Transporting position selection

Abstract

A computer system (100) comprising processing circuitry (110) is presented. The processing circuitry (110) is configured to obtain map data (260) of a confined off-road area (1) comprising obstacle data (265) and loading area data (263) indicating a loading area (3) within the confined off-road area (1) and to determine permitted transporter destinations (221) within the loading area (3) indicated by the loading area data (263) for a specific transporting vehicle (20) based on maneuverability of the specific transporting vehicle (20) and the obstacle data (265), each permitted transporter destinations (221) indicating a transporting location (221a) and a transporting orientation (221b). The processing circuitry (110) is further configured to select one permitted transporter destinations (221) as a transporter routing destination (241) from the permitted transporter destinations (221), and provide the transporter routing destination (241) for routing of the specific transporting vehicle (20).

Description

TRANSPORTING POSITION SELECTIONTECHNICAL FIELD[1] The disclosure relates generally to routing planning. In particular aspects, the disclosure relates to off-road routing. The disclosure can be applied to heavy-duty vehicles, such as construction equipment and trucks among other vehicle types. Although the disclosure may be described with respect to a particular vehicle, the disclosure is not restricted to any particular vehicle.BACKGROUND[2] In several applications such as mining, quarrying or general loading and unloading of goods, safely, efficiently and in an environmentally friendly way is of importance. In order to ensure high utilization of equipment utilized in loading and unloading, loading time and unloading time for a loaded equipment (a transporting vehicle such as a hauler, a truck, etc.) has to be short. Correspondingly, a time between loading or unloading events for a loading equipment (a loading vehicle such as a wheel loader, a forklift etc.) has to be short.SUMMARY[3] According to a first aspect of the disclosure, a computer system comprising processing circuitry is presented. The processing circuitry is configured to obtain map data of a confined off-road area comprising obstacle data and loading area data indicating a loading area within the confined off-road area, and determine permitted transporter destinations within the loading area indicated by the loading area data for a specific transporting vehicle based on maneuverability of the specific transporting vehicle and the obstacle data, each permitted transporter destinations indicating a transporting location and a transporting orientation. The processing circuitry is further configured to select one permitted transporter destinations as a transporter routing destination from the permitted transporter destinations, and provide the transporter routing destination for routing of the specific transporting vehicle. The first aspect of the disclosure may seek to solve a problem of efficiently routing a transporting vehicle to a location within a loading area. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area,increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.[4] Optionally in some examples, including in at least one preferred example, the map data further comprises entry path data and an exit path data of the loading area indicated by the loading area data. The processing circuitry is further configured to determine the permitted transporter destinations further based on the entry path data and the exit path data. A technical benefit may include ensuring safe operation within the confined off-road area.[5] Optionally in some examples, including in at least one preferred example, the processing circuitry is configured to determine the permitted transporter destinations by simulating transporting trajectories for the specific transporting vehicle. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.[6] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to assign transporting cost data to each of the permitted transporter destinations, wherein the transporting cost data is indicative of a cycle time and / or a cycle energy associated with each of the permitted transporter destinations, and select the transporter routing destination from the permitted transporter destinations based on the transporting cost data. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.[7] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to, for each of the permitted transporter destinations simulate an access time indicative of a duration required for the specific transporting vehicle to access the permitted transporter destinations, and determine transporting cost data of the permitted transporter destinations based on the access time. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.[8] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to, for each of the permitted transporter destinations simulate an exit time indicative of a duration required for the specific transporting vehicle toexit the permitted transporter destinations, and determine transporting cost data of the permitted transporter destinations based on the exit time. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.[9] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to, for each of the permitted transporter destinations simulate an access energy indicative of energy required for the specific transporting vehicle to access the permitted transporter destinations, and determine transporting cost data of the permitted transporter destinations based on the access energy. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0010] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to, for each of the permitted transporter destinations, simulate an exit energy indicative of energy required for the specific transporting vehicle to exit the permitted transporter destinations, and determine transporting cost data of the permitted transporter destinations based on the exit energy. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0011] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to; determine permitted loading destinations within the loading area indicated by the loading area data for a specific loading vehicle based on maneuverability of the specific loading vehicle and the obstacle data, each permitted loading destination indicating a loading location and loading orientation, an determine the permitted transporter destinations further based on the permitted loading destinations. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0012] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to assign loading cost data to each of the permittedloading destinations, wherein the loading cost data is indicative of a cycle time and / or an cycle energy associated with each of the permitted loading destinations, and select one permitted loading destination as transporter routing destination from the permitted loading destinations based on the loading cost data. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0013] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to, for each of the permitted loading destinations, simulate an access time indicative of a duration required for the specific loading vehicle to access the permitted loading destination, and determine loading cost data of the permitted loading destination based on the access time. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0014] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to, for each of the permitted loading destinations, simulate an exit time indicative of a duration required for the specific loading vehicle to exit the permitted loading destination, and determine loading cost data of the permitted loading destination based on the exit time. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0015] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to, for each of the permitted loading destinations, simulate an access energy indicative of energy required for the specific loading vehicle to access the permitted loading destination, and determine loading cost data of the permitted loading destination based on the access energy. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0016] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to, for each of the permitted loading destinations,simulate an exit energy indicative of energy required for the specific loading vehicle to exit the permitted loading destination, and determine loading cost data of the permitted loading destination based on the exit energy. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0017] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to select the transporter routing destination based on weighting of transporting cost data of permitted transporter destinations with loading cost data of the corresponding transporter routing destination. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0018] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to simulate removal of one or more obstacles indicated by obstacle data to provide updated obstacle data, determine permitted updated transporter destinations within the loading area indicated by the loading area data for the specific transporting vehicle based on maneuverability of the specific transporting vehicle and the updated obstacle data, each updated permitted transporter destinations indicating a transporting location and a transporting orientation, assign updated transporting cost data to each of the permitted updated transporter destinations, wherein the updated transporting cost data is indicative of a cycle time and / or a cycle energy associated with each of the updated permitted transporter destinations, and compare the transporting cost data with the updated transporting cost data to determine a cost difference associated with removal of the one or more obstacles. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0019] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to simulate removal of one or more obstacles indicated by obstacle data to provide updated obstacle data, determine permitted updated transporter destinations within the loading area indicated by the loading area data for the specific transporting vehicle based on maneuverability of the specific transporting vehicleand the updated obstacle data, each updated permitted transporter destinations indicating a transporting location and a transporting orientation, assign updated transporting cost data to each of the permitted updated transporter destinations, wherein the updated transporting cost data is indicative of a cycle time and / or a cycle energy associated with each of the updated permitted transporter destinations, and compare the transporting cost data with the updated transporting cost data to determine a cost difference associated with removal of the one or more obstacles. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0020] Optionally in some examples, including in at least one preferred example, the confined off-road area is a mining area. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0021] Optionally in some examples, including in at least one preferred example, the obstacle data comprises position data, size data and required traction capability associated with a specific obstacle. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0022] Optionally in some examples, including in at least one preferred example, the map data further comprises entry path data and an exit path data of the loading area indicated by the loading area data and the processing circuitry is further configured to: determine the permitted transporter destinations further based on the entry path data and the exit path data; wherein the processing circuitry is configured to: determine the permitted transporter destinations by simulating transporting trajectories for the specific transporting vehicle; wherein the processing circuitry is further configured to: assign transporting cost data to each of the permitted transporter destinations, wherein the transporting cost data is indicative of a cycle time and / or a cycle energy associated with each of the permitted transporter destinations, and select the transporter routing destination from the permitted transporter destinations based on the transporting cost data; wherein the processing circuitry is further configured to, for each of the permitted transporter destinations: simulate an access time indicative of a duration required for the specific transporting vehicle to access the permittedtransporter destinations, and determine transporting cost data of the permitted transporter destinations based on the access time; wherein the processing circuitry is further configured to, for each of the permitted transporter destinations: simulate an exit time indicative of a duration required for the specific transporting vehicle to exit the permitted transporter destinations, and determine transporting cost data of the permitted transporter destinations based on the exit time; wherein the processing circuitry is further configured to, for each of the permitted transporter destinations: simulate an access energy indicative of energy required for the specific transporting vehicle to access the permitted transporter destinations, and determine transporting cost data of the permitted transporter destinations based on the access energy; wherein the processing circuitry is further configured to, for each of the permitted transporter destinations: simulate an exit energy indicative of energy required for the specific transporting vehicle to exit the permitted transporter destinations, and determine transporting cost data of the permitted transporter destinations based on the exit energy; wherein the processing circuitry is further configured to: determine permitted loading destinations within the loading area indicated by the loading area data for a specific loading vehicle based on maneuverability of the specific loading vehicle and the obstacle data, each permitted loading destination indicating a loading location and loading orientation, and determine the permitted transporter destinations further based on the permitted loading destinations; wherein the processing circuitry is further configured to: assign loading cost data to each of the permitted loading destinations, wherein the loading cost data is indicative of a cycle time and / or an cycle energy associated with each of the permitted loading destinations, and select one permitted loading destination as transporter routing destination from the permitted loading destinations based on the loading cost data; wherein the processing circuitry is further configured to, for each of the permitted loading destinations: simulate an access time indicative of a duration required for the specific loading vehicle to access the permitted loading destination, and determine loading cost data of the permitted loading destination based on the access time; wherein the processing circuitry is further configured to, for each of the permitted loading destinations: simulate an exit time indicative of a duration required for the specific loading vehicle to exit the permitted loading destination, and determine loading cost data of the permitted loading destination based on the exit time; wherein the processing circuitry is further configured to, for each of the permitted loading destinations: simulate an access energy indicative of energy required for the specificloading vehicle to access the permitted loading destination, and determine loading cost data of the permitted loading destination based on the access energy; wherein the processing circuitry is further configured to, for each of the permitted loading destinations: simulate an exit energy indicative of energy required for the specific loading vehicle to exit the permitted loading destination, and determine loading cost data of the permitted loading destination based on the exit energy; wherein the processing circuitry is further configured to: select the transporter routing destination based on weighting of transporting cost data of permitted transporter destinations with loading cost data of the corresponding transporter routing destination; wherein the processing circuitry is further configured to: simulate removal of one or more obstacles indicated by obstacle data to provide updated obstacle data, determine permitted updated transporter destinations within the loading area indicated by the loading area data for the specific transporting vehicle based on maneuverability of the specific transporting vehicle and the updated obstacle data, each updated permitted transporter destinations indicating a transporting location and a transporting orientation, assign updated transporting cost data to each of the permitted updated transporter destinations, wherein the updated transporting cost data is indicative of a cycle time and / or a cycle energy associated with each of the updated permitted transporter destinations, and compare the transporting cost data with the updated transporting cost data to determine a cost difference associated with removal of the one or more obstacles; wherein the confined off-road area is a mining area; wherein the obstacle data comprises position data, size data and required traction capability associated with a specific obstacle; wherein the permitted transporter destinations are presented on a user interface of the loading vehicle. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0023] According to a second aspect of the disclosure, a vehicle comprising the computer system of the first aspect is presented.

