk of any existing vehicle control system that can drive automatically or autonomously interfering with the vehicle control system and thereby endangering road safety. In particular, it can be provided that in the first operating mode, an automated or autonomous vehicle control system is prevented from sending on an internal communications network of the transport vehicle. This can be implemented as an alternative to, or in addition to, rejecting inputs. This can also prevent such a vehicle control system from intervening in the journey even though the vehicle is actually intended to be controlled manually.In particular, it can be provided that an automated or autonomous vehicle control system is deactivated in the first operating mode. This can also prevent the automated or autonomous vehicle control system from intervening in the driving process, even though the vehicle is intended to be controlled manually.

[0035] Automated or autonomous vehicle control refers, in particular, to a vehicle control system configured to control the vehicle without manual intervention, at least for a certain period of time. In particular, such automated or autonomous vehicle control can be based on the transport vehicle being controlled based on driving instructions, object detection, and / or environmental awareness.

[0036] In particular, in the second operating mode, the transport vehicle can receive signals which are sent in particular by a transmitter of the target object. In response, the transport vehicle can follow the transmitter. Such a transmitter can, for example, be worn on the body of an operator, with the operator in this case representing the target object. Alternatively, such a transmitter could, for example, be attached to another transport vehicle, which then represents the target object. In particular, upon receiving the signals, it is also possible to determine the direction from which the signals are received and / or the distance to the target object. This allows for further functionalities, for example to maintain a certain distance or a certain spatial relationship to the target object.

[0037] Alternatively or additionally, in the second operating mode, the transport vehicle can detect the target object using environmental sensors such as cameras, lidar, and / or radar and automatically follow the target object in response. This also allows automated following in relation to a target object, which could be, for example, an operator or another transport vehicle.

[0038] In particular, it can be provided that the transport vehicle in the second operating mode or in a sub-mode of the second operating mode automatically travels in front of, next to, or behind the target object in a defined positional relationship. This makes it possible to maintain a defined positional relationship to the target object, such as an operator. Traveling in front of the target object can, for example, mean that the transport vehicle always travels ahead, for which a path of the target object can be predicted, for example. Traveling next to the target object can, in particular, mean that, viewed in a direction of movement of the target object, the transport vehicle travels laterally offset from this direction of movement. Traveling behind the target object can, in particular, mean that the transport vehicle follows the path that the target object has already taken. These functions are understood as automatic following.In particular, it can be provided that, in the third operating mode, the transport vehicle automatically navigates to a specified location from an electronic map or electronic route planning. This allows the transport vehicle to be assigned a defined location or a defined route. This allows for autonomous travel to such a location or autonomous travel along such a route without requiring any intervention from the operator. This significantly reduces the workload for the operator.

[0039] In particular, the selection function can also include a selection of a fourth operating mode, wherein the fourth operating mode is, in particular, a pushing aid. In the fourth operating mode, the force exerted on the transport vehicle by the user walking alongside the transport vehicle is assisted. This can correspond to the typical pushing of a bicycle.

[0040] For example, the user exerts muscle power on a handlebar to propel and simultaneously steer the transport vehicle. This muscle power can be supported by an electric motor as part of a push assist.

[0041] A contactless pushing aid can also be provided. This can be implemented as part of the second operating mode, whereby the user walks alongside the transport vehicle and the transport vehicle automatically drives alongside them, thus following them.

[0042] In particular, it can be provided that the transport vehicle detects its surroundings using environmental sensors. The transport vehicle can, in particular, examine the surroundings for areas to be avoided and, in particular, at least in the second operating mode and / or in the third operating mode, the transport vehicle cannot drive into and / or park in areas to be avoided. For example, such environmental sensors can be designed using a camera, lidar and / or radar. Areas to be avoided can, in particular, be those which, due to their surface condition or their use, should not be driven on by the transport vehicle. For example, these can be lawns which could be damaged if the transport vehicle drives on them.These can also include fire department access roads, areas in front of fire hydrants, ramps to facilitate access for disabled persons, or parking areas for motor vehicles that should not be used by the transport vehicle. Depending on the type of area to be avoided, a distinction can generally be made as to whether the transport vehicle should not drive over it at all or whether it should simply not be parked there. For example, a fire department access road can be driven through briefly without any problem, but the transport vehicle should not be parked there. On the other hand, an easily damaged meadow should generally not be driven over by the transport vehicle. For example, footpaths, cycle paths, or pedestrian zones can also be specifically avoided.

