Adaptation of leveling controller by ground surface profile analysis

Abstract

To further improve pavement quality, and adapt leveling control.SOLUTION: Provided is a method for adapting leveling control 31 of a road finishing machine 1, in which the road finishing machine 1 detects the profile data L0 of the first ground profile B0 of a foundation 17 at a position x0 and time point t0; a second ground profile data L1 for profile B1 is detected which is the second ground profile B1 of the foundation 17 at position x1, time point t1, and partially overlaps the profile B0; the translational rotation matrix M is to be determined for mapping behavior from time point t0 to time point t1; corrected ground profile data L1' from the ground profile data L1 is created; the analysis area LA containing the corrected ground profile data L1' of the ground profile data L0 is determined; the analysis area LA is analyzed and height changes are found; and the leveling control 31 is adapted to the distance of the analysis area LA.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for adapting the leveling control of a road finishing machine and to a road finishing machine. [Background technology]

[0002] The road finishing machine includes a towing vehicle and a screed, the screed being connected to the towing vehicle by a screed arm. The towing point, i.e., the point where the screed arm is connected to the towing vehicle, is height adjustable. Irregularities can be corrected and the layer thickness can be adjusted by the height of the towing point. It is known to automatically adjust the height of the towing point, i.e., leveling control, based on detected measurements. For example, the surface height of the base to be asphalt paved can be detected by a mechanical or ultrasonic sensor, and the leveling control can be adjusted based on this. Height reference systems such as guide wires or rotating lasers can also be used for this purpose.

[0003] From EP 2 687 631 B1 it is known to create a three-dimensional surface profile of a foundation in the form of a point cloud. For this purpose a 3D scanner, in particular a laser scanner, is provided in the road finishing machine. A control system of the road finishing machine converts the point cloud into control signals for leveling control.

[0004] Although all automated methods for leveling control have so far detected the height profile of the foundation and thereby detected its irregularities, the automatic leveling control still has the disadvantage of causing irregularities in the laid road pavement during the laying operation. Summary of the Invention

[0005] It is an object of the present invention to provide a method and road finishing machine for adapting leveling control that further improves paving quality.

[0006] The above object is achieved by a method according to claim 1 and by a road finishing machine according to claim 12. Advantageous further developments of the invention are set out in the dependent claims.

[0007] The method according to the invention for adapting the leveling control of a road finishing machine comprises: - detecting first ground profile data L0 of a first ground profile of a foundation in the area surrounding the road finisher at a time t0 when the road finisher is located at a position x0; - detecting second ground profile data L1 of a second ground profile of the foundation in the area surrounding the road finisher at a time t1 when the road finisher is located at a position x1, the second ground profile partially overlapping the first ground profile; - determining a translation and rotation matrix M that maps the movement in space of the road finisher from time t2 to time t1; - generating corrected ground profile data L1′ from the ground profile data L1 using the matrix M; - determining an analysis area LA including at least a portion of the ground profile data L0 and / or a portion of the corrected ground profile data L1'; - analyzing the analysis area LA and determining in particular the height variations; - adapting the leveling control to the distance of the analysis area LA using the data obtained in the analysis; Includes.

[0008] These procedural steps are preferably performed in the order presented.

[0009] Creating corrected ground profile data L1' using the translation / rotation matrix M corrects the motion of the road finishing machine itself to which the ground profile scanner is attached. In this way, a coherent region of digital ground profile data Lges' can be created and stored from the sequence of detected and corrected ground profile data L0 (=L0'), L1', L2', L3', ..., Ln'. The analysis region LA can extend over a desired section of the ground profile data Lges' and can have a length of, for example, 2 to 15 meters. Preferably, the analysis region LA has a length of 5 or 10 meters. The analysis regions LA can then be successive to each other, each forming a basis for a new calculation of the leveling control adaptation. In other words, the motion of the road finishing machine is corrected to a quasi-floating motion. Adapting the leveling control to the distance of the analysis region LA means influencing or adjusting the leveling control or leveling controller, i.e., influencing or adjusting their function itself, that is, it is a step prior to the leveling control. The corresponding road section is then laid using the adapted leveling control. Previously known, robustly designed leveling controllers often introduced undulations (waving) into the newly laid road pavement when they detected irregularities in the foundation compared to a height reference, such as a guide wire. This undulation can be reduced or even eliminated by adapting the control action of the leveling control in response to the analyzed height changes.