[0024] Optionally in some examples, including in at least one preferred example, the vehicle is a loader. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0025] Optionally in some examples, including in at least one preferred example, the vehicle is a transporter. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0026] Optionally in some examples, including in at least one preferred example, the vehicle is an autonomous transporter. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0027] According to a third aspect of the disclosure, a computer-implemented method is presented. The method comprises obtaining, by processing circuitry of a computer system map data of a confined off-road area comprising obstacle data and loading area data indicating a loading area within the confiner off-road area, determining, by the processing circuitry of the computer system, permitted transporter destinations within the loading area indicated by the loading area data for a specific transporting vehicle based on maneuverability of the specific transporting vehicle and the obstacle data, each permitted transporter destinations indicating a transporting location and a transporting orientation, selecting, by the processing circuitry of the computer system, one permitted transporter destinations as transporter routing destination from the permitted transporter destinations, and providing the transporter routing destination for routing of the specific transporting vehicle. The third aspect of the disclosure may seek to solve a problem of efficiently routing a transporting vehicle to a location within a loading area. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0028] Optionally in some examples, including in at least one preferred example, the map data further comprises a entry path data and an exit path data of the loading area indicated by the loading area data and the computer implemented method further comprises determining, by the processing circuitry of the computer system, the permitted transporter destinations further based on the entry path data and the exit path data. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-roadarea, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0029] Optionally in some examples, including in at least one preferred example, the computer implemented method further comprises determining, by the processing circuitry of the computer system, the permitted transporter destinations by simulating transporting trajectories for the specific transporting vehicle. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0030] Optionally in some examples, including in at least one preferred example, the computer implemented method further comprises assigning, by the processing circuitry of the computer system, transporting cost data to each of the permitted transporter destinations, wherein the cost data is indicative of a cycle time and / or a cycle energy associated with each of the permitted transporter destinations, and selecting, by the processing circuitry of the computer system, the transporter routing destination based on the transporting cost data. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0031] Optionally in some examples, including in at least one preferred example, the computer implemented method further comprises determining, by the processing circuitry of the computer system, permitted loading destinations within the loading area indicated by the loading area data for a specific loading vehicle based on maneuverability of the specific loading vehicle and the obstacle data, and determining, by the processing circuitry of the computer system, the permitted transporter destinations further based on the permitted loading destinations.. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0032] Optionally in some examples, including in at least one preferred example, the computer implemented method further comprises assigning, by the processing circuitry of the computer system, loading cost data to each of the permitted loading destinations, wherein the cost data is indicative of a cycle time and / or an cycle energy associated with each of the permitted loading destinations.. A technical benefit may include more efficient loading of atransporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0033] Optionally in some examples, including in at least one preferred example, the computer implemented method further comprises selecting, by the processing circuitry of the computer system, the transporter routing destination based on weighting of transporting cost data of permitted transporter destinations with loading cost data of the corresponding permitted loader routing destination. A technical benefit may include more efficient loading of a transporting vehicle, increasing a yield from the confined off-road area, increasing utilization of transporting and loading vehicles and decreasing an energy consumption per loading cycle.

[0034] According to a fourth aspect of the disclosure, a computer program product comprising program code for performing, when executed by processing circuitry of a computer system, the computer implemented method of the third aspect is presented.

[0035] According to a fifth aspect of the disclosure, a non-transitory computer-readable storage medium comprising instructions, which when executed by processing circuitry of a computer system, cause the processing circuitry to perform the computer implemented method of the third aspect is presented.

[0036] The disclosed aspects, examples (including any preferred examples), and / or accompanying claims may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein.

[0037] There are also disclosed herein computer systems, control units, code modules, computer-implemented methods, computer readable media, and computer program products associated with the above discussed technical benefits.BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Examples are described in more detail below with reference to the appended drawings.

[0039] FIG. 1A is an exemplary view of a confined off-road area according to an example.

[0040] FIG. IB is an exemplary view of a confined off-road area according to an example.

[0041] FIG. 2 is an exemplary block diagram of a computer system according to an example.

[0042] FIG. 3A is an exemplary block diagram of a computer system according to an example.

[0043] FIG. 3B is an exemplary block diagram of a loading vehicle according to an example.

[0044] FIG. 3C is an exemplary block diagram of a transporting vehicle according to an example.

[0045] FIG. 4 is an exemplary system block diagram of a destination manager according to an example.

[0046] FIG. 5 is an exemplary system block diagram of a destination manager according to an example.

[0047] FIG. 6 is an exemplary partial system block diagram of a destination manager according to an example.

[0048] FIG. 7A is an exemplary view of a confined off-road area according to an example.

[0049] FIG. 7B is an exemplary view of a confined off-road area according to an example.

[0050] FIG. 7C is an exemplary view of a confined off-road area according to an example.

[0051] FIG. 8 is an exemplary block diagram of a computer system according to an example.

[0052] FIG. 9 is an exemplary block diagram of a method according to an example.

[0053] FIG. 10 is an exemplary block diagram of a computer program product according to an example.

[0054] FIG. 11 is an exemplary block diagram of a site management system according to an example.

[0055] FIG. 12 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein, according to an example.DETAILED DESCRIPTION

[0056] The detailed description set forth below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the disclosure.

[0057] In FIG. 1A, an exemplary confined off-road area 1 in the form of quarry is shown. An exemplary loading vehicle 10 loads mined material onto an exemplary transporting vehicle 20. The present disclosure will generally be described with examples from a quarry, but the teaching as applicable to any location wherein one loading vehicle 10 loads goods, material or devices onto a transporting vehicle 20. Such location may be, but are not limited to, warehouses, shipyards, harbors, logistic centers, train stations, construction sites, excavation sites, mines, etc. To this end, the terms transporting vehicle 20 and loading vehicle 10 are to be interpreted broadly. A loading vehicle 10 may be exemplified by, but not limited to, a front-end loader, a backhoe loader, an excavator, a telehandler (telescopic handler), a forklift, a reach stacker (generally utilized in ports and logistics yards), a tractor- loader-backhoe (TLB), ship loaders (generally used in ports to load bulk materials), etc. A transporting vehicle 20 may be exemplified by, but not limited to, a dump truck, a haul truck (sometimes referred to as off-highway trucks), a flatbed trucks, a tanker trucks, a refrigerated truck, a container trucks, an articulated hauler, a logging truck, a utility truck, a bulk carrier truck, a ship, etc.

[0058] In FIG. 1A, the confined off-road area 1, the quarry, comprises a fist level i, a second level ii, a third level iii, and a fourth level iv. The first level i is a top level and the fourth level iv is a bottom level. In the quarry, a loading vehicle 10 are operating to load material onto a transporting vehicle 20. In FIG. 1A, the transporting vehicle 20 is shown as an operator controlled vehicle, but in some example, the transporting vehicle 20 may be an autonomous transporting vehicle or a remotely operated vehicle. Material (rocks) obtained at the quarry is generally broken down into manageable sized by blasting into the walls between the levels i, ii, iii, iv.

[0059] In FIG. IB, a partial view of a confined off-road area 1, a quarry, is shown. Although the blasting is controlled and performed under strict safety regulations, there is some randomness as to where the broken down material will land and how it will be arranged. In FIG. IB, an area where the material to be loaded onto transporting vehicles 20 is located in indicated as a loading area 3. The transporting vehicle 20 will enter the loadingarea 3 allowing the loading vehicle 10 to load material onto the transporting vehicle 20. Once sufficiently loaded, he transporting vehicle 20 exits the loading area 3 and transports the loading material for e.g. further processing by a crusher which further reduces the size of the material.

[0060] Generally, the transporting vehicle 20 is configured with a longitudinal load carrying container for carrying the material. In order to efficiently load the load carrying container, the loading vehicle 10 may unload onto / into the load carrying container from a direction substantially perpendicular to a longitudinal extension of the load carrying container, this is generally the case when e.g. wheel loader unloads onto a transporting vehicle 20. The loading vehicle 10 may unload onto / into the load carrying container from a direction substantially along a direction along the longitudinal extension of the load carrying container (generally from the front or back of the transporting vehicle 20), this is generally the case when e.g. an excavator unloads onto a transporting vehicle 20. To this end, either the transporting vehicle 20 or the loading vehicle 10 has to be arranged to allow efficient loading of the transporting vehicle 20. However, the loading vehicle 10 should advantageously be able to efficiently access the material to be loaded onto the transporting vehicle 20 in order to reduce a time it takes to move each load of material onto the transporting vehicle 20. The transporting vehicle 20 should advantageously be able to efficiently enter and exit the loading area 3 at the location of the actual loading in order to reduce cycle time 225tc (see e.g, FIG. 4) for the transporting vehicle 20.

