Storing the course of a mounting edge for controlling the lateral extension position of a screed of a road paver

Abstract

A paver (1) is operated with a laterally extendable screed (7). The paver (1) performs a paving pass along a paving path that extends along a paving edge (37). During the paving pass, an edge sensor (47) attached to the paver (1) detects the paving edge (37) at a position located in the paving direction (5) in front of a trailing edge (41) of the screed (7). During the paving pass, data is stored based on the detection of the paving edge (37), from which the path of the paving edge (37) can be reconstructed in a current paver-fixed coordinate system. During the paving pass, the lateral extension position of the screed (7) is set to a desired lateral distance (43) between the trailing edge (41) of the screed (7) and the paving edge (37) based on the stored data.

Description

[0001] The invention relates to a road paver and the operation of a road paver. In particular, the invention relates to a road paver with a laterally extendable screed and the setting of a lateral extension position of the screed.

[0002] In practice, there are road pavers where the paving width can be varied during operation. For example, the paver may consist of a paving screed with a rigid base screed, to which an extension screed section is attached on each lateral side. To change the paving width to one side, the extension screed section on that side can be moved laterally relative to the base screed. The extension positions of the screed sections can be adjusted, for example, by an operator using an external control panel located on the paving screed.

[0003] EP 3 524 731 B1 describes a road paver with an edge follower. When a roadway is to be constructed in several adjacent lanes, the edge follower can align the screed with the edge of an already completed lane, ensuring that there is no gap or overlap between the completed lane and the lane currently being paved. The edge follower includes at least one sensor that detects the edge in front of the screed, viewed in the direction of travel. A control unit uses the mounting position of the edge follower on the paver and the paver's travel speed to determine when the detected edge position is reached by the following screed.The alignment of the paving screed to the detected edge is delayed after the current edge position has been detected, depending on the travel speed. Preferably, the delay is shorter for higher travel speeds than for relatively lower speeds. In addition to considering the travel speed for aligning the paving screed, other operating parameters, such as steering settings, can also be used.

[0004] It is an object of the invention to specify how a lateral extension position of the paving screed of a road paver can be adjusted in an improved manner when installing a pavement strip along an installation edge.

[0005] This problem is solved by the subject matter of claims 1, 11 and 15. The dependent claims specify advantageous embodiments.

[0006] According to one aspect of the invention, a method for operating a road paver with a laterally extendable screed is provided. The road paver performs a paving pass along a paving path. The paving path extends along a paving edge. During the paving pass, an edge sensor attached to the road paver detects the paving edge at a position located in the paving direction in front of the trailing edge of the screed. Data is stored during the paving pass based on the detection of the paving edge. From this data, the path of the paving edge can be reconstructed in a current paver-fixed coordinate system during the paving pass. Based on the stored data, the lateral extension position of the paving screed is set during the paving pass to a desired lateral distance between the trailing edge of the screed and the paving edge.

[0007] The installation edge can be a physical edge extending along the paving path. For example, the installation edge can be formed by at least one structural element that defines the path of a pavement strip to be installed. This at least one structural element could, for example, include a curb or a drainage channel. The installation edge can also be a milled edge created by at least partially milling off an old pavement. Finally, the installation edge can be the lateral end edge of a pavement strip installed in a previous step, with another pavement strip being laid down after the installation edge during the paving operation with the asphalt paver.

[0008] The outer edge of a paving slab installed during the paving process can be determined by the lateral position of the trailing edge of the screed during the paving process. Therefore, by adjusting the lateral distance between the trailing edge of the screed and the paving edge, a desired lateral distance between the installed paving slab and the paving edge can be achieved.

[0009] The desired lateral distance between the trailing edge of the screed and the installation edge can be essentially zero, meaning that the paving slab laid during the installation process is installed right up to the installation edge. In particular, the paving slab laid during the installation process can at least partially fill the installation edge. However, the desired lateral distance between the trailing edge of the screed and the installation edge can also be greater than zero, meaning that the paving slab is installed at a lateral distance from the installation edge. The desired lateral distance between the trailing edge of the screed and the installation edge can vary along the installation path according to the design data.