[0043] According to one embodiment, the transport vehicle can detect a lane or a traffic domain. The transport vehicle can automatically follow a detected lane at least partially and / or at least in the second operating mode and / or at least in the third operating mode and / or remain within a detected traffic domain. A lane can in particular be a lane intended for the longitudinal movement of road users, such as vehicles.

[0044] In particular, it can be provided that the transport vehicle continuously monitors components and, if appropriate, generates an error message upon detection of a malfunction. This can advantageously monitor the operational capability of the transport vehicle. For example, such components can be a control device, a motor, or environmental sensors. For example, certain check routines can be executed continuously or regularly, which can detect errors.

[0045] In particular, it can be provided that the transport vehicle detects obstacles and automatically avoids and / or stops in front of them, at least in the second operating mode and / or in the third operating mode. This enables an automatic reaction to obstacles. It is therefore not necessary to have maps that are so precise and up-to-date that all obstacles are shown. The transport vehicle can automatically detect an obstacle such as a boundary post, a stroller or a pedestrian and avoid it or stop in front of it. This effectively prevents collisions and damage. If lane recognition is used at the same time, it is preferable that when avoiding an obstacle the vehicle only maneuvers in such a way that the transport vehicle still remains in the lane.It may be provided that the transport vehicle is stopped if it is not possible to avoid the obstacle without leaving the detected lane.

[0046] In particular, it can be provided that the transport vehicle does not exceed a specified maximum speed in the second operating mode and / or in the third operating mode. For example, this maximum speed can be 5.9 km / h, 6 km / h, 25 km / h, or 50 km / h. It can, for example, be at least 3 km / h and / or at most 10 km / h. This can prevent the transport vehicle, during autonomous or semi-autonomous operation, from reaching speeds that might no longer be safely controllable, would pose a traffic hazard, and / or would be illegal. The specified maximum speed can, in particular, be lower than the technically possible maximum speed of the transport vehicle.

[0047] In particular, it can be provided that the transport vehicle stops immediately when an emergency stop function is activated on the transport vehicle and / or via a remote control and / or in response to an error message. Such an emergency stop function can therefore bring the transport vehicle to an immediate stop, which can, for example, prevent an accident. For example, a switch can be provided on the transport vehicle for this purpose. A remote control can, for example, be carried by an operator who can also be next to, but close to, the transport vehicle and who can use such an emergency stop function to immediately stop the transport vehicle. An error message can, for example, indicate that the transport vehicle can no longer be operated safely because one or more components are no longer functioning reliably.

[0048] In particular, the transport vehicle can maintain its steering angle while stopping immediately. This allows a defined and, if possible, predictable stopping routine to be executed. Unintentional course changes can be avoided.

[0049] In particular, the selection function can be activated via a selection device on the transport vehicle and / or via a radio remote control. For example, a selection device can be provided on the transport vehicle, which includes one or more buttons, switches, and / or touch-sensitive screens by means of which the driving mode can be selected. A similar device can be provided on a radio remote control. It is also possible to implement a selection function via an application running on a mobile phone. This can be carried by the operator. Communication can, for example, take place via a public radio network, with both the transport vehicle and the mobile phone each being separately connected to the public radio network.Alternatively or additionally, the mobile phone can also be connected directly to the transport vehicle, for example via Bluetooth, NFC or WLAN.

[0050] For example, the transport vehicle can determine its position using odometry and / or environmental perception. Odometry is understood to mean that the location of the transport vehicle is calculated based on a detected and / or initiated movement of the transport vehicle. Environmental perception can, for example, detect certain objects in the surrounding area and compare them with a map, allowing the position to be calculated. Alternatively or additionally, location determination can be performed using satellite navigation.

[0051] In particular, it can be provided that the transport vehicle detects other road users and / or predicts their future movement and, based on this, prevents a collision with other road users. This allows for a further increase in safety, particularly in autonomous or semi-autonomous driving. For example, environmental sensors such as cameras, radar, and / or lidar can be used to detect other road users. In particular, the transport vehicle can be a cargo bike. Such a cargo bike is typically a vehicle that can be steered manually and is typically propelled by an operator pedaling or operating a crank, with the muscle power exerted in this process preferably being supported by an electric motor and / or an internal combustion engine. In principle, however, the method described herein can also be applied to other transport vehicles.In particular, a purely motor drive can also be provided.