[0061] In some examples, to e.g. increase safety at the confined off-road area 1, the transporting vehicles 20 may be restricted to travel along predetermined paths 7, 8. Generally, the paths 7, 8 are one-way such that an entry path 7 is defined for traveling to the loading area 3 and an exit path 8 is defined for traveling from the loading area 3. Regardless of the presence of entry and / or exit paths 7, 8 the transporting vehicle 20 will enter the loading area 3 at some specific direction and will exit the loading area at some specific direction. The entry and / or exit paths 7, 8 may limit a number of options for the transporting vehicle to enter / exit the loading area 3 and / or make some locations of the loading area 3 difficult (takes long time to access / exit) or impossible to access. The confined off-road area 1 and / or the loading area 3 may comprise one or more obstacles 5. The obstacles 5 may be large boulders, deep puddles of mud, piles of material etc. that may be impassable to the loading vehicle 5 and / or the transporting vehicle 20. The obstacles 5 may limit a number of options for thetransporting vehicle 20 to enter / exit the loading area 3. The obstacles 5 may limit a number of locations for the loading vehicle 10 to load from.

[0062] In addition to the above, different transporting vehicles 20 and different loading vehicles 10 may have different maneuverability. The maneuverability may affect an ability of a vehicle 10, 20 to access a specific location within the loading area 3. The maneuverability of a vehicle 10, 20 may be a factor affected by e.g. turn radius (which varies significantly between e.g. Ackermann steered vehicles and articulated vehicles), chassis (a robust chassis and off-road suspension system generally allow a vehicle to absorb shocks and impacts while maintaining stability), suspension (a well-designed suspension helps keep all wheels in contact with the ground, improving traction and maneuverability), ground clearance (a distance between the lowest point of the vehicle's 10, 20 undercarriage and the ground, higher ground clearance prevents the vehicle 10, 20 from getting stuck on uneven surfaces or high obstacles 5), traction and differential systems (vehicles provided with features like all-wheel drive (AWD), four-wheel drive (4WD), or differential locks generally have better traction on slippery or uneven surfaces compared to vehicles 10, 20 without such systems), tires (offroad tires with aggressive tread patterns provide better grip on challenging surfaces like mud, sand, and rocks), water fording depth (some off-road vehicles have the capability to ford through water bodies without causing damage to vehicle components), engine power and torque (sufficient power and torque enable a vehicle 10, 20 to overcome resistance caused by challenging terrains and obstacles), weight distribution (a well-balanced weight distribution helps maintain stability while traversing obstacles, especially on uneven terrain), structural strength (vehicles 10, 20 designed with strong and durable materials can withstand impacts and stresses encountered during off-road driving) etc.

[0063] The present disclosure will present a solution for determining a transporting destination detailing not only a location within the loading area 3 for loading a transporting vehicle 20, but also an orientation of the transporting vehicle 20 during loading. By considering a maneuverability of at least the transporting vehicle 20, a set of permitted transporter destinations may be provided. The set of permitted transporter destinations may indicate a number of transporter destinations that the transporting vehicle 20 is able to access. For instance, if an obstacle 5 prevents a transporting vehicle to reach a specific location of the loading area 3 this specific location will not form part of the permitted transporter destinations. This reduces a risk that an inaccessible transporter destination is selected as alocation for loading a transporting vehicle 20. Some examples will rank the set of permitted transporter destinations based on different factors such that, depending on requirements, a more desirable loading process is obtained.

[0064] In FIG. 2, a schematic view of a computer system 100 is shown. The computer system 100 comprises processing circuitry 110 configured to perform, or cause performance of one or more actions, tasks or features relating to teachings of the present disclosure. In FIG. 2 the computer system 100 is in communication, advantageously wirelessly, with one or more vehicles 10, 20 within the confined off-road area 1. In FIG. 2, the transporting vehicle 20 is illustrated as an autonomous transporting vehicle but the teachings are applicable also to operator (remotely or locally) controlled transporting vehicles 20. Many more loading vehicles 10 and / or transporting vehicles 20 (autonomous and / or operator controlled) may be in communication with the computer system 100. The computer system 100 may, in some examples, further be in communication with a cloud server 30. To this end, the vehicles 10, 20 comprises processing circuitry 11, 21 for controlling, or causing communication, with the computer system 100.

[0065] As emphasis of the present application is routing in general, and determining transporter destination within a confined off-road area 1 in particular, details of all features of the vehicles 10, 20 within the confined off-road area 1 will be kept at a minimum. However, as the skilled person will appreciate, the vehicles 10, 20 comprises all necessary vehicle units and associated functionality such that it may operate as the skilled person would expect of a vehicle 10, 20, such as a powertrain, chassis, and various control systems. However, a vehicle 10, 20 of the present disclosure comprises one or more propulsion sources. The propulsion source may be any suitable propulsion source exemplified by, but not limited to, one or more or a combination of an electrical motor, a combustion engine such as a diesel, gas or gasoline powered engine. The vehicle 10, 20 further comprises an energy source suitable for providing energy for the propulsion source. That is to say, if the propulsion source is an electrical motor, a suitable energy source would be a battery or a fuel cell. The vehicle 10, 20 further comprises sensor circuitry arranged to detect, measure, sense or otherwise obtain data relevant for operation of the vehicle 10, 20. The data relevant for operation of the vehicle 10, 20 may be exemplified by, but not limited to, one or more of a speed of the vehicle 10, 20 a weight of the vehicle 10, 20 an inclination of the vehicle 10, 20 a status (state of charge, fuel level etc.) of the energy source of the vehicle 10, 20 etc.

[0066] In order to communicate with the computer system 100, the vehicle 10, 20 may comprise communications circuitry configured for communication with, to the vehicle 10, 20 external devices. The communications circuitry is advantageously a communications circuitry configurable to provide a wireless communication interface exemplified by, but not limited to, Wi-Fi, Bluetooth, Zigbee, Z-Wave, LoRa, Sigfox, 2G (GSM, CDMA), 3G (UMTS, CDMA2000), 4G (LTE), 5G (NR) etc.

[0067] As partly indicated in FIG. 2 the vehicles 10, 20 may communicate directly with each other and / or meshed through computer system 100, or other vehicles 10, 20. Communication with the other vehicles 10, 20 may be provided by the previously mentioned wireless interfaces, and / or any suitable vehi cl e-to- vehicle (V2V) communications protocol exemplified by, but not limited to Dedicated Short-Range Communications (DSRC), Cellular Vehicle-to-Everything (C-V2X), IEEE 802.1 Ip, LTE-V (LTE-V2X), 5G NR (New Radio) V2X, etc.

[0068] The vehicle 10, 20 may further be operatively connected to a Global Navigation Satellite System (GNSS) exemplified by, but not limited to, global positioning system (GPS), Globalnaya Navigatsionnaya Sputnikovaya Sistema (GLONASS), Galileo, BeiDou Navigation Satellite System, Navigation with Indian Constellation (NavIC) etc. The vehicle 10, 20 may be configured to utilize data obtain from the GNSS 10, 20 to determine a geographical location of the vehicle 10, 20.

[0069] It should be mentioned that the centralized description of the computer system 100 shown in FIG. 2 is one example. In FIG. 3A, another example of a computer system 100 according to the present disclosure is presented. In FIG. 3A, the processing circuitry 110 of the computer system 100 comprises a processing circuitry 11 of one or more loading vehicle 10 within the confined off-road area 1. Optionally, in some examples, the processing circuitry 110 of the computer system 100 may further comprises a processing circuitry 21 of one or more transporting vehicle 20 within the confined off-road area 1. The computer system 100 may further comprise, or be operatively connected to, a data storage 120.

[0070] In FIG. 3B, another example of a computer system 100 according to the present disclosure is presented. In FIG. 3A, the loading vehicle 10 comprises the computer system 100. In FIG. 3C, another example of a computer system 100 according to the present disclosure is presented. In FIG. 3C, the transporting vehicle 20 comprises the computer system 100.

[0071] In FIG. 4 an exemplary software architecture of a destination manager 200 is shown. The destination manager 200 may be implemented as part of the computer system 100, and / or the processing circuitry 110 of the computer system 100 may be configured to perform, or cause performance of the functions, features or examples of the destination manager 200.

[0072] The destination manager 200 is configured to provide one selected transporter routing destination 241 from a plurality of permitted transporter destinations 221. The selected transporter routing destination 241 is selected for one specific transporting vehicle 20. To this end, the destination manager 200 is configured with a data obtainer 210, a transporter destination determiner 220 and a destination selector 240.

[0073] The data obtainer 210 is configured to obtain map data 260 of a confined off-road area 1. The data obtainer 210 may be configured to obtain the map data 260 from storage associated with the destination manager 200. In some examples, the data obtainer 210 may be configured to obtain the map data 260 from the data storage 120 operatively connected to the computer system 100.

[0074] The map data 260 may describe, indicate or otherwise hold any suitable information relating to the confined off-road area 1. The map data 260 generally comprise loading area data 263 indicating a location of specific loading area 3 within the confined offroad area 1. The map data 260 may comprise obstacle data 265. The obstacle data 265 may comprise any suitable data for obstacles 5 within the confined off-road area 1. The obstacle data 265 may comprise positon data describing a location of obstacles 5 within the confined off-road area 1. In some examples, the obstacle data 265 may comprise further information regarding obstacles 5 within the confined off-road area 1 such as a type of obstacle. In some examples, the obstacle data 265 may, for one or more specific obstacles 5, comprise a required traction capability. The required traction capability describes a traction capability required to traverse a specific obstacle 5. The required traction capability may specify, limit (maximum, minimum) or otherwise indicate one or more of a turn radius, suspension, ground clearance, traction and differential systems, tires, water fording depth, engine power and torque, weight distribution, structural strength, etc. required to traverse the obstacle 5. In some examples, entry path(s) 7 and / or exit path(s) are specified for the confined off-road area 1, in such examples, the map data 260 may comprise entry path data 267 indicating one ormore entry paths 7 of the confined off-road area 1, and / or exit path data indicating one or more exit paths 8 of the confined off-road area 1.