[0010] Since the installation edge is detected in the direction of installation in front of the rear edge of the screed, the method can be used in particular when detecting the installation edge in the area of ​​the rear edge of the screed is difficult or impossible, for example when the pavement membrane is installed close to the installation edge and the pavement membrane thus at least partially covers the installation edge in the area of ​​the rear edge of the screed or partially or completely fills a height difference present at the installation edge.

[0011] The path of the paving edge is detected and stored in the direction of travel in front of the trailing edge of the screed. This allows the lateral extension position to be set based on the pre-stored data when the trailing edge of the screed reaches the respective position along the direction of travel. The inventive method allows the trailing edge of the screed to be aligned relative to the paving edge with high accuracy, even if the paver has changed its speed or direction of travel between the time a point on the paving edge was measured and the time the trailing edge of the screed is aligned relative to that point.The inventive method allows the trailing edge of the installation screed to be aligned relative to the installation edge, particularly with high accuracy, even when the width of the pavement to be installed, defined by the installation edge, changes along the installation direction.

[0012] Since the path of the paving edge can be reconstructed from the stored data during the paving operation within the currently fixed coordinate system of the paver, setting the lateral extension position of the screed is simplified. In particular, complex calculations in a global coordinate system can be reduced or avoided.

[0013] Data can be saved by a control unit. The lateral extension position can also be set by the control unit based on the saved data. The control unit can be the control unit of the asphalt paver itself. It can be located on or attached to the asphalt paver. Alternatively, the control unit can be located externally and connected to the asphalt paver via a data link.

[0014] Storing the data can involve storing it in a data storage device. This data storage device can be integrated into the paver itself. It can be located on or attached to the paver. Alternatively, the data storage device can be located outside the paver and connected to it, particularly to the paver's control system, via a data connection. For example, the data storage device could be a cloud storage solution.

[0015] Detecting the paving edge can involve measuring a distance between the edge sensor and the paving edge. This distance can be measured along a fixed direction relative to the paver. Alternatively, it can be measured along a lateral direction perpendicular to the paving direction.

[0016] The detection of the installation edge can occur repeatedly during the installation process, particularly periodically. For example, the installation edge can be detected at a frequency greater than 0.05 Hz, 0.1 Hz, 0.5 Hz, or 1 Hz. Alternatively, the installation edge can be detected at a frequency less than 50 Hz, 20 Hz, 10 Hz, or 1 Hz. Finally, the installation edge can be detected at a frequency between 0.05 Hz and 100 Hz, between 0.1 Hz and 50 Hz, or between 0.5 Hz and 50 Hz.

[0017] Data can be saved repeatedly during the installation process, particularly periodically. Data saving can occur at the same frequency as the detection of the installation edge.

[0018] Saving the data can include saving the positions of points on the installation edge detected by the edge sensor.

[0019] The positions of points on the paving edge, as detected by the edge sensor, can each be stored as a two-dimensional position vector. Storing this as a two-dimensional position vector, especially compared to storing a simple distance value, simplifies the reconstruction of the paving edge's path in a current paver-specific coordinate system. The two-dimensional position vector can define a point in a plane defined by the paver's direction of travel and a lateral direction perpendicular to that direction. Determining the paving edge's elevation or storing its height coordinates is not necessary. The two-dimensional position vector can be stored, for example, in Cartesian or polar coordinates.

[0020] Data storage can include saving the positions of points on the installation edge, as detected by the edge sensor, as coordinates in a paver-fixed coordinate system. Saving the positions of points on the installation edge in a paver-fixed coordinate system can facilitate the reconstruction of the installation edge during the paving process in a current paver-fixed coordinate system. The paver-fixed coordinate system in which the positions of the points on the installation edge are stored can be a paver-fixed coordinate system that is current at the time the respective position is detected. In particular, data storage can include first saving the positions of points on the installation edge, as detected by the edge sensor, as coordinates in a paver-fixed coordinate system that is current at the time the respective position is detected.