[0010] The detection of the ground profile data may be performed by a ground profile scanner arranged on the road finisher. The area around the road finisher from which the ground profile data is to be detected may in particular be an area in front of the road finisher or an area to the side of the road finisher. Alternatively, it is conceivable that the detection of the ground profile data is performed by a ground profile scanner arranged on a preceding feeder. The determination of the translation / rotation matrix M may be based on the overlap of the first and second ground profiles. The translation / rotation matrix M may map the complete movement of the road finisher, i.e., all three translations and rotations in space. The matrix M maps the travel and tilting movements, in particular about the longitudinal and / or lateral axes of the road finisher. The tilting movements may be caused, for example, by irregularities in the foundation. The analysis of the analysis area LA may in particular include determining the height of the irregularities compared to a reference height. The adaptation of the leveling control may include the adaptation of one or more parameters and / or the selection of input quantities to be used, in particular the selection of sensor data. Adaptation of the leveling control may further include the selection of sub-units of the leveling control to be used, ie, for example, the selection of individual controller components, calculation blocks, algorithms, etc.

[0011] Preferably, the first and second ground profiles are one-dimensional or two-dimensional and have at least one spatial direction parallel to the direction of travel of the road finisher. Therefore, irregularities, particularly those extending transversely to the direction of travel and significantly affecting the smoothness of the road pavement, can be detected. Line scans, particularly parallel to the direction of travel, can be performed, for example, using a laser scanner. The line scan of the ground profile data L1 can then partially overlap with the line scan of the ground profile data L0. Corresponding overlaps between measurements can be achieved for each of the ground profile data Ln and Ln-1, with the road finisher moving a specific distance in the direction of travel between the two measurements. The detection of the ground profile data, i.e., the scanning, is preferably performed at a speed higher than the speed of the road finisher, so that the road finisher does not need to stop for measurements. It is also conceivable to detect a three-dimensional ground profile for the base area, for example, using a stereo camera. Records for each consecutive three-dimensional area can also partially overlap. Similarly, two line scans can be achieved by two ground profile scanners placed next to each other, in which case the two line scans, when combined, will have an extension in length, height, and width (two adjacent data points), thereby already representing a three-dimensional data record.

[0012] Preferably, the leveling control comprises at least one of a robust control, an H-infinity control, a model predictive control, and / or a PID controller (proportional, integral, derivative controller), which may be suitable to be optimized for a particular wavelength.

[0013] In a preferred variant, the leveling control comprises a PID controller (proportional, integral, derivative controller), and adapting the leveling control involves adjusting the P and / or I and / or D parameters of the PID controller, or selecting a set of PID parameters. Thus, optimal damping of the PID controller and thus of the leveling control can be achieved. Irregularities occurring in the form of steps, edges, or series of irregularities that can be considered as waves with a specific frequency or a specific wavelength and amplitude are taken into account by the PID controller of the leveling control to prevent screed buildup and vibration, thereby achieving optimal damping of the interference and thus flat laying. When steps or specific wavelengths are detected, it may be convenient to select a predefined set of PID parameters for this, i.e., fixed P, I, and D ratios. The analytical results and the corresponding parameters can be stored in a table or in the storage of the digital control system by analytical correlation, in particular mathematical association using equations or formulas.