[0075] The data obtainer 210 may further be configured to obtain data of one or more vehicles 10, 20 within the confined off-road area 1. In some examples, the data obtainer 210 is configured to obtain data relating to a specific transporting vehicle 20, specifically a traction capability data 25 of the specific transporting vehicle 20. The traction capability data 25 describe a maneuverability of the specific transporting vehicle 20 as previously explained.

[0076] The transporter destination determiner 220 is configured to determine permitted transporter destinations 221 within the loading area 3 indicated by the loading area data 263. Each permitted transporter destinations 221 comprises a transporting location 221a and a transporting orientation 221b. The permitted transporter destinations 221 are determined for a specific transporting vehicle 20.

[0077] To exemplify, the transporter destination determiner 220 may select one possible transporting location 221a within the confined off-road area 1 and process one or more transporting orientations 221b for the selected transporting location 221a. Each pair of transporting location 221a and transporting orientation 221b is processed in view of the maneuverability of the specific transporting vehicle 20. If it is determined that the specific transporting vehicle 20 is able to reach a specific transporting location 221a in a specific transporting orientation 221b, the specific transporting location 221a and the specific transporting orientation 221b are determined to be a permitted transporter destination 221. However, if it is determined that the specific transporting vehicle 20 is unable to reach the specific transporting location 221a in the specific transporting orientation 221b (e.g. a turn radius of the specific transporting vehicle 20 is too wide), the specific transporting location 221a and the specific transporting orientation 221b are not determined to be a permitted transporter destination 221. This may be repeated for a plurality of transporting orientation 221b for each of a plurality of transporting locations 221a. In some examples, only one specific transporting location 221a is provided and a plurality of transporting orientation 221b are evaluated for the specific transporting location 221a. In some examples, the specific transporting location 221a is provided by the loading vehicle 10.

[0078] The destination selector 240 is configured to review the permitted transporter destination 221 and select one of the permitted transporter destination 221 as the transporter routing destination 241. The destination selector 240 may further provide the transporterrouting destination 241 for routing of the specific transporting vehicle 20. The actual routing may differ depending on the type of specific transporting vehicle 20 (autonomous, operator controlled, etc.) and in some examples, the transporter routing destination 241 is provided to the computer system 100. In some examples, the transporter routing destination 241 is provided to the transporting vehicle 20, either directly or indirectly (vie e.g. the computer system 100)

[0079] In some examples, the functions of the destination selector 240 may be manually provided by e.g. an operator of a loading vehicle 10 operating within the loading area 3. The permitted transporter destination 221 may be presented, e.g. on a graphical user interface, to the operator of the loading vehicle 10 and the operator may select one permitted transporter destination 221 as the transporter routing destination 241.

[0080] In some examples, to e.g. simplify selection of transporter routing destination 241 and provide further optimization options, each permitted transporter destination 221 may further comprise cost data 221c. The cost data 221c may be any data relevant to the permitted transporter destination 221 exemplified by, but not limited to, a cost in time, a cost in energy, and / or a cost in utilization for the specific transporting vehicle 10. To This end, the transporter destination determiner 220 may comprise a transporter simulator 225. The transporter simulator 225 is configured to, based on the specific transporting vehicle 20, simulate (emulate, estimate) relevant cost data 221c for each permitted transporter destination 221

[0081] In some examples, the transporter simulator 225 may be configured to simulate an access time 225ta for the specific transporting vehicle 20. The access time 225ta is a time measure, e.g. a duration, required for the transporting vehicle 20 to access the permitted transporter destination 221. A starting reference (e.g. starting location for a start of timing the access) for the access time 225ta may be chosen freely but advantageously similar, if not equal, for all permitted transporter destinations 221 in order to simplify comparison between access times 225ta (i.e. cost data 221c comprising an access time 225ta) of different permitted transporter destination 221. An end reference (e.g. an end location for a stop of timing the access) is advantageously stand still at the permitted transporter destination 221, but may be chosen freely but advantageously similar, if not equal, for all permitted transporter destinations 221. Additionally, or alternatively, the transporter simulator 225 may be configured to estimate an access energy 225ea for each of the permitted transporterdestinations 221. The access energy 225ea indicates an amount of energy required for the specific transporting vehicle 20 to access the permitted transporter destinations 221. The access energy 225ea may be given in any suitable format such as Joules (J), watt hours (Wh), liters (of diesel, petrol etc.). Starting and end references may be selected correspondingly to those presented in reference to the access time 225ta.

[0082] Analogues to the access time 225ta, the transporter simulator 225 may be configured to simulate an exit time 225te for the specific transporting vehicle 20. The exit time 225te is a time measure, e.g. a duration, required for the transporting vehicle 20 to exit the permitted transporter destination 221. Additionally, or alternatively, the transporter simulator 225 may be configured to estimate an exit energy 225ee for each of the permitted transporter destinations 221. The access energy 225ee indicates an amount of energy required for the specific transporting vehicle 20 to exit the permitted transporter destinations 221. The exit energy 225ee may be given in any suitable format such as Joules (J), watt hours (Wh), liters (of diesel, petrol etc.). Starting and end references may be selected correspondingly to those presented in reference to the exit time 225te.

[0083] In examples where both an access time 225ta and an exit time 225te are provided, the access time 225ta and the exit time 225te may be combined to form a cycle time 225tc for the specific transporting vehicle 20 for each permitted transporter destination 221. Correspondingly, in examples where both an access energy 225ea and an exit energy 225ea are provided, the access energy 225ea and the exit energy 225ee may be combined to form a cycle energy 225ec for the specific transporting vehicle 20 for each permitted transporter destination 221.

[0084] It should be mentioned that time and energy may, for some permitted transporter destination 221 be related such that if the access time 225ta is comparably high, so is the access energy 225ea. However, in some examples time and energy may be inversely related such that if the access time 225ta is comparably high, the access energy 225ea is comparably low and vice versa. This may be the case when e.g. obstacle data 265 is considered where it may be faster to traverse an obstacle 5 than traveling around the obstacle 5, but it consumes more energy to traverse the obstacle 5 that to travel around the obstacle 5. For instance, traveling through a puddle of mud may be fast, but may require more torque and energy than traveling around the puddle of mud on a solid flat surface.

[0085] The destination selector 240 may consider the cost data 221c of each permitted transporter destinations 221 when selecting the transporter routing destination 241. In some examples, the destination selector 240 may be configured to choose a permitted transporter destinations 221 being associated with the lowest access time 225ta, exit time 225ec, access energy 225ea, exit energy 225ee, cycle time 225tc and / or cycle energy 225ec. In some examples, the destination selector 240 may be configured to combine one or more of the access time 225ta, exit time 225te, access energy 225ea, exit energy 225ee, cycle time 225tc and / or cycle energy 225ec by weighting depending on optimization configuration for the destination manager 200. That is to say, the destination manager 200 may be configured to prioritize time over energy or vice versa. In some examples, the destination manager 200 may be configured to prioritize access time 225ta over exit time 225te or vice versa in order to ensure utilization of the loading vehicle 10.

[0086] In some examples, in order to e.g. limit a total number of transporter destinations considered for permitted transporter destinations 221, the transporter destination determiner 220 may be configured to simulate, by the transporter simulator 225, transporting trajectories 225e for the specific transporting vehicle 20. The transporting trajectories 225e may limit a number of possible transporting locations simply because they are inaccessible to the specific transporting vehicle 20. This may be due to obstacles 5 blocking access to some possible transporting locations, and / or the maneuverability of the specific transporting vehicle 20 limiting access to some possible transporting locations. Further to this, for a transporting location 221a, the simulated trajectories may indicate that some orientations the number of transporting orientations 221b of a transporting location 221a may be inaccessible to the specific transporting vehicle 20. This may be due to obstacles 5 blocking access to some possible transporting locations in some directions, and / or the maneuverability of the specific transporting vehicle 20 limiting access to some possible transporting locations from some directions.

[0087] In some examples, wherein the entry path data 267 of the map data 260 indicates presence of a predetermined entry path 7, and / or the exit path data 268 of the map data 260 indicates presence of a predetermined exit path 8, the transporter destination determiner 220 may utilize this information in determining the permitted transporter destinations 221. It may be that some possible transporting destinations are inaccessible to the transporting vehicle 20 due to inability for the transporting vehicle to exit the possible transporting destination andenter the predetermined exit path 8. Such cases may arise when e.g. obstacles 5 are present that forces the specific transporting vehicle 20 to reverse into a possible transporting destination and the layout of the entry and / or exit paths 7, 8 and the confined off-road area 1 are such that exiting the exiting the possible transporting destination onto the predetermined exit path 8 is impossible for the specific transporting vehicle 20.

[0088] In FIG. 5 an exemplary destination manager 200 is shown. The exemplary destination manager 200 of FIG. 5 corresponds to the destination manager 200 of FIG. 5 except for the destination manager 200 of FIG. 5 also considering the loading vehicle 10.

[0089] To this end, the data obtainer 210 in FIG. 5 is configured to obtain data relating to a specific loading vehicle 10, specifically a traction capability data 15 of the specific loading vehicle 10. The traction capability data 15 describe a maneuverability of the specific loading vehicle 10 as previously explained.

[0090] The destination manager 200 of FIG. 5 further comprises a loading destination determiner 230 is configured to determine permitted loading destinations 231 within the loading area 3 indicated by the loading area data 263. Each permitted loading destination 231 comprises a loading location 231a and a loading orientation 231b. The permitted loading destinations 231 are determined for a specific loading vehicle 10. The loading location 231a is a location within the loading area 3 at which the loading vehicle 10 obtains the goods, material or devices to be loaded onto the transporting vehicle 20. The loading vehicle 10 will generally travel a plurality of cycles between the loading location 231a and the transporting location 221a in order to sufficiently load the transporting vehicle 20.