[0052] In particular, it can be provided that the transport vehicle is operated in the selected operating mode until another operating mode is selected or an operating mode is automatically activated. Such automatic activation can, in particular, be an activation in response to detection of a posture for manually driving the transport vehicle, in particular as described above.

[0053] The invention further relates to a control device configured to carry out a method as described herein. The invention further relates to a non-volatile computer-readable storage medium on which program code is stored, the execution of which causes a processor to carry out a method as described herein. With regard to the method described herein, in particular, all embodiments and variants described herein can be used.

[0054] The invention further relates to a transport vehicle, wherein the transport vehicle preferably has means for manual driving, means for steering and driving the transport vehicle, and / or a control device as described herein. The method can thus be carried out advantageously and the advantages already described can be achieved. The means for manual driving can, in particular, be a combination of a drive unit and a steering unit. The drive unit can, for example, have pedals and / or a crank. The steering unit can, for example, have a steering wheel or a handlebar. The means for steering and driving the transport vehicle can, in particular, be designed to steer the transport vehicle automatically, such that a steering angle can be specified based on an electronic control system.The drive means can be designed, in particular, to drive the transport vehicle independently of the application of muscle power by a driver and / or to assist a driver who applies muscle power. The control device is, in particular, configured to carry out a method described herein. All embodiments and variants described herein can be used.

[0055] In other words, particularly in one application scenario, it can be assumed that delivery areas in inner-city mixed-use areas are often approximately one to three kilometers away from a micro-hub and will continue to require travel in the future. These areas may be characterized by a high stop density. Delivery drivers often serve entrances at short intervals. They must frequently stop, dismount, rack or park a cargo bike, sort and remove shipments, re-enter the vehicle, and continue driving a few meters. These processes are time-consuming and, especially in the case of two-wheeled postal bikes, place considerable physical strain on the personnel. Therefore, a system is proposed here that combines the flexibility of cargo bikes, particularly for travel, with the ergonomic advantages and streamlined delivery processes of follow-on robots.To enable delivery workers to work efficiently, such a vehicle should be able to be controlled hands-free, drive in front of or next to the person (for example, picking up the next parcel), park safely and be integrated holistically into the information flow of orders and routes.

[0056] In particular, a control device and a control method are presented here with which vehicles with manual drive devices and electric drive components can be equipped with automated driving functions. The automation enables the vehicle to be driven in relation to a control person or in their presence according to target specifications.

[0057] For example, a control unit can be used. This can be connected to the vehicle actuators (e.g., drive, brakes, and / or steering) via an interface, for example, via a CAN bus or another vehicle bus. It can have a safety controller and an automated controller for a manual and an automated operating mode. It can determine the position of the delivery person, for example, using a suitable tracking device and / or based on the sensors that detect the surroundings. It can be connected to a control device that enables input from a supervisor, for example, to change modes. This can also include the tracking device. The safety controller can, in particular, have two independent control devices with suitable monitoring, for example, a real-time device (RTD) and a remote control device (RCD). An emergency stop switch can be present on the vehicle.A wireless emergency stop switch with a receiver can also be installed on the vehicle. Two control units, or both control units, can be connected to the vehicle's actuator system, particularly via a CAN interface or another interface. They can be connected via an interface to an emergency stop switch and / or to an input device for switching the driving function between automated and manual.

[0058] In manual mode, for example, monitoring can be provided. The automated control can be deactivated and / or signals from the manual control, for example regarding the drive, braking, and steering, can always override the signals from the automated control, or the driver's actions are not disrupted or overridden by the automation. This means that the driver is not endangered by emergency stops, for example. A safety signal (heartbeat) from safety-critical components such as the drive, pressure sensors, steering angle sensors, and brakes can be used at a constant frequency. The automated control can be checked to ensure that it is always ready and active. The vehicle can be transferred to a safe state as soon as a relevant component fails.The data from the vehicle's internal sensors (e.g. wheel speed sensors, brake pressure sensors, steering angle sensors, GPS, ...) can be returned to the automated control system.