[0021] Saving the data can include updating the stored coordinates during the paving process by converting them into a current, paver-specific coordinate system after the paver has moved. This conversion can be repeated during the paving process, particularly periodically. Specifically, whenever a newly recorded position of a point on the paving edge is saved, the previously recorded coordinates of earlier points on the paving edge can be converted into the currently current, paver-specific coordinate system. All recorded coordinates of points on the paving edge can be converted into the current, paver-specific coordinate system at any given time.

[0022] During paving, information about changes in the paver's position and location can be determined and used to update the stored coordinates. This information can include translational and rotational movements. Changes in the paver's position and location between the last time a paving edge was measured and the current time it is measured can be determined. Based on this information, all stored coordinates of points along the paving edge can be converted from the paver's fixed coordinate system at the time of the last measurement to the paver's current fixed coordinate system.

[0023] Information on changes in the paver's position and orientation can be determined from the rotational speeds of the paver's left and right track drives, or from position data provided by at least one GNSS (Global Navigation Satellite System) receiver on the paver. The GNSS receiver can be at least two. These receivers can be located at known mounting points on the paver. Using at least two GNSS receivers simplifies both the determination of the paver's translational and rotational movements.

[0024] During the installation process, at least the last 3, or at least the last 5, or at least the last 10, or at least the last 15 positions of points on the installation edge detected by the edge sensor can be stored and retrieved. It is also conceivable that significantly more positions of points on the installation edge are stored and retrieved during the installation process, for example, at least the last 50, or at least the last 100, or at least the last 150, or at least the last 200 positions of points on the installation edge detected by the edge sensor. It is also possible that all positions of points on the installation edge detected so far during the installation process are stored and retrievable.

[0025] Setting the lateral extension position can involve selecting one of the saved positions of points on the installation edge and using it to determine a target value for the lateral extension position of the screed. For example, the saved position of a point on the installation edge can be selected that was the first of those saved that are at or further back along the current installation direction. Alternatively, the saved position that is closest to the current position of the screed's rear edge along the current installation direction can be selected.

[0026] The target value for the lateral extension position of the screed can be determined based on the position of the selected point of the installation edge and the desired lateral distance between the rear edge of the screed and the installation edge.

[0027] Setting the lateral extension position can involve adjusting the lateral extension position of the paving screed to a specific target value. The lateral extension position can be defined relative to the paver. For example, it can be defined by the distance the paving screed extends laterally from its maximum retracted position.

[0028] According to a further aspect of the invention, a road paver is provided. The road paver comprises a laterally extendable screed, an edge sensor, a control unit, and a data storage device. The edge sensor is configured to detect a paving edge during paving operations at a position located in the paving direction in front of the trailing edge of the screed. The control unit is configured to store data in the data storage device during paving operations based on the detection of the paving edge. This data allows the path of the paving edge to be reconstructed in a current paver-fixed coordinate system. The control unit is configured to adjust the lateral extension position of the screed during paving operations, based on the stored data, to a desired lateral distance between the trailing edge of the screed and the paving edge.

[0029] The road paver can include a towing vehicle. The towing vehicle can be configured to pull the screed behind it along the paving direction. The screed can be articulated to the towing vehicle by means of drawbars.

[0030] The paving screed can include a base screed. The base screed can have a fixed width in a lateral direction perpendicular to the paving direction. The paving screed can include at least one extension section, which can be extended laterally relative to the base screed to increase the paving width. The at least one extension section can be a left extension section, a right extension section, or both a left and a right extension section. A drive can be assigned to the at least one extension section. The control system can be configured to actuate the drive to extend or retract the assigned extension section laterally, in particular to move the paving screed to a setpoint for a lateral extension position. An extension section can be provided on both sides of the base screed, i.e., a left extension section and a right extension section.Alternatively, an extension section can be provided on only one side, i.e., only a right-hand or a left-hand extension section. If an extension section is provided on both sides of the base plank, each extension section can have its own drive, allowing each to be controlled separately.