[0091] The permitted loading destination 231 may be determined based on the permitted transporting destinations 221 or the permitted transporting destinations 221 may be determined based on the permitted loading destination 231. Generally, the permitted transporting destinations 221 may be determined based on the permitted loading destination 231

[0092] To exemplify, the loading destination determiner 230 may select one possible loading location 231a within the confined off-road area 1 and process one or more loading orientations 231b for the selected loading location 231a. Each pair of loading location 231a and loading orientation 231b is processed in view of the maneuverability of the specific loading vehicle 10. If it is determined that the specific loading vehicle 10 is able to reach a specific loading location 231a in a specific loading orientation 231b, the specific loadinglocation 231a and the specific transporting orientation 231b are determined to be a permitted loading destination 231. However, if it is determined that the specific loading vehicle 10 is unable to reach the specific loading location 231a in the specific loading orientation 231b (e.g. a turn radius of the specific loading vehicle 10 is too wide), the specific loading location 231a and the specific loading orientation 231b are not determined to be a permitted loading destination 231. This may be repeated for a plurality of loading orientation 231b for each of a plurality of loading locations 231a. A plurality of loading orientations 231b are evaluated for each specific loading location 231a. In some examples, the specific loading location 231a is provided by the loading vehicle 10.

[0093] Further, if it is determined that the specific loading vehicle 10 is unable to reach a specific transporting location 221a at a direction substantially perpendicular to a specific transporting orientation 221b from the specific loading location 231a and the specific loading orientation 231b, the specific transporting location 221a and the specific transporting orientation 221b are not determined to be a permitted transporting destination 221. Alternatively, if it is determined that the specific loading vehicle 10 is unable to reach a specific transporting location 221a at a direction substantially perpendicular to a specific transporting orientation 221b from the specific loading location 231a and the specific loading orientation 231b, the specific loading location 231a and the specific loading orientation 231b are not determined to be a permitted loading destination 231.

[0094] Correspondingly to the cost data 221c that may be assigned to the permitted transporter destinations, each permitted loading destination 231 may further comprise cost data 231c. The cost data 231c may be any data relevant to the permitted loading destination 231 exemplified by, but not limited to, a cost in time, a cost in energy, and / or a cost in utilization for the specific loading vehicle 10. To This end, the loading destination determiner 230 may comprise a loading simulator 235. The loading simulator 235 is configured to, based on the specific loading vehicle 10, simulate (emulate, estimate) relevant cost data 231c for each permitted loading destination 231.

[0095] In some examples, the loading simulator 235 may be configured to simulate an access time 235ta for the specific loading vehicle 10. The access time 235ta is a time measure, e.g. a duration, required for the loading vehicle 10 to access the permitted loading destination 231. A starting reference (e.g. starting location for a start of timing the access) for the access time 235ta may be chosen freely but advantageously similar, if not equal, for allpermitted loading destinations 231 in order to simplify comparison between access times 235ta (i.e. cost data 231c comprising an access time 235ta) of different permitted loading destinations 231. An end reference (e.g. an end location for a stop of timing the access) is advantageously at the permitted loading destination 231, but may be chosen freely but advantageously similar, if not equal, for all permitted loading destinations 231. Additionally, or alternatively, the loading simulator 235 may be configured to estimate an access energy 235ea for each of the permitted loading destinations 231. The access energy 235ea indicates an amount of energy required for the specific loading vehicle 10 to access the permitted loading destinations 231. The access energy 235ea may be given in any suitable format such as Joules (J), watt hours (Wh), liters (of diesel, petrol etc.). Starting and end references may be selected correspondingly to those presented in reference to the access time 235ta.

[0096] Analogues to the access time 235ta, the loading simulator 235 may be configured to simulate an exit time 235te for the specific loading vehicle 10. The exit time 235te is a time measure, e.g. a duration, required for the transporting vehicle 20 to exit the permitted loading destination 231. Additionally, or alternatively, the loading simulator 235 may be configured to estimate an exit energy 235ee for each of the permitted loading destinations 231. The access energy 235ee indicates an amount of energy required for the specific loading vehicle 10 to exit the permitted loading destinations 231. The exit energy 235ee may be given in any suitable format such as Joules (J), watt hours (Wh), liters (of diesel, petrol etc.). Starting and end references may be selected correspondingly to those presented in reference to the exit time 235te.

[0097] In examples where both an access time 235ta and an exit time 235te are provided, the access time 235ta and the exit time 235te may be combined to form a cycle time 235tc for the specific loading vehicle 10 for each permitted loading destination 231.Correspondingly, in examples where both an access energy 235ea and an exit energy 235ea are provided, the access energy 235ea and the exit energy 235ee may be combined to form a cycle energy 235ec for the specific transporting vehicle 20 for each permitted loading destination 231.

[0098] The cost data 231c of the permitted loading destinations 231 and any data indicated by the costa data 231c (energy, time etc.) may be utilized by the destination selector 240 as indicated in reference to the cost data 221c of the permitted transporter destinations 221 presented in reference to FIG. 4. The destination manager 200 may be configured toprioritize e.g. a cycle time 235tc of the loading vehicle 10 over a cycle time 225tc for the transporting vehicle 20 or vice versa. The corresponding is valid for access times 225ta, 235ta, access energies 225ea, 235ea, exit times 225te, 235te and / or exit energies 225ee, 235ee.

[0099] In some examples, in order to e.g. limit a total number of loading destinations considered for permitted loading destinations 231, the loading destination determiner 230 may be configured to simulate, by the loading simulator 235, loading trajectories 235e for the specific loading vehicle 10. The loading trajectories 235e may limit a number of possible loading locations simply because they are inaccessible to the specific loading vehicle 10. This may be due to obstacles 5 blocking access to some possible loading locations, and / or the maneuverability of the specific loading vehicle 10 limiting access to some possible loading locations. Further to this, for a loading location 231a, the simulated trajectories may indicate that some orientations the number of loading orientations 231b of a loading location 231a may be inaccessible or unsuitable for the specific loading vehicle 10. This may be due to obstacles 5 blocking access to some possible loading locations in some directions, and / or the maneuverability of the specific loading vehicle 10 limiting access to some possible loading locations from some directions. It may be that the specific loading vehicle 10 requires a too wide arch to fill a bucket of the loading vehicle 10 and unload the bucket at an angle substantially perpendicular to the loading orientation 231b.

[0100] In FIG. 6, a partial destination manager 200 is shown. The partial destination manager 200 in FIG. 6 may form working examples with any embodiment, example or feature of the destination managers 200 exemplified with reference to FIG. 4 or FIG. 5. The destination manager 200 in FIG. 6 comprise an obstacle processor 250. The obstacle processor 250 is configured to enable simulation of removal or change of one or more obstacles 5 within the confined off-road area 1. In some examples, the obstacle processor 250 may be configured to identify one or more obstacles 5 for modification by identifying one or more obstacles 5 that are preventing a loading vehicle 10 from accessing one or more loading location / orientation pairs or a transporting vehicle 20 from accessing one or more transporter location / orientation pairs. The obstacle processor 250 may be configured to identify obstacles 5 for potential removal or change by e.g. simulated trajectories 225e indicating comparably long access times 225ta or exit times 225te due to the transporting vehicle 20 having to bypass one or more obstacles 5. The obstacle processor 250 may be configured to identifyobstacles 5 for potential removal or change by determining that the loading vehicle 10 may be unable to load to some permitted transporter destination 221 due to obstacles 5. The obstacle processor 250 may be configured to identify obstacles 5 for potential removal or change by determining that some permitted loading destinations 231 are be associated with comparably long cycle times 235tc and / or a comparably high cycle energy 235ec due to one or more obstacles 5. The obstacle processor 250 may be configured to identify obstacles 5 for potential removal or change by obtaining input from an operator of the loading vehicle 10, wherein the input may indicate one or more obstacles 5 for removal or change.

[0101] The obstacle processor 250 is configured to provide updated obstacle data 265’. The updated obstacle data 265’ is updated based on the obstacles 5 identified for potential removal or change. In the updated obstacle data 256’, these obstacles 5 are removed or updated. If an obstacle 5 is identified for potential removal, the updated obstacle data 265’ will not have an indication of this obstacle 5 indicated for removal. If an obstacle is indicated for potential change, the updated obstacle data 265’ will have different data describing this obstacle 5 identified for potential change compared to the obstacle data 265. A change of an obstacle 5 may comprise decreasing a depth of a puddle of mud, decreasing a height or depth of tracks, changing a size (circumference, height etc.) of rocks etc.

[0102] The updated obstacle data 265’ may be provided to the transporter destination determiner 220 and / or the loading destination determiner 230. The transporter destination determiner 220 may provide updated permitted transporter destinations 221’ based on the updated obstacle data 265’. Each updated permitted transporter destination 221’ comprises an updated transporting location 221a’ and an updated transporting orientation 221b’. In some examples, each updated permitted transporter destination 221’ may comprise updated cost data 221c’. The loading destination determiner 230 may provide updated permitted loading destinations 231’ based on the updated obstacle data 265’. Each updated permitted loading destination 231’ comprises an updated loading location 231a’ and an updated loading orientation 231b’. In some examples, each updated permitted loading destination 231’ may comprise updated cost data 231c’. The updated cost data 221c’, 231c’ may comprise any data previously indicated in reference to FIG. 4 and / or FIG. 5 and the cost data 221c of the permitted transporting destinations 221 and / or the cost data 231c of the permitted loading destinations 221.