[0059] An automated control system can in particular comprise one or more control units that implement the functions described below:

[0060] Processing of data from the environment-detecting sensors, processing of data from the vehicle's internal sensors (wheel speed, brake pressure, GPS, ...),

[0061] Processing the position of the deliverer,

[0062] Order management system and connection to control system,

[0063] Mission Control - control of the vehicle according to the current target, interface to the control person for command input (and information return if necessary) and their processing, communication module (e.g. GNSS, WLAN, LTE), processing unit for movement planning and control.

[0064] This can be used, for example, to generate a target position for the vehicle, a route plan for creating a route to the target position, maneuver planning for specific driving situations while traveling the route, control signals for the vehicle's actuators such as torque, steering angle, or brake pressure, or other data. A manual input device is available on the vehicle and / or on the driver's control device to transition between manual and automated driving modes.

[0065] Further features and advantages will become apparent to those skilled in the art from the exemplary embodiment described below with reference to the accompanying drawings. Fig. 1 shows a transport vehicle,

[0066] Fig. 2: an operational situation of the transport vehicle, and

[0067] Fig. 3: a transport vehicle with surrounding areas.

[0068] Fig. 1 shows a transport vehicle 10. The transport vehicle 10 is shown here purely schematically and is basically designed in the form of a cargo bike.

[0069] The transport vehicle 10 is designed to operate in three different operating modes. In a first operating mode, the transport vehicle 10 can be driven manually, but with assistance, by an operator 15. For this purpose, a seat 40 is located on the transport vehicle 10, in front of which is a control unit 45. Located within the transport vehicle 10 and therefore not visible in Fig. 1 are pedals with which the operator can exert muscle power.

[0070] This muscle power is used to drive the transport vehicle 10 and acts on wheels 20, but is assisted by an electric motor 22. This electric motor 22 thus makes it easier for the operator 15 to drive the transport vehicle 10, since the operator 15 does not have to apply the full force required to drive the transport vehicle 10 with muscle power. Steering is also implemented via the control unit 45, so that the transport vehicle 10 can be steered manually. This enables normal participation in road traffic, just like a normal vehicle.

[0071] A second and a third operating mode can also be selected via a button on the control unit 45. In the second operating mode, a following function is implemented. In this case, the operator 15 is standing next to, in front of, or behind the transport vehicle 10 and is detected by an environmental sensor 12 in the form of a camera. Alternatively and / or additionally, radar or lidar devices can be used, or a transmitter 17 can be used, which the operator 15 carries and which can be located by the transport vehicle 10. If the operator 15 moves across a surface, this is detected by the transport vehicle 10, and the transport vehicle 10 follows the operator 15 in a predetermined position. This can involve following behind, for example, but it can also be following in a position next to each other or driving ahead.

[0072] In a third mode, the operator 15 can assign a position to the transport vehicle 10, which the transport vehicle 10 will then move to independently. Alternatively or additionally, a route can also be specified. A remote control 18, which the operator 15 can hold in their hand and which is connected to the transport vehicle 10 via a radio link, is used to select between the modes and enter additional commands.

[0073] The transport vehicle 10 includes a transport box 30 in which loads can be carried. This allows the transport vehicle 10 to be used particularly for delivery purposes. The transport vehicle 10 can participate in normal road traffic, especially when it is in the first mode. In the second mode, the operator 15 is a target object 16 and can manually perform delivery tasks, for example, hand over a package to a household. The transport vehicle 10 will follow the operator automatically, so that it is not necessary to return to the transport vehicle 10 at a parking location and then drive it on. If the operator 15 needs more time at a particular location, they can use this time to automatically send the transport vehicle 10 to another location in the third mode.

[0074] The electric motor 22 can be designed, in particular, to automatically drive the transport vehicle 10 in the second and third operating modes. A control device 50 is provided for control purposes, which is always active and controls the assistance provided to the operator 15 by the electric motor 22. An autonomous vehicle control system 55 is provided specifically for the second and third operating modes and is connected to the control device 50 via a communications network 52. In the second and third operating modes, the autonomous vehicle control system 55 issues driving commands to the control device 50, so that the control device 50 appropriately steers the transport vehicle 10 and also appropriately controls the electric motor 22, so that the transport vehicle 10 follows the operator 15, approaches a predetermined position, or travels a predetermined route.In the first operating mode, however, the control device 50 is configured to automatically ignore inputs from the autonomous vehicle controller 55, so that even if the autonomous vehicle controller 55 were to issue commands, these commands would not affect the travel of the transport vehicle 10. This can significantly increase safety.