[0031] The paver may include a material hopper for receiving paving material. The material hopper may be located at the front of the paver in the direction of paving. The paver may include a conveying system configured to transport paving material from the hopper against the direction of paving and to the screed for compaction.

[0032] The edge sensor can be configured to detect a distance between a position of the edge sensor on the paver and the paving edge along a lateral direction perpendicular to the paving direction.

[0033] The edge sensor can be designed, for example, as a lidar (light detection and ranging) sensor, a radar (radio detection and ranging) sensor, or an ultrasonic sensor.

[0034] The data storage can include a data register. The controller can be configured to successively store the positions of the installation edge, detected by the edge sensor during the installation process, in the form of coordinates in the data register. The data register can optionally have a fixed number of storage locations for the coordinates, so that when coordinates of a newly detected point of the installation edge are added, the coordinates of the earliest detected point of the installation edge are removed from the register or deleted.

[0035] The data storage device can be, for example, a hard drive, flash memory, or SSD (Solid State Drive).

[0036] The control system can be configured to initially store the positions of points on the installation edge detected by the edge sensor as coordinates in a manufacturer-specific coordinate system that is current at the time the respective position is detected. In particular, the positions of points on the installation edge detected by the edge sensor can each be stored in the form of a two-dimensional position vector.

[0037] The control system can be configured to periodically update the stored coordinates during paving by converting them into a paver-specific coordinate system that reflects each paver movement. During paving, the control system can determine information about changes in the paver's position and orientation and use this information to update the stored coordinates. The control system can be configured to derive this information from the rotational speeds of the paver's left and right track drives, or from position data from at least one GNSS (Global Navigation Satellite System) receiver integrated into the paver.

[0038] The control system can determine the change in position and location of the paver between the last time a paving edge position was detected and the current time a paving edge position is detected. Based on this information, the control system can convert all stored coordinates of paving edge points from the paver's fixed coordinate system (current at the time of the last detection) to the paver's current fixed coordinate system.

[0039] According to a further aspect of the invention, a data register is provided. The data register stores the positions of points on a paving edge, which were successively recorded during a paving pass of a road paver in front of the trailing edge of the paver's screed. The data register is used to set the lateral extension position of the screed to a desired lateral distance between the trailing edge of the screed and the paving edge.

[0040] Features, explanations, and advantages described in relation to one of the described aspects or embodiments are transferable to or combinable with the other aspects or embodiments. The described road paver may be suitable, designed, and / or configured to carry out the described method or use. The described method or use may be feasible or carried out using the described road paver. The method may include the use. The use may include the method.

[0041] The following section explains the embodiments in more detail with reference to the figures. Figure 1 shows a schematic side view of a road paver according to one embodiment. Figure 2shows a schematic top view of the road paver according to the embodiment during a paving run. Figure 3 shows a schematic representation of a data register of the data storage device according to one embodiment.

[0042] In Figure 1 Figure 1 shows a road paver 1 according to one embodiment. The road paver 1 comprises a towing vehicle 3 and a screed 7, which is towed behind the towing vehicle 3 in a paving direction 5, for compacting the paving material. At the front of the paving direction 5, the road paver 1 includes a material hopper 9 for receiving the paving material. During a paving pass, the material from the hopper 9 is fed to the screed 7 and compacted by the screed 7. The road paver 1 includes a main operator station 11, which provides a space for an operator and has control devices 13 for controlling various functions of the road paver 1.