[0103] The obstacle processor 250 may be configured to determine a cost difference 255 by comparing the updated cost data 221c’, 231c’ provided by the transporter destination determiner 220 and / or the loading destination determiner 230 based on the updated obstacle map data 265’, to the corresponding costa data 221c, 231c provided by the transporter destination determiner 220 and / or the loading destination determiner 230 based on the obstacle map data 265. This is advantageous as the cost difference 255 will provide a measure of a potential saving in time or energy yielded by removal or changing of an obstacle 5. This may be utilized to determine if it is cost / energy-effecient to e.g. temporarily pause operation in a vicinity of a specific obstacle 5 in order to remove or modify the obstacle 5. It may be that it is determined that it is cost / energy-efficient to have the loading vehicle 10 travel to an obstacle 5 and remove or modify the obstacle 5.

[0104] In FIG. 7A, FIG. 7B and FIG. 7C top views of a confined off-road area 1 are shown. The confined off-road area 1 comprises a loading area 3 and an entry path 7 and an exit path 8 are provided. In the following, each of FIG. 7A, FIG. 7B and FIG. 7C will be used to exemplify differences in permitted transporting destinations 221, all having the same transporting location 221a. The loading location 231a and loading orientation 231b is considered to be the same for all examples. Arrows of transporting trajectories 225e and loading trajectories 235e indicate a forward orientation of the associated loading vehicle 10 or transporting vehicle 20. An obstacle 5 is present in the confined off-road area 1 limiting movement of the vehicles 10, 20 within the confined off-road area 1. For the examples presented in FIG. 7A, FIG. 7B and FIG. 7C, the transporting vehicle 20 as assumed to have a preferred travel direction in forward travel, with a less preferred, opposite, travel direction in reverse travel. It should be mentioned that some, autonomous or remote controlled, transporting vehicles 20 may be configured to have substantial equal performance and maneuverability in both forward and reverse travel.

[0105] In FIG. 7A, the transporting orientation 221b is substantially perpendicular to the entry path 7 in a direction away from the entry path 7. With this transporting orientation 221b, the transporting vehicle 20 may exit the entry path 7 and follow a 90° arch shaped transporting trajectory 225e to the transporting location 221a. This will result in a comparably low access time 225ta and low access energy 225ea. Once loaded, the transporting vehicle 20 may continue forward along a counter clock-wise arch shaped transporting trajectory 225e in order to enter the exit path 8. The transporting trajectory 225eout from the permitted transporter destination is comparably long and will result in a comparably high exit time 225te and low exit energy 225ee. Considering the loading vehicle 10, the loading trajectory 235e is comparably efficient as the loader 10 fills the bucket, reverses along a first 90° arch shaped portion of the trajectory 235e and then drives straight towards the loading location 221a and unloads the bucket.

[0106] In FIG. 7B, the transporting orientation 221b is substantially parallel to the entry path 7 in a direction corresponding to a direction of the entry path 7. With this transporting orientation 221b, the transporting vehicle 20 may exit the entry path 7 and follow a smooth arch shaped transporting trajectory 225e to the transporting location 221a. This will result in a comparably low access time 225ta as a speed of the transporting vehicle 20 may be comparably high (no tight turns) but comparably high access energy 225ea due to the distance travelled. Once loaded, the transporting vehicle 20 will have to reverse before it is able to continue forward along smooth arch shaped transporting trajectory 225e in order to enter the exit path 8. The transporting trajectory 225e out from the permitted transporter destination is comparably long, slow (due to the change of direction) and will result in a comparably high exit time 225te and high exit energy 225ee. Considering the loading vehicle 10, the loading trajectory 235e is comparably long as the loader 10 after filling the bucket, reverses along a comparably long distance in order to drive straight towards the transporting location 221a and unloads the bucket.

[0107] In FIG. 7C, the transporting orientation 221b is rotated 180° to the transporting orientation 221b in FIG. 7A, i.e. substantially perpendicular to the entry path 7 in a direction towards the entry path 7. With this transporting orientation 221b, the transporting vehicle 20 may exit the entry path 7 in reverse and follow a smooth arch shaped transporting trajectory 225e to the loading location 221a. This will result in a comparably high access time 225ta and low medium energy 225ea. Once loaded, the transporting vehicle 20 will follow a smoothly arched transporting trajectory 225e to the exit path 8. The transporting trajectory 225e out from the permitted transporter destination is comparably short, fast (due to the change of direction) and will result in a comparably low exit time 225te and low exit energy 225ee. Considering the loading vehicle 10, the loading trajectory 235e is corresponding to the loading trajectory 235e of FIG. 7A, that is to say comparably efficient as the loader 10 fills the bucket, reverses along a first 90° arch shaped portion of the loading trajectory 235e and then drives straight towards the loading location 221a and unloads the bucket.

[0108] In FIG. 7A, FIG. 7B and FIG. 7C three different permitted transporter destinations 221 are exemplified. Based on the cost data 221c of the respective permitted transporter destinations 221 and optionally considering the cost data 231c the permitted loading destination 231, one permitted transporter destinations 221 may be selected as the transporter routing destination 241. A likely choice would be the permitted transporter destination 221 exemplified in FIG. 7C, this permitted transporter destinations 221 has least impact on the loading trajectory 235e, the permitted transporter destination 221 exemplified in FIG. 7A will cause the transporting vehicle to intersect the loading trajectory 235e and force the loading vehicle 10 to stop working. Further, modifying the permitted transporter destination 221 exemplified in FIG. 7A to cause the transporting vehicle 20 to reverse from the permitted transporter destination 221 will cause the transporting vehicle 20 to reverse a longer distance compared to the permitted transporter destination 221 exemplified in FIG. 7B and to cross the entry path 7 in reverse which may be undesired.

[0109] In one non-limiting scenario, an operator of a loading vehicle 10 within a confined off-road area 1 may indicate, by e.g. a user interface of the loading vehicle 10, one position within a loading area 3 as a transporting location 221a. The computer system 100 determines permitted transporter destinations 221 comprising the transporting location 221a and presents the permitted transporter destinations 221 to the operator of the loading vehicle 10 by e.g. the user interface of the loading vehicle 10. In some further scenarios, the computer system 100 may determine cost data 221c for each permitted transporter destinations 221 and present also the cost data to the operator of the loading vehicle 10 by e.g. the user interface of the loading vehicle 10. The cost data 221c may be indicated by color coding the permitted transporter destinations 221 on a graphical user interface of the loading vehicle 10.[HO] In FIG. 8, an exemplary configuration of the computer system 100 is shown. The computer system 110 comprises processing circuitry 110 configured to obtain map data 260 of a confined off-road area 1. The map data 260 comprises obstacle data 265 and loading area data 263. The loading area data 263 indicates a loading area 3 within the confined off-road area 1. The processing circuitry 110 is further configured to determine permitted transporter destinations 221 within the loading area 3 indicated by the loading area data 263. The permitted transporter destinations 221 are determined for a specific transporting vehicle 20 based on maneuverability of the specific transporting vehicle 20 and the obstacle data 265. Each permitted transporter destinations 221 indicates a transporting location 221a and atransporting orientation 221b. The processing circuitry 110 is further configured to select one permitted transporter destinations 221 as a transporter routing destination 241 from the permitted transporter destinations 221, and to provide the transporter routing destination 241 for routing of the specific transporting vehicle 20.[Hl] In FIG. 9, an exemplary method 300 is shown. The method 300 is a method to provide a transporter routing destination 241. The method 300 may be a computer implemented method. The processing circuitry 110 of the computer system 100 may be configured to perform, or cause the performance of, parts of or the entire method 300.

[0112] The method 300 comprises obtaining 310, or causing obtainment of, map data 260 of a confined off-road area 1. The obtaining 310 may be provided as exemplified by e.g. the data obtainer 210 of the destination manager 200 or by any other suitable example presented herein. The map data 260 may be map data 260 according to any example, features or function presented herein. The method 300 further comprise determining 320 permitted transporter destinations 221. The determining 320 may be provided as exemplified by e.g. the transporting destination determiner 220 of the destination manager 200 or by any other suitable example presented herein. The permitted transporter destinations 221 may be permitted transporter destinations 221 according to any example, features or function presented herein. Optionally, in some examples, the method 300 may comprise determining 330 permitted loading destinations 231. The determining 330 may be provided as exemplified by e.g. the loading destination determiner 230 of the destination manager 200 or by any other suitable example presented herein. The permitted loader destinations 231 may be permitted loading destinations 231 according to any example, features or function presented herein. The method 300 further comprise selecting 340 one permitted transporter destinations 221 as transporter routing destination 241. The selecting 340 may be provided as exemplified by e.g. the destination selector 240 of the destination manager 200 or by any other suitable example presented herein. The transporter routing destination 241 may be a transporter routing destination 241 according to any example, features or function presented herein. The method further comprise providing 350 the the transporter routing destination 241 for routing of the specific transporting vehicle 20. Also the providing 350 may be provided in reference to the destination manager 200 or by any other suitable example presented herein.

[0113] The method 300 may be altered, expanded or otherwise modified to include any other example, feature or function presented herein.

[0114] In FIG. 10 a computer program product 400 is shown. The computer program product 400 comprises a computer program 600 and a non-transitory computer readable medium 500. The computer program 600 may be stored on the computer readable medium 500. The computer readable medium 500 is, in FIG. 10, exemplified as a vintage 5,25” floppy disc, but may be embodied as any suitable non-transitory computer readable medium such as, but not limited to, hard disk drives (HDDs), solid-state drives (SSDs), optical discs (e g., CD-ROM, DVD-ROM, CD-RW, DVD-RW), USB flash drives, magnetic tapes, memory cards, Read-Only Memories (ROM), network-attached storage (NAS), cloud storage etc.

[0115] The computer program 600 comprises instruction 610 e.g. program instruction, software code, that, when executed by processing circuitry cause the processing circuitry to perform the method 300 introduced herein with reference to FIG. 9.

[0116] In FIG. 11, a schematic view of a site management system 700 is shown. The site management system 700 may comprise (or be operatively connected to) the computer system 100 as presented herein. The site management system 700 may obtain any data available to the computer system 100. The site management system 700 may configure the computer system 100 to perform or cause any action or feature described herein.