[0014] In one variant, the adaptation of the leveling control involves the selection of one or more leveling sensors arranged at different positions in the longitudinal direction of the road finisher. The leveling sensors measure the height relative to the base or a height reference such as a guide wire. The leveling sensors can be ultrasonic or mechanical sensors. The leveling sensors can be mounted on the sides of the road finisher along the longitudinal axis. The leveling sensors can be mounted on the screed arms. Similarly, the leveling sensors can be mounted on the chassis of the road finisher or on the material bunkers. The leveling sensors can be arranged on supports arranged on the sides of the road finisher and connected to it. The supports can have a length of 5 to 15 meters, in particular 13 meters. Three to five ultrasonic sensors can be arranged on the support. The ultrasonic sensor arranged at the front in the direction of travel can be arranged at a distance of substantially 15 meters, in particular 13 meters, from the rear ultrasonic sensor. The quality of the leveling control, i.e., in particular the uniformity of the pavement, may depend on the wavelength of the irregularities in the foundation and may also depend on the sensor location. Thus, medium wavelengths may be smoothed better if the sensor location is close to the screed, and large wavelengths may be smoothed better if the leveling sensor location is closer to the screed's pull point. By appropriately selecting the leveling sensor based on its location and the measured wavelength, the uniformity of the laid pavement may be further improved. Also, two or more leveling sensors may be selected and an average value may be formed from their measurements. If an irregularity in the form of a step is detected, a leveling sensor at a specific position may be selected as a result.

[0015] In an advantageous variant, the adaptation of the leveling control is carried out taking into account the wavelength spectrum of the base height variations and / or the detected amplitude of the height variations determined in the analysis of the analysis area LA. Thus, general characteristics of recurring irregularities as well as specific irregularities such as steps can be taken into account for the adaptation of the leveling control.

[0016] In one variant, the adaptation of the leveling control is based on selective weighting of the wavelengths of the detected height changes. Thus, the dominant wavelengths of the wavelength spectrum can be identified, which can serve as a criterion for selecting the leveling control parameters, for example, and for selecting the leveling sensor. Similarly, the amplitude of the detected height changes can be weighted. Therefore, irregularities can be filtered so that not all irregularities have the same effect on the leveling behavior. For example, the adaptation of the leveling control can be performed by reducing the D ratio of the PID controller, for example, so that short irregularities have minimal effect on the controller. Also, in the case of longer irregularities, the controller sensitivity can be increased to support the leveling behavior of the road finisher itself.

[0017] Preferably, determining the translation and rotation matrix M is performed using a scan matching algorithm. The scan matching algorithm is a method for finding a spatial transformation to match two data point sets or two point clouds (point clouds) consisting of a plurality of data points. Data points of the second ground profile data L1 corresponding to a portion of the second ground profile that overlaps with the first ground profile are referenced for the scan matching algorithm and matched with corresponding data points of the first ground profile data L0, thereby determining the translation and rotation matrix M. The scan matching algorithm may be performed successively on the two successively measured ground profile data Ln and Ln-1, respectively. In particular, determining the translation and rotation matrix M may be performed using an iterative algorithm. In particular, determining the translation and rotation matrix M may be performed using an iterative closest point (ICP) algorithm.

[0018] Preferably, determining the translation and rotation matrix M involves processing position data measured by a GNSS (Global Navigation Satellite System) module and / or processing driving data and / or processing static georeferencing. These data processing variations may be particularly suitable when the foundation is very uniform and does not have significant irregularities. In particular, the horizontal translational movement of the road finisher can be determined thereby. These methods can also be employed as a complement to the scan matching algorithm. Position data received by a GPS (Global Positioning System) can be processed. The detected driving speed of the road finisher can be used to determine the travel distance of the road finisher and therefore its position. Similarly, the lock angle can be detected and processed. For this purpose, sensors can be provided in the drive and / or steering system of the road finisher. The static georeferencing system can be laser-based and can detect the position of the road finisher relative to pre-installed reference points. Furthermore, an inertial navigation system can be employed.