[0043] Figure 2Figure 1 shows a top view of the road paver 1 during a paving operation while laying a pavement strip 15. The paving screed 7 comprises a main screed 17 and, on both lateral sides of the main screed 17, an extension section 19 on the left and a right side (as viewed along the paving direction 5). The extension sections 19 can be extended or retracted relative to the main screed 17 along a lateral direction 25 perpendicular to the paving direction 5 by means of a drive 23 associated with each extension section 19, in order to change the paving width on the respective side. The drives 23 can each comprise a motor 27 and a position sensor 31. The motor 27 can be, for example, a hydraulic or electric motor. The position sensor 31 can determine the instantaneous extension position of the respective extension section 19 of the paving screed 7.

[0044] A control unit 35 of the road paver 1 can transmit a setpoint for the lateral extension position of the associated extension section 19 to each of the drives 23. Based on the current extension position of the extension section 19 determined by the sensor 31, the drive 23 can adjust the extension position of the respective extension section 19 to the setpoint using the motor 27.

[0045] In the illustrated embodiment, the paving slab 15 is installed between opposite installation edges 37 along the lateral direction 25. During installation, the lateral extension positions of the screed 7 are continuously adjusted on both sides to establish a desired lateral distance between the rear edge 41 of the screed 7 and the respective installation edge 37. The desired lateral distance can be the same on both sides or different on the left side than on the right side. In the illustrated embodiment, the desired lateral distance 43 on the left side in the installation direction 5 is at least substantially 0, so that the paving slab 15 is installed right up to the left installation edge 37.In the illustrated embodiment, the desired lateral distance 43 on the right side is a value greater than 0, for example a value greater than 2 cm, or greater than 5 cm, or greater than 10 cm, so that the covering strip 15 on the right side does not extend all the way to the installation edge 43.

[0046] An edge sensor 47 is provided on each of the lateral sides in front of the rear edge 41 of the installation plank 7. The edge sensor 47 can, for example, be attached to a side plate 51 of the extension part 19 located on the respective side. The edge sensor 47 detects the distance between the edge sensor 47 and the associated installation edge 37 along the lateral direction 25.

[0047] During paving, the paving edges 37 are periodically detected by the respective edge sensor 47 by measuring the distance between the edge sensor 47 along the lateral direction 25 and the respective paving edge 37. The positions of points on the paving edges 37 thus detected are stored in a data register 57 of a data storage device 58 of the paver 1 and used to control a lateral extension position of the respective extension section 19. For the sake of clarity, only the procedure for one of the two extension sections 19 is described below. The procedure can be identical for the other extension section 19. Alternatively, the other extension section can be controlled in a different way, for example, manually by an operator. It is also possible that only one extension section 19 is provided.

[0048] Preferably, the recorded positions of points on the installation edge 37 are stored as two-dimensional position vectors in a paver-fixed coordinate system. In the illustrated embodiment, the paver-fixed coordinate system is chosen such that it originates at a theoretical pivot point 59 of the tractor 3 and spans an x-axis pointing in the installation direction 5 and a y-axis pointing to the left along the side direction 55, with the two axes x and y being perpendicular to each other. However, the paver-fixed coordinate system can also be chosen differently.

[0049] In the illustrated embodiment, the position vector of a point on the right mounting edge 37, as detected by the right edge sensor 47 at a time index t, is as follows: (xt , yt ) = (-a, -(bt + mt )). Here, a is the distance between the theoretical pivot point 59 of the tractor 3 and the mounting position of the right edge sensor 47 parallel to the installation direction 5, i.e., a known fixed value. bt is the current distance between the mounting position of the right edge sensor 47 and the theoretical pivot point 59 of the tractor 3 parallel to the lateral direction 25 and is known from the distance sensor 31 and the known mounting position of the edge sensor 47 on the side plate 51. mt is the distance currently measured by the right edge sensor 47 between the right edge sensor 47 and the right mounting edge 37 along the lateral direction 55.

[0050] Figure 3Figure 57 shows a schematic representation of the data register. The first column, 56, indicates the time index t, to which the stored coordinates shown in the respective row are assigned. For example, time index 1 can represent the most recent measurement, and subsequent time indices can represent measurements taken further in the past. Column 61 contains, in the machine-fixed coordinate system, the x-coordinate of the point on the right installation edge 37 recorded at the respective time index. Column 63 contains, in the machine-fixed coordinate system, the y-coordinate of the point on the right installation edge 37 recorded at the respective time index.