[0117] The site management system 700 may be a software system, a hardware system or a system of both software and hardware. The site management system 700 may be configured to assist in planning, managing, and optimizing operation of an associated site, i.e. the confined off-road area 1. The site management system 700 may be configured to e.g. schedule and monitor equipment maintenance and repair, inventory levels of materials and supplies, production and productivity metrics, safety and compliance data, employee training and development records etc.

[0118] In some examples, the site management system 700 may be configured to determine obstacles 5 for removal based on e.g. data provided by the obstacle processor 250. In some examples, the site management system 700 may provide the permitted transporter destinations 221 to a user interface device of the loading vehicle 10 enabling an operator of the loading vehicle 10 to select the transporter routing destination 241. The user interface device of the loading vehicle 10 may be configured to indicate cost data 221c of each permitted transporter destinations 221 by e.g. numerical values, colors and / or lengths / widths.

[0119] FIG. 12 is a schematic diagram of a computer system 800 for implementing examples disclosed herein. The computer system 800 is adapted to execute instructions from a computer-readable medium to perform these and / or any of the functions or processing described herein. The computer system 800 may be connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 800 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and / or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, processing circuitry, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.

[0120] The computer system 800 may comprise at least one computing device or electronic device capable of including firmware, hardware, and / or executing software instructions to implement the functionality described herein. The computer system 800 may include processing circuitry 802 (e.g., processing circuitry including one or more processor devices or control units), a memory 804, and a system bus 806. The computer system 800 may include at least one computing device having the processing circuitry 802. The system bus 806 provides an interface for system components including, but not limited to, the memory 804 and the processing circuitry 802. The processing circuitry 802 may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory 804. The processing circuitry 802 may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components,or any combination thereof designed to perform the functions described herein. The processing circuitry 802 may further include computer executable code that controls operation of the programmable device.

[0121] The system bus 806 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and / or a local bus using any of a variety of bus architectures. The memory 804 may be one or more devices for storing data and / or computer code for completing or facilitating methods described herein. The memory 804 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 804 may be communicably connected to the processing circuitry 802 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 804 may include non-volatile memory 808 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory 810 (e.g., randomaccess memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with processing circuitry 802. A basic input / output system (BIOS) 812 may be stored in the non-volatile memory 808 and can include the basic routines that help to transfer information between elements within the computer system 800.

[0122] The computer system 800 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 814, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 814 and other drives associated with computer-readable media and computer-usable media may provide nonvolatile storage of data, data structures, computer-executable instructions, and the like.

[0123] Computer-code which is hard or soft coded may be provided in the form of one or more modules. The module(s) can be implemented as software and / or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may bestored in the storage device 814 and / or in the volatile memory 810, which may include an operating system 816 and / or one or more program modules 818. All or a portion of the examples disclosed herein may be implemented as a computer program 820 stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 814, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processing circuitry 802 to carry out actions described herein. Thus, the computer-readable program code of the computer program 820 can comprise software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 802. In some examples, the storage device 814 may be a computer program product (e.g., readable storage medium) storing the computer program 820 thereon, where at least a portion of a computer program 820 may be loadable (e.g., into a processor) for implementing the functionality of the examples described herein when executed by the processing circuitry 802. The processing circuitry 802 may serve as a controller or control system for the computer system 800 that is to implement the functionality described herein.

[0124] The computer system 800 may include an input device interface 822 configured to receive input and selections to be communicated to the computer system 800 when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processing circuitry 802 through the input device interface 822 coupled to the system bus 806 but can be connected through other interfaces, such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 800 may include an output device interface 824 configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 800 may include a communications interface 826 suitable for communicating with a network as appropriate or desired.

[0125] The operational actions described in any of the exemplary aspects herein are described to provide examples and discussion. The actions may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the actions, or may be performed by a combination of hardware and software. Although a specific order of method actions may be shown or described, the order of theactions may differ. In addition, two or more actions may be performed concurrently or with partial concurrence.

[0126] Example 1. A computer system 100 comprising processing circuitry 110 configured to: obtain map data 260 of a confined off-road area 1 comprising obstacle data 265 and loading area data 263 indicating a loading area 3 within the confined off-road area 1, determine permitted transporter destinations 221 within the loading area 3 indicated by the loading area data 263 for a specific transporting vehicle 20 based on maneuverability of the specific transporting vehicle 20 and the obstacle data 265, each permitted transporter destinations 221 indicating a transporting location 221a and a transporting orientation 221b, select one permitted transporter destinations 221 as a transporter routing destination 241 from the permitted transporter destinations 221, and provide the transporter routing destination 241 for routing of the specific transporting vehicle 20.

[0127] Example 2. The computer system 100 of example 1, wherein the map data further comprises entry path data 267 and an exit path data 268 of the loading area 3 indicated by the loading area data 263 and the processing circuitry 110 is further configured to: determine the permitted transporter destinations 221 further based on the entry path data 267 and the exit path data 268.

[0128] Example 3. The computer system 100 of example 1 or 2, wherein the processing circuitry 110 is configured to: determine the permitted transporter destinations 221 by simulating transporting trajectories 225e for the specific transporting vehicle 20.

[0129] Example 4. The computer system 100 of any one of examples 1 to 3, wherein the processing circuitry 110 is further configured to: assign transporting cost data 221c to each of the permitted transporter destinations 221, wherein the transporting cost data 221c is indicative of a cycle time 225tc and / or a cycle energy 225ec associated with each of the permitted transporter destinations 221, and select the transporter routing destination 241 from the permitted transporter destinations 221 based on the transporting cost data 221c.

[0130] Example 5. The computer system 100 of example 4, wherein the processing circuitry 110 is further configured to, for each of the permitted transporter destinations 221: simulate an access time 225ta indicative of a duration required for the specific transporting vehicle 20 to access the permitted transporter destinations 221, and determine transporting cost data 221c of the permitted transporter destinations 221 based on the access time 225ta.

[0131] Example 6. The computer system 100 of example 4 or 5, wherein the processing circuitry 110 is further configured to, for each of the permitted transporter destinations 221: simulate an exit time 225te indicative of a duration required for the specific transporting vehicle 20 to exit the permitted transporter destinations 221, and determine transporting cost data 221c of the permitted transporter destinations 221 based on the exit time 225te.

[0132] Example 7. The computer system 100 of any one of examples 4 to 6, wherein the processing circuitry 110 is further configured to, for each of the permitted transporter destinations 221: simulate an access energy 225ea indicative of energy required for the specific transporting vehicle 20 to access the permitted transporter destinations 221, and determine transporting cost data 221c of the permitted transporter destinations 221 based on the access energy 225ea.

[0133] Example 8. The computer system 100 of any one of examples 4 to 7, wherein the processing circuitry 110 is further configured to, for each of the permitted transporter destinations 221: simulate an exit energy 225ee indicative of energy required for the specific transporting vehicle 20 to exit the permitted transporter destinations 221, and determine transporting cost data 221c of the permitted transporter destinations 221 based on the exit energy 225ee.

[0134] Example 9. The computer system 100 of any one of examples 1 to 8, wherein the processing circuitry 110 is further configured to: determine permitted loading destinations 231 within the loading area 3 indicated by the loading area data 263 for a specific loading vehicle 10 based on maneuverability of the specific loading vehicle 10 and the obstacle data 265, each permitted loading destination 231 indicating a loading location 231a and loading orientation 231b, and determine the permitted transporter destinations 221 further based on the permitted loading destinations 231.

[0135] Example 10. The computer system 100 of example 9, wherein the processing circuitry 110 is further configured to: assign loading cost data 231c to each of the permitted loading destinations 231, wherein the loading cost data 231c is indicative of a cycle time 235ct and / or an cycle energy 235ce associated with each of the permitted loading destinations 231, and select one permitted loading destination 231 as transporter routing destination 241 from the permitted loading destinations 231 based on the loading cost data 231c

[0136] Example 11. The computer system 100 of example 10, wherein the processing circuitry 110 is further configured to, for each of the permitted loading destinations 231: simulate an access time 235ta indicative of a duration required for the specific loading vehicle 10 to access the permitted loading destination 231, and determine loading cost data 231c of the permitted loading destination 231 based on the access time 235ta.

[0137] Example 12. The computer system 100 of example 10 or 11, wherein the processing circuitry 110 is further configured to, for each of the permitted loading destinations 231: simulate an exit time 235te indicative of a duration required for the specific loading vehicle 20 to exit the permitted loading destination 231, and determine loading cost data 231c of the permitted loading destination 231 based on the exit time 235te.

[0138] Example 13. The computer system 100 of any one of examples 10 to 12, wherein the processing circuitry 110 is further configured to, for each of the permitted loading destinations 231: simulate an access energy 235ae indicative of energy required for the specific loading vehicle 20 to access the permitted loading destination 231, and determine loading cost data 231c of the permitted loading destination 231 based on the access energy 235ae.

[0139] Example 14. The computer system 100 of any one of examples 10 to 13, wherein the processing circuitry 110 is further configured to, for each of the permitted loading destinations 231: simulate an exit energy 235ee indicative of energy required for the specific loading vehicle 20 to exit the permitted loading destination 231, and determine loading cost data 231c of the permitted loading destination 231 based on the exit energy 235ee.

[0140] Example 15. The computer system 100 of any one of examples 4 to 8 and any one of examples 10 to 14, wherein the processing circuitry 110 is further configured to: select the transporter routing destination 241 based on weighting of transporting cost data 221c of permitted transporter destinations 221 with loading cost data 231c of the corresponding transporter routing destination 241.