[0075] The environment sensor system 12 can also be used, in particular, to prevent collisions, follow lanes, stay within traffic domains, and / or avoid areas to be avoided when following the operator or driving completely autonomously in the third operating mode. This is described in more detail below with reference to Fig. 2.

[0076] Fig. 2 shows an area 60, which essentially represents a public traffic area. A building 61 is located there, next to which is a meadow 62. This meadow 62 is an area to be avoided, which the transport vehicle 10 should not drive on. Directly in front of the building 61 is a parking area 63 on which the transport vehicle 10 can be parked.

[0077] In the present case, the operator 15 can, for example, set the transport vehicle 10 to the second operating mode, so that it follows the operator 15 automatically or, alternatively, drives alongside him. Both cases are shown in Fig. 2. The operator can go to building 61 and drop off shipments there. The transport vehicle 10 will follow him, and he can easily remain on the parking area 63. If the operator 15 were to walk across the meadow 62, for example, the transport vehicle 10 would detect this and not drive onto the meadow 62.

[0078] While the operator 15 is delivering goods to the building 61, he can, for example, switch the transport vehicle 10 to the third operating mode so that it travels to another position next to another building (not shown). This can be done automatically by the transport vehicle 10. For this purpose, the transport vehicle 10 can, for example, follow a lane 64, which is shown purely schematically in Fig. 2. This allows the transport vehicle 10 to continue traveling independently while the operator 15 is still performing tasks that make it impossible for him to continue walking. This case is also shown in Fig. 2, with the transport vehicle 10 continuing to travel independently of the operator 15. If the transport vehicle 10 detects an obstacle 65, in particular by means of its environmental sensors 12, it automatically avoids it.

[0079] Fig. 3 shows a purely schematic representation of a transport vehicle 10 with surrounding surfaces. These surfaces are not visible on the ground on which the transport vehicle 10 is standing, but are merely defined in the control electronics of the transport vehicle 10. The surfaces are generally defined relative to the transport vehicle 10 and move with it when it moves.

[0080] In this case, the surfaces are a first surface F1, a second surface F2, a third surface F3, a first safety surface SF1, a second safety surface SF2, and a third safety surface SF3. In the state shown, the operator 15 is located in the vicinity of the transport vehicle 10, and his position is detected by the transport vehicle 10 or its environmental sensors.

[0081] If the operator 15 is detected in the first safety area SF1, the second operating mode is enabled. If the operator 15 then moves into the first area F1, the second operating mode is activated, and the transport vehicle 10 automatically moves alongside the operator 15. If the operator 15 is detected in the second safety area SF2, the second operating mode is enabled. If the operator 15 then moves into the second area F2, the second operating mode is activated, and the transport vehicle 10 automatically moves alongside the operator 15.

[0082] If the operator 15 is detected in the third safety area SF3, the second operating mode is enabled. If the operator 15 subsequently moves into the third area F3, the second operating mode is activated and the transport vehicle 10 automatically follows the operator 15.

[0083] If the operator only enters one of the areas F1, F2, or F3 without first having been on one of the safety areas SF1, SF2, or SF3, the second operating mode is not enabled, and the transport vehicle 10 does not activate the second operating mode. It therefore does not follow the operator 15 or travel alongside him. This prevents unintentional movements of the transport vehicle 10.

[0084] Overall, the transport vehicle 10 and the method implemented therein achieve a significantly higher level of modularity than in known designs, whereby an operator can be optimally supported in delivery tasks. The use of large vehicles, in which, for example, an engine always has to be started first and which can only be parked in large areas suitable for this purpose, can advantageously be dispensed with. Likewise, the distances required and the time required for an operator to deliver goods are minimized. The aforementioned steps of the method according to the invention can be carried out in the specified order. However, they can also be carried out in a different order, provided this is technically expedient.The method according to the invention can be carried out in one of its embodiments, for example, with a specific combination of steps, in such a way that no further steps are performed. However, in principle, further steps can also be performed, even those not mentioned.