[0051] When coordinates of a point on the installation edge 37, recorded at a current time index, are stored in data register 57, they are saved in the currently active, paver-fixed coordinate system. Furthermore, the coordinates already present in data register 57 are converted into the current paver-fixed coordinate system, so that all information in data register 57 is always available in the current paver-fixed coordinate system.

[0052] To convert the coordinates stored in data register 57 into the current paver-fixed coordinate system, information about changes in the position and orientation of the paver 1 is determined during the paving operation and used to update the stored coordinates. Specifically, an average travel speed v of the paver 1 since the last time index and an average rotation rate ω of the paver 1 since the last time index are determined and used to update the stored coordinates.

[0053] In the illustrated embodiment, the controller 35 determines information about changes in the position and orientation of the asphalt paver 1, in particular the average travel speed v of the asphalt paver 1 since the last time index and the average rotation rate ω of the asphalt paver 1 since the last time index, based on outputs from two GNSS receivers 60 attached at (different) known positions of the asphalt paver 1. Alternatively, the controller 35 can determine the information about changes in the position and orientation of the asphalt paver 1, in particular the average travel speed v of the asphalt paver 1 since the last time index and the average rotation rate ω of the asphalt paver 1 since the last time index, from the rotational speeds of a left chain drive and a right chain drive of the asphalt paver 1.To increase accuracy, information obtained from the GNSS receivers 60 and information obtained from the rotational speeds of the chain drives can also be fused, for example using a Kalman filter.

[0054] At the time of a current recording of the position of the installation edge 37, the coordinate pairs stored in data register 57 are represented in the paver-fixed coordinate system that was current at the time of the previous, last recording of the position of the installation edge 37, but is now outdated. The following formulas result for converting the stored coordinates from the outdated paver-fixed coordinate system to the current paver-fixed coordinate system: x t ,neu = x t ,alt * cos ω * Δt + y t ,alt * sin ω * Δt − v * Δt y t ,neu = y t ,alt * cos ω * Δt − x t ,alt * sin ω * Δt (xt,old , yt,old ): Coordinate pair in outdated paver-fixed coordinate system (xt,new , yt,new ): Coordinate pair in outdated paver-fixed coordinate system Δt: Time interval between previous, last detection of a position of the paving edge 37 and current detection of a position of the paving edge 37 ω: Average rotation rate of the paver 1 about the theoretical pivot point 59 between previous, last detection of a position of the paving edge 37 and current detection of a position of the paving edge 37 v: Average travel speed of the paver 1 between previous, last detection of a position of the paving edge 37 and current detection of a position of the paving edge 37

[0055] Due to the periodic conversion, the stored coordinate pairs are always available in the current manufacturer-fixed coordinate system during the installation run and can thus be used directly for setting an extension position of the pull-out part 19.

[0056] During the paving operation, the controller 35 periodically adjusts the extension positions of the pull-out section 19 of the screed 7 based on the data stored in the data register 57 and thus based on the path of the paving edge 37. The controller 35 selects a coordinate set (xt, , yt ,) from the data register 57 that specifies the current position at the level of the trailing edge 41 of the screed 7. For example, the controller 35 can select the coordinate set with the smallest time index among those stored coordinate sets that satisfy the condition xt ≤ -c in the current coordinate system, where c is the fixed distance of the screed's trailing edge 41 from the theoretical pivot point 59 of the tractor 3 parallel to the paving direction 5.

[0057] The selected set of coordinates is then used to control the extension position of the extension part 19, so that the side plate 51 of the extension part 19 is adjusted to the desired lateral distance 43 between the rear edge 41 of the installation plank 7 and the installation edge 37 by appropriately actuating the drive 23.