[0019] In one variant, the analysis of the analysis area LA involves a Fast Fourier Transform and / or discontinuity detection, in particular the formation of differences. The Fast Fourier Transform is particularly useful for analyzing the frequency spectrum of irregularities, i.e., irregularities of a recurring type. Thus, the wavelength spectrum and individual wavelengths of the irregularities can be detected. The discontinuity detection makes it possible to detect irregularities such as steps, holes, mill edges, etc., which occur in a scattered manner within the analysis area LA.

[0020] In a preferred variant, the thickness of the paving layer already laid is measured and the leveling control is adapted taking the measured layer thickness into account. The paving result can thus be controlled and the adaptation of the leveling control can be further improved as feedback. It is also possible for the thickness of the laid paving layer to directly act on the leveling control as feedback.

[0021] In one variant, the method is performed for two or more adjacent measurement paths using two or more ground profile scanners arranged on the road finisher. Therefore, on the one hand, a larger database is present, which can further improve paving quality. For example, the adaptation of the leveling control can be based on the average value of the obtained ground profile data of two adjacent measurement paths. However, the ground profile data of the two measurement paths can also be used completely or at least partially separately to adapt the leveling control separately to the right and left traction points of the screed.

[0022] The road finishing machine according to the present invention includes a screed and a chassis, the screed being hinged to the chassis by a screed arm via a towing point. The towing point height is adjustable by a leveling cylinder. The road finishing machine further includes a leveling sensor and a ground profile scanner. The road finishing machine includes a control system having a leveling controller or leveling control that controls the towing point height taking into account data from the leveling sensor. The control system is configured to parameterize the leveling controller based on data detected by the ground profile scanner. Preferably, the screed can be hinged to the left and right sides of the chassis by left and right screed arms via one towing point each. Correspondingly, there are left and right leveling cylinders. The control system can include a component for storing data, a component for processing data, and an interface for inputting and outputting data. The leveling sensor can be an ultrasonic sensor, a laser sensor, or a mechanical tactile sensor.

[0023] Preferably, the road finisher includes two or more leveling sensors arranged along the longitudinal direction (front-to-back direction) of the road finisher, and the control system is configured to select one or more leveling sensors to be used with the leveling controller based on data detected by the ground profile scanner. Therefore, depending on the measured irregularities, one or more leveling sensors that will provide the best paving results for those irregularities can be selected. One or more leveling sensors can be arranged on each of the left and right sides of the road finisher. One or more leveling sensors can be attached to the screed arm. Similarly, one or more leveling sensors can be attached to the chassis or material bunker of the road finisher. One or more leveling sensors can be arranged on a support arranged on the side of the road finisher and connected to the road finisher. The support can have a length of 5 to 15 meters, particularly 13 meters. Three to five ultrasonic sensors can be arranged on the support. The ultrasonic sensor arranged at the front in the direction of travel can be arranged substantially 15 meters, particularly 13 meters, from the rear ultrasonic sensor.

[0024] In one variant, the ground profile scanner is a laser scanner. In particular, the ground profile scanner can be a line scanner that collects ground profile data of the ground profile along a line. This line scan can extend parallel to the direction of travel of the road finisher. The ground profile scanner can be positioned centrally or laterally (side to side) on the road finisher. The ground profile scanner can be positioned laterally on the road finisher so that the line scan is not obstructed by tracks that are loaded into the material bunker of the road finisher and extend laterally on the road finisher.

[0025] In one advantageous variant, the road finisher includes two or more ground profile scanners. Two or more parallel ground profiles can thus be detected, which can then be combined to further improve the adaptation of the leveling control. However, the data can also be used separately to individually adjust the leveling control of the right and left traction points of the screed.