[0085] It should be noted that features may be described in combination in the claims and the description, for example, to facilitate understanding, although they may also be used separately. Those skilled in the art will recognize that such features may also be combined independently with other features or combinations of features.

[0086] References in subclaims may be preferred combinations of the respective

[0087] Characteristics characterize, but do not exclude other combinations of characteristics.

[0088] List of reference symbols

[0089] 10 transport vehicle

[0090] 12 Environmental sensors

[0091] 15 operators

[0092] 16 Target object

[0093] 17 channels

[0094] 18 Remote control

[0095] 20 wheels

[0096] 22 electric motor

[0097] 30 transport box

[0098] 40 seats

[0099] 45 Control unit

[0100] 50 Control device

[0101] 52 Communication network

[0102] 55 autonomous vehicle control

[0103] 60 area

[0104] 61 buildings

[0105] 62 Meadow / area to be avoided

[0106] 63 storage space

[0107] 64 lanes

[0108] 65 Obstacle

[0109] F areas

[0110] SF safety areas

Claims

Patent claims 1. A method for operating a transport vehicle (10), the method comprising the following steps: Providing a user with a selection function between at least a first operating mode, a second operating mode and a third operating mode, and in response to actuation of the selection function, operating the transport vehicle (10) in a selected operating mode, wherein the first operating mode is motor-assisted or motor-driven manual driving of the transport vehicle (10), the second operating mode is a follow function in which the transport vehicle automatically follows a target object (16), and the third operating mode is a self-driving function in which the transport vehicle (10) automatically heads for a predetermined location or travels a predetermined route.

2. The method according to claim 1, wherein the transport vehicle (10) automatically detects when a user assumes a posture for manually driving the transport vehicle (10) and activates the first operating mode in response thereto.

3. The method according to claim 2, wherein the transport vehicle (10) detects by means of one or more sensors when a user assumes a posture for manually driving the transport vehicle (10).

4. The method according to claim 3, wherein one, some or all sensors are arranged in one or more handlebar grips of the transport vehicle (10) and / or detect contact with one or more handlebar grips.

5. Method according to one of claims 3 or 4, wherein one, some or all sensors detect the exertion of muscle force on the transport vehicle (10).

6. Method according to one of claims 3 to 5, wherein one, some or all sensors detect the exertion of a pedal force on pedals of the transport vehicle (10).

7. Method according to one of claims 3 to 6, wherein one, some or all sensors detect the exertion of a steering force on a handlebar of the transport vehicle (10).

8. Method according to one of the preceding claims, wherein the transport vehicle (10) is designed such that a user can climb onto a seat from both sides, and / or wherein the transport vehicle (10) is designed with only one seat for a user, and / or wherein the transport vehicle (10) is a vehicle other than an automobile, and / or wherein the transport vehicle (10) is a cargo bike, and / or wherein the transport vehicle (10) has a seat that is open at the top and sides, or at least open at the sides, or can only be covered at the top, and / or wherein the transport vehicle (10) has a muscle drive, and / or wherein the transport vehicle (10) has pedals by means of which muscle power can be exerted.

9. Method according to one of the preceding claims, further comprising the following steps: Detecting an object in an environment of the transport vehicle (10), Detecting in which area (F, SF) from several areas (F, SF) into which the environment of the transport vehicle (10) is divided and to which each Function is assigned to the object, and in response to the object being in an area (F), executing the function assigned to the area.

10. The method of claim 9, wherein a function is activating the first operating mode, the second operating mode, or the third operating mode.

11. Method according to one of claims 9 or 10, wherein one function is an automatic following of the object as a target object (16) in the second operating mode.

12. Method according to one of claims 9 to 11, wherein one or more surfaces (F, SF) are safety surfaces (SF), wherein a function which is assigned to a surface (F) is only executed if it has previously been recognized that the object is located in a safety surface (SF) assigned to the function.

13. Method according to one of claims 9 to 12, wherein a function is deactivated again when it is detected that the object leaves an area (F) to which the function is assigned.

14. Method according to one of claims 9 to 13, wherein the surfaces (F, SF) at least partially overlap.

15. Method according to one of the preceding claims, wherein the transport vehicle (10) is manually steered in the first operating mode.