Claims

1. Method for operating a road paver (1) with a laterally extendable screed (7), comprising: performing a paving run with the road paver (1) along a paving path extending along a paving edge (37); wherein, during the paving run, the paving edge (37) is detected by an edge sensor (47) attached to the road paver (1) at a position located in the paving direction (5) in front of a trailing edge (41) of the screed (7); wherein, during the paving run, data are stored based on the detection of the paving edge (37), from which a course of the paving edge (37) in a current paver-fixed coordinate system can be reconstructed during the paving run; and wherein, during the paving run, a lateral extension position of the screed (7) is set to a desired lateral distance (43) between the trailing edge (41) of the screed (7) and the paving edge (37) based on the stored data.

2. Method according to claim 1, wherein the saving of the data comprises saving the positions of points on the installation edge (37) detected by the edge sensor (47).

3. Method according to claim 2, wherein the positions of points on the installation edge (37) detected by the edge sensor (47) are each stored in the form of a two-dimensional position vector.

4. Method according to one of the preceding claims, wherein the storage of the data comprises storing the positions of points on the installation edge (37) detected by the edge sensor (47) as coordinates in a manufacturer-fixed coordinate system.

5. Method according to one of the preceding claims, wherein the storage of the data comprises that positions of points of the installation edge (37) detected by the edge sensor (47) are each first stored as coordinates in a manufacturer-fixed coordinate system that is current at the time of detection of the respective position.

6. Method according to claim 4 or 5, wherein the storage of the data comprises updating the stored coordinates during the paving process by converting the stored coordinates into a paver-fixed coordinate system that is current after the paver (1) has moved further.

7. Method according to claim 6, wherein information about changes in position and location of the road paver (1) is determined during the paving operation and used to update the stored coordinates.

8. Method according to claim 7, wherein the information on changes in position and location of the road paver (1) is determined from rotational speeds of a left chain drive and a right chain drive of the road paver (1) or is determined from position data of at least one GNSS receiver (60) provided on the road paver (1).

9. Method according to one of the preceding claims, wherein during the installation process at least the last 3, or at least the last 5, or at least the last 10, or at least the last 15 positions of points on the installation edge (37) detected by the edge sensor (47) are stored in a retrievable manner.

10. Method according to one of the preceding claims, wherein the setting of the lateral extension position comprises selecting one of the stored positions of points of the installation edge (37) and using it to determine a target value for lateral extension position of the installation plank (7).

11. Road paver (1), comprising: a laterally extendable screed (7); an edge sensor (47) configured to detect a paving edge at a position in the paving direction in front of a trailing edge (41) of the screed (7) during a paving run; a controller (35); and a data storage device (58); wherein the controller (35) is configured to store data in the data storage device (58) during the paving run based on the detection of the paving edge (37), from which a path of the paving edge (37) in a current paver-fixed coordinate system can be reconstructed during the paving run; and wherein the controller (35) is configured to adjust a lateral extension position of the screed (7) during the paving run to a desired lateral distance (43) between the trailing edge (41) of the screed (7) and the paving edge (37) based on the stored data.

12. Road paver according to claim 11, wherein the edge sensor (47) is configured to detect a distance between a position of the edge sensor (47) on the road paver (1) and the paving edge (37) along a lateral direction (25) perpendicular to the paving direction (5).

13. Road paver according to claim 11 or 12, wherein the data storage (58) comprises a data register (57), and wherein the control (35) is configured to store successively detected positions of the paving edge (37) in the form of coordinates in the data register (57) during the paving journey by the edge sensor (47).

14. Road paver according to claim 13, wherein the control (35) is configured to periodically update the stored coordinates during the paving journey by converting them into a paver-fixed coordinate system that is current after the road paver (1) has moved further.

15. Use of a data register (57) in which, during a paving operation of a road paver (1) in front of a rear edge (41) of a screed (7) of the road paver (1), successively recorded positions of points of a paving edge (37) are stored, for setting a lateral extension position of the screed (7) to a desired lateral distance (43) between the rear edge (41) of the screed (7) and the paving edge (37).

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