[0026] A road finishing machine according to the invention is suitable for carrying out the method according to the invention for adapting leveling control. [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 1 is a side view of a road finishing machine having a ground profile scanner. [Figure 2] FIG. 1 is a rear view of a road finishing machine with two ground profile scanners. [Figure 3] FIG. 2 is a schematic diagram illustrating the detection of the ground profile at time t0. [Figure 4] 1 is a schematic side view illustrating the detection of a ground profile at time t0 and the detection of a ground profile at time t1. [Figure 5] 1 is a schematic plan view showing ground profile detection at time t0 and ground profile detection at time t1. FIG. [Figure 6] 1 is a flow chart illustrating a method for adapting leveling control of a road finishing machine. DETAILED DESCRIPTION OF THE INVENTION

[0028] Exemplary embodiments of the invention will now be described in more detail with reference to the drawings.

[0029] In the drawings, corresponding elements are marked with the same reference numerals.

[0030] FIG. 1 shows a road finishing machine 1. The road finishing machine 1 comprises a screed 3, a chassis 5, a material bunker 7, and a ground profile scanner 9. The screed 3 is hinged to the chassis 5 by a screed arm 11 via a towing point 13. The towing point 13 is height-adjustable by a leveling cylinder 15 and has a height H relative to a height reference, such as a guide wire or foundation 17. Three leveling sensors 19 are arranged on the screed arm 11 at different positions in the longitudinal direction F of the road finishing machine 1. The road finishing machine 1 further comprises a control system 21 suitable for data transmission, data reception, and data processing, and an antenna 23 for transmitting and / or receiving data, such as GNSS signals. For this purpose, the antenna 23 may be connected to a GNSS module 24, which is connected to the control system 21. The ground profile scanner 9 detects the ground profile of the base 17 onto which the paving material 25 is being laid by the screed 3 while the road finisher 1 moves in the travel direction x to form a new pavement 27 having a layer thickness S. In the illustrated embodiment, the ground profile scanner 9 is a laser scanner that scans the surface of the base 17 with a laser beam 29. The laser beam 29 is rotatable about an axis transverse to the travel direction x and detects ground profile data longitudinal to the travel direction x by line scanning. The ground profile data serves as a reference for parameterizing a leveling controller 31, which may be part of the control system 21.

[0031] Figure 2 shows a rear view of the road finisher 1. The road finisher 1 has a screed 3, a chassis 5, an antenna 23 and two ground profile scanners 9. The two ground profile scanners 9 are arranged in this way so that two ground profiles parallel to the direction of travel x can be detected.

[0032] 3 is a schematic diagram illustrating the detection of a ground profile at time t0 when the road finishing machine 1 is located at position x0. A laser beam 29 emitted by the ground profile scanner 9 continuously scans a first ground profile B0 of the foundation 17 parallel to the direction of travel x. For this purpose, the laser beam 29 is rotatable about an axis y transverse to the direction of travel x, which is represented here by a number of straight lines showing the time history of the position of the laser beam 29. The first ground profile B0 is detected by a line scan when the ground profile scanner 9 is located at position y. The y axis extends transverse to the direction of travel x. The generated first data points 33 together form first ground profile data L0 of the first ground profile B0, which can be stored and processed, inter alia, by the control system 21.

[0033] FIG. 4 shows a schematic side view of the detection of a first ground profile at time t0 and a second ground profile at time t1 according to FIG. 3. As in FIG. 3, a plurality of first data points 33 generated at time t0 and collectively forming first ground profile data L0 are represented as hollow circles. A plurality of second data points 35 generated at time t1 and collectively forming second ground profile data L1 are represented as solid circles. In an overlap region T, the first ground profile data L0 and the second ground profile data L1 overlap. From time t0 to time t1, the road finisher 1 has moved according to vector V and has rotated, e.g., tilted, due to ground irregularities, as represented in the coordinate system shown. The overlap region T is the starting point for determining a translation-rotation matrix M that maps the movement of the road finisher 1 from time t0 to time t1. The determination of the translation and rotation matrix M may be performed using a scan matching algorithm, in particular an iterative closest point (ICP) algorithm, using a plurality of first data points 33 and a plurality of second data points 35. To adapt the leveling control, a suitable analysis area LA is selected and its height variation is analyzed. The analysis area LA may include a plurality of data points 33, 35 of the first ground profile data L0 and the second ground profile data L1. The analysis area LA may have a length of, for example, 5 meters.