16. Method according to one of the preceding claims, wherein the transport vehicle (10) is driven in the first operating mode by muscle power, which is assisted by an electric motor (22) and / or an internal combustion engine.

17. The method according to claim 16, wherein the muscle power is applied to one or more actuators or pedals of the transport vehicle (10) which direct the muscle power to wheels of the transport vehicle (10).

18. The method according to any one of the preceding claims, wherein in the first operating mode, inputs of an automated or autonomous vehicle control (55) are generally discarded, and / or wherein in the first operating mode, an automated or autonomous vehicle control (55) is prevented from transmitting on an internal communication network (52) of the transport vehicle (10), and / or wherein in the first operating mode, an automated or autonomous vehicle control (55) is deactivated.

19. Method according to one of the preceding claims, wherein the transport vehicle (10) in the second operating mode receives signals transmitted by a transmitter of the target object (16) and, in response thereto, automatically follows the transmitter.

20. Method according to one of the preceding claims, wherein the transport vehicle (10) in the second operating mode detects the target object (16) by means of environmental sensors, camera, lidar and / or radar and, in response thereto, automatically follows the target object (16). 21 . Method according to one of the preceding claims, wherein the transport vehicle (10) in the second operating mode or in a sub-mode of the second operating mode in a defined positional relationship automatically moves in front of, next to or behind the target object (16).

22. Method according to one of the preceding claims, wherein in the third operating mode the transport vehicle (10) automatically navigates to a predetermined location from an electronic map or an electronic route planner.

23. Method according to one of the preceding claims, wherein the selection function also includes a selection of a fourth operating mode, wherein the fourth operating mode is a pushing aid.

24. The method according to claim 23, wherein in the fourth operating mode a force exerted on the transport vehicle (10) by the user walking next to the transport vehicle (10) is assisted.

25. Method according to one of the preceding claims, wherein the transport vehicle (10) detects its surroundings by means of environmental sensors (12), and wherein the transport vehicle (10) examines the surroundings for areas to be avoided (62) and the transport vehicle (10) does not drive into areas to be avoided (62) and / or does not park in areas to be avoided (62) at least in the second operating mode and / or in the third operating mode.

26. Method according to one of the preceding claims, wherein the transport vehicle (10) recognizes a lane (64) or a traffic domain, and wherein the transport vehicle (10) at least partially and / or at least in the second operating mode and / or at least in the third operating mode automatically follows a recognized lane (64) and / or remains within a recognized traffic domain.

27. Method according to one of the preceding claims, wherein the transport vehicle (10) continuously monitors components and generates an error message upon detection of a malfunction.

28. Method according to one of the preceding claims, wherein the transport vehicle (10) detects obstacles and automatically avoids them and / or stops in front of them at least in the second operating mode and / or in the third operating mode.

29. Method according to one of the preceding claims, wherein the transport vehicle (10) does not exceed a predetermined maximum speed in the second operating mode and / or in the third operating mode.

30. Method according to one of the preceding claims, wherein the transport vehicle (10) stops immediately upon actuation of an emergency stop function on the transport vehicle (10) and / or via a remote control and / or in response to an error message.

31. Method according to claim 30, wherein the transport vehicle (10) maintains its steering angle while immediately stopping.

32. Method according to one of the preceding claims, wherein the selection function is actuated via a selection device on the transport vehicle (10) and / or via a radio remote control.

33. Method according to one of the preceding claims, wherein the transport vehicle (10) determines its position by means of odometry and / or environmental perception.

34. Method according to one of the preceding claims, wherein the transport vehicle (10) detects other road users and / or predicts their future movement and, based thereon, prevents a collision with other road users.

35. Method according to one of the preceding claims, wherein the transport vehicle (10) is a cargo bicycle.

36. Method according to one of the preceding claims, wherein the transport vehicle (10) is operated in the selected operating mode until another operating mode is selected or an operating mode is automatically activated.

37. Control device (50) configured to carry out a method according to one of the preceding claims.

38. A non-transitory computer-readable storage medium having stored thereon program code which, when executed, causes a processor to carry out a method according to any one of claims 1 to 36.

39. Transport vehicle (10), comprising, Means for manual driving, Means for steering and driving the transport vehicle (10), and a control device (50) according to claim 37.

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