[0034] 5 shows a schematic plan view of the detection of the ground profile at time t0 and the detection of the ground profile at time t1, where two parallel line scans are performed at positions y1 and y2 by two ground profile scanners 9. An overlap region T is shown where the first data points 33 of the first ground profile data L0 and the second data points 35 of the second ground profile data L1 overlap. The left line scan at position y1 and the right line scan at position y2 can be combined, for example by averaging, to adapt the leveling control. However, the left line scan and the right line scan can also be used separately to adapt the leveling control for each of the left and right traction points 13 individually.

[0035] Figure 6 shows a flow chart of a method 100 for adapting the levelling control of a road finisher 1. The following procedure steps are carried out.

[0036] 101 - detecting first ground profile data L0 of a first ground profile B0 of a foundation 17 in the surrounding area of ​​the road finisher 1 at a time t0 when the road finisher 1 is located at a position x0;

[0037] 103 - Detecting second ground profile data L1 of a second ground profile B1 of the foundation 17 in the surrounding area of ​​the road finisher 1 at time t1 when the road finisher 1 is located at position x1, the second ground profile B1 partially overlapping with the first ground profile B0.

[0038] The detection of the ground profile data B0 and B1 can be performed by line scanning using the ground profile scanner 9.

[0039] 105 - A translation and rotation matrix M is determined which maps the movement in space of the road finisher 1 from time t0 to time t1. To determine the translation and rotation matrix M, data from distance measurements 107 which measure position data of the road finisher 1 may be referenced. Distance measurements 107 measure the position data of the road finisher 1 using, for example, a GNSS receiver and / or sensors related to the travel drive of the road finisher 1.

[0040] 109 - Generate corrected ground profile data L1' from the ground profile data L1 using matrix M. This results in continuous ground profile data Lges' that can extend up to a length corresponding to the sum of the first ground profile B0 and the second ground profile B1. It is also possible that three or more corresponding ground profile data can be detected, corrected, and combined.

[0041] 111 - Determine an analysis area LA comprising at least part of the ground profile data L0 and / or part of the corrected ground profile data L1'. The analysis area LA may comprise further corrected ground profile data Ln'. The analysis area LA may advantageously be determined anew during the laying operation. For example, the analysis areas LA may each have a length of 5 m, thus defining adjacent (two) analysis areas LA, each representing a reference for further procedural steps.

[0042] 113 - The analysis area LA is analyzed, in particular to determine the height variations. The analysis can include a fast Fourier transform and / or discontinuity detection, in particular the formation of differences. As a result of this procedural step, the height variations of the base 17 within the analysis area LA are known. In particular, the analysis can show the wavelength spectrum of the height variations, the frequency and amplitude of the wavelength spectrum and individual height variations, and specific height variations such as steps.

[0043] 115 - The data obtained by the analysis is used to adapt the leveling control to the distance of the analysis area LA. For example, parameters of one or more of the employed controllers can be adjusted in response to the measured wavelength. For example, parameters P_n, I_n, D_n of a PID controller can be adjusted. Similarly, the parameters of the controller, particularly the PID controller, can be adjusted in response to an irregularity, for example, a step. Furthermore, 1 to k leveling sensors 19 out of the k leveling sensors 19 at the current time can be selected for subsequent leveling control 117.

[0044] 117 - Leveling control during paving operation. The paving material 25 is laid onto the road pavement 27 using an adapted leveling control 31. In this process, the leveling control 31 controls the leveling cylinders 15 to adjust the towing point height H.

[0045] 119 - Measure Pavement. The newly laid road pavement 27 can be measured, for example, to determine the layer thickness. These measurements can then additionally influence the leveling control 117 as a feedback mechanism.

Claims

1. A method (100) for adapting the leveling control (31) of a road finishing machine (1), comprising: - Detecting (101) first ground profile data L0 of a first ground profile B0 of a foundation (17) in the vicinity of the road finishing machine (1) at a time t0 when the road finishing machine (1) is located at a position x0; - Detecting (103) second ground profile data L1 of a second ground profile B1 of the foundation (17) in the vicinity of the road finishing machine (1) at a time t1 when the road finishing machine (1) is located at a position x1, the second ground profile B1 partially overlapping the first ground profile B0; - Determining (105) a translational-rotation matrix M that maps the operation of the road finishing machine (1) in space from the time t0 to the time t1; - Creating (109) corrected ground profile data L1' from the ground profile data L1 using the matrix M; - Determining (111) an analysis region LA that includes at least a part of the ground profile data L0 and / or a part of the corrected ground profile data L1'; - Analyzing (113) the analysis region LA, in particular to determine height changes; - Adapting (115) the leveling control (31) to the distance of the analysis region LA using the data obtained in the analysis; The method (100).

2. The method according to claim 1, characterized in that the first ground profile B0 and the second ground profile B1 are one-dimensional or two-dimensional and have at least one in-space direction parallel to the travel direction (x) of the road finishing machine (1).

3. The method according to claim 1, characterized in that the leveling control (31) includes at least one of robust control, H-infinity control, model predictive control, and / or a PID controller.

4. The method according to claim 1, characterized in that adapting the leveling control (31) includes selecting one or more leveling sensors (19) arranged at different positions in the front-rear direction F of the road finishing machine (1).

5. The adaptation of the leveling control (31) is performed taking into account the wavelength spectrum of the change in height of the base (17) and / or the detected amplitude of the change in height determined by the analysis of the analysis region LA, the method according to claim 1.

6. The adaptation of the leveling control (31) is performed based on a selective weighting of the wavelength of the detected change in height, the method according to claim 1.

7. The determination of the translation rotation matrix M is performed using a scan matching algorithm, in particular an iterative algorithm, the method according to claim 1.

8. The determination of the translation rotation matrix M includes the processing of position data measured by the GNSS module (24) and / or the processing of driving data and / or the processing of a stationary georeference, the method according to claim 1.

9. The analysis of the analysis region LA includes a fast Fourier transform and / or a discontinuity detection, in particular the formation of a difference, the method according to claim 1.

10. The layer thickness (S) of the already laid pavement (27) is measured, and the adaptation of the leveling control (31) is performed taking into account the measured layer thickness (S), the method according to claim 1.

11. The method according to claim 1, wherein it is performed for two or more adjacent measurement paths y1, y2 using two or more ground profile scanners (9) arranged on the road finisher (1).

12. A road finisher (1) having a screed (3) and a chassis (5), wherein the screed (3) is hinged to the chassis (5) by a screed arm (11) via a traction point (13), the traction point height (H) being adjustable by a leveling cylinder (15), the road finisher (1) further comprising a leveling sensor (19) and a ground profile scanner (9), and including a control system (21) having a leveling controller (31) for controlling the traction point height (H) taking into account the data of the leveling sensor (19). The road finishing machine (1) is characterized in that the control system (21) is configured to parameterize the leveling controller (31) based on the data detected by the ground profile scanner (9).

13. The road finishing machine according to claim 12, comprising two or more leveling sensors (19) arranged along the longitudinal direction (F) of the road finishing machine (1), wherein the control system (21) is configured to select one or more leveling sensors (19) to be used together with the leveling controller (31) based on the data detected by the ground profile scanner (9).

14. The road finishing machine according to claim 12, wherein the ground profile scanner (9) is a laser scanner.

15. The road finishing machine according to claim 12, comprising two or more ground profile scanners (9).

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