[0141] Example 16. The computer system 100 of any one of examples 1 to 15, wherein the processing circuitry 110 is further configured to: simulate removal of one or more obstacles 5 indicated by obstacle data 265 to provide updated obstacle data 265’, determine permitted updated transporter destinations 221’ within the loading area 3 indicated by the loading area data 263 for the specific transporting vehicle 20 based on maneuverability of the specific transporting vehicle 20 and the updated obstacle data 265’, each updated permittedtransporter destinations 221’ indicating a transporting location 221a’ and a transporting orientation 221b’, assign updated transporting cost data 221c’ to each of the permitted updated transporter destinations 221’, wherein the updated transporting cost data 221c’ is indicative of a cycle time 225ct and / or a cycle energy 225ce associated with each of the updated permitted transporter destinations 221’, and compare the transporting cost data 221c with the updated transporting cost data 221c’ to determine a cost difference 255 associated with removal of the one or more obstacles 5.

[0142] Example 17. The computer system 100 of any one of examples 1 to 16, wherein the confined off-road area 1 is a mining area.

[0143] Example 18. The computer system 100 of any one of examples 1 to 17, wherein the obstacle data 265 comprises position data, size data and required traction capability associated with a specific obstacle 5.

[0144] Example 19. The computer system 100 of example 1, wherein the map data further comprises entry path data 267 and an exit path data 268 of the loading area 3 indicated by the loading area data 263 and the processing circuitry 110 is further configured to: determine the permitted transporter destinations 221 further based on the entry path data 267 and the exit path data 268; wherein the processing circuitry 110 is further configured to determine the permitted transporter destinations 221 by simulating transporting trajectories 225e for the specific transporting vehicle 20; wherein the processing circuitry 110 is further configured to: assign transporting cost data 221c to each of the permitted transporter destinations 221, wherein the transporting cost data 221c is indicative of a cycle time 225tc and / or a cycle energy 225ec associated with each of the permitted transporter destinations 221, and select the transporter routing destination 241 from the permitted transporter destinations 221 based on the transporting cost data 221c; for each of the permitted transporter destinations 221: simulate an access time 225ta indicative of a duration required for the specific transporting vehicle 20 to access the permitted transporter destinations 221, and determine transporting cost data 221c of the permitted transporter destinations 221 based on the access time 225ta; wherein the processing circuitry 110 is further configured to, for each of the permitted transporter destinations 221: simulate an exit time 225te indicative of a duration required for the specific transporting vehicle 20 to exit the permitted transporter destinations 221, and determine transporting cost data 221c of the permitted transporter destinations 221 based on the exit time 225te; wherein the processing circuitry 110 is furtherconfigured to, for each of the permitted transporter destinations 221: simulate an access energy 225ea indicative of energy required for the specific transporting vehicle 20 to access the permitted transporter destinations 221, and determine transporting cost data 221c of the permitted transporter destinations 221 based on the access energy 225ea; wherein the processing circuitry 110 is further configured to, for each of the permitted transporter destinations 221: simulate an exit energy 225ee indicative of energy required for the specific transporting vehicle 20 to exit the permitted transporter destinations 221, and determine transporting cost data 221c of the permitted transporter destinations 221 based on the exit energy 225ee; wherein the processing circuitry 110 is further configured to, determine permitted loading destinations 231 within the loading area 3 indicated by the loading area data 263 for a specific loading vehicle 10 based on maneuverability of the specific loading vehicle 10 and the obstacle data 265, each permitted loading destination 231 indicating a loading location 231a and loading orientation 231b, and determine the permitted transporter destinations 221 further based on the permitted loading destinations 231; wherein the processing circuitry 110 is further configured to: assign loading cost data 231c to each of the permitted loading destinations 231, wherein the loading cost data 231c is indicative of a cycle time 235ct and / or an cycle energy 235ce associated with each of the permitted loading destinations 231, and select one permitted loading destination 231 as transporter routing destination 241 from the permitted loading destinations 231 based on the loading cost data 231c; wherein the processing circuitry 110 is further configured to, for each of the permitted loading destinations 231: simulate an access time 235ta indicative of a duration required for the specific loading vehicle 10 to access the permitted loading destination 231, and determine loading cost data 231c of the permitted loading destination 231 based on the access time 235ta; wherein the processing circuitry 110 is further configured to, for each of the permitted loading destinations 231: simulate an exit time 235te indicative of a duration required for the specific loading vehicle 20 to exit the permitted loading destination 231, and determine loading cost data 231c of the permitted loading destination 231 based on the exit time 235te; wherein the processing circuitry 110 is further configured to, for each of the permitted loading destinations 231: simulate an access energy 235ae indicative of energy required for the specific loading vehicle 20 to access the permitted loading destination 231, and determine loading cost data 231c of the permitted loading destination 231 based on the access energy 235ae; wherein the processing circuitry 110 is further configured to, for each of the permittedloading destinations 231: simulate an exit energy 235ee indicative of energy required for the specific loading vehicle 20 to exit the permitted loading destination 231, and determine loading cost data 231c of the permitted loading destination 231 based on the exit energy 235ee; wherein the processing circuitry 110 is further configured to: select the transporter routing destination 241 based on weighting of transporting cost data 221c of permitted transporter destinations 221 with loading cost data 231c of the corresponding transporter routing destination 241; wherein the processing circuitry 110 is further configured to: simulate removal of one or more obstacles 5 indicated by obstacle data 265 to provide updated obstacle data 265’, determine permitted updated transporter destinations 221’ within the loading area 3 indicated by the loading area data 263 for the specific transporting vehicle 20 based on maneuverability of the specific transporting vehicle 20 and the updated obstacle data 265’, each updated permitted transporter destinations 221’ indicating a transporting location 221a’ and a transporting orientation 221b’, assign updated transporting cost data 221c’ to each of the permitted updated transporter destinations 221’, wherein the updated transporting cost data 221c’ is indicative of a cycle time 225ct and / or a cycle energy 225ce associated with each of the updated permitted transporter destinations 221’, and compare the transporting cost data 221c with the updated transporting cost data 221c’ to determine a cost difference 255 associated with removal of the one or more obstacles 5; wherein the confined off-road area l is a mining area; wherein the obstacle data 265 comprises position data, size data and required traction capability associated with a specific obstacle 5.

[0145] Example 20. A vehicle 10, 20 comprising the computer system of any of examples 1-19.

[0146] Example 21. The vehicle 10 of example 20, wherein the vehicle is a loader 10.

[0147] Example 22. The vehicle 20 of example 20, wherein the vehicle 20 is a transporter 20.

[0148] Example 23. The vehicle 20 of example 22, wherein the vehicle 20 is an autonomous transporter 20.

[0149] Example 24. A computer-implemented method 300, comprising: obtaining 310, by processing circuitry 110 of a computer system 100 map data 260 of a confined off-road area 1 comprising obstacle data 265 and loading area data 263 indicating a loading area 3 within the confiner off-road area 1, determining 320, by the processing circuitry 110 of the computer system 100, permitted transporter destinations 221 within the loading area 3indicated by the loading area data 263 for a specific transporting vehicle 20 based on maneuverability of the specific transporting vehicle 20 and the obstacle data 265, each permitted transporter destinations 221 indicating a transporting location 221a and a transporting orientation 221b, selecting 340, by the processing circuitry 110 of the computer system 100, one permitted transporter destinations 221 as transporter routing destination 241 from the permitted transporter destinations 221, and providing 350 the transporter routing destination 241 for routing of the specific transporting vehicle 20.

[0150] Example 25. The computer-implemented method 300 of example 24, wherein the map data 260 further comprises a entry path data 267 and an exit path data 268 of the loading area 3 indicated by the loading area data 263 and the computer implemented method 300 further comprises: determining 320, by the processing circuitry 110 of the computer system 100, the permitted transporter destinations 221 further based on the entry path data 267 and the exit path data 268.

[0151] Example 26. The computer-implemented method 300 of example 24 or 25, further comprising: determining 320, by the processing circuitry 110 of the computer system 100, the permitted transporter destinations 221 by simulating 325 transporting trajectories 225e for the specific transporting vehicle 20.

[0152] Example 27. The computer-implemented method 300 of example 24 to 26, further comprising: assigning, by the processing circuitry 110 of the computer system 100, transporting cost data 221c to each of the permitted transporter destinations 221, wherein the cost data 221c is indicative of a cycle time 225tc and / or a cycle energy 225ec associated with each of the permitted transporter destinations 221, and selecting 340, by the processing circuitry 110 of the computer system 100, the transporter routing destination 241 based on the transporting cost data 221c.

[0153] Example 28. The computer-implemented method 300 of any one of examples 24 to 27, further comprising: determining 330, by the processing circuitry 110 of the computer system 100, permitted loading destinations 231 within the loading area 3 indicated by the loading area data 263 for a specific loading vehicle 10 based on maneuverability of the specific loading vehicle 20 and the obstacle data 265, and determining 320, by the processing circuitry 110 of the computer system 100, the permitted transporter destinations 221 further based on the permitted loading destinations 231.

[0154] Example 29. The computer-implemented method 300 of example 28, further comprising: assigning, by the processing circuitry 110 of the computer system 100, loading cost data 231c to each of the permitted loading destinations 231, wherein the cost data is indicative of a cycle time 235tc and / or an cycle energy 235te associated with each of the permitted loading destinations 231.

[0155] Example 30. The computer-implemented method 300 of examples 27 and 29, further comprising: selecting 340, by the processing circuitry 110 of the computer system 100, the transporter routing destination 241 based on weighting of transporting cost data 221c of permitted transporter destinations 221 with loading cost data 231c of the corresponding permitted loader routing destination 231.

[0156] Example 31. A computer program product 400 comprising program code 610 for performing, when executed by processing circuitry 110 of a computer system 100, the computer implemented method 300 of any of examples 24 to 30.

[0157] Example 32. A non-transitory computer-readable storage medium 500 comprising instructions 610, which when executed by processing circuitry 110 of a computer system 100, cause the processing circuitry 110 to perform the computer implemented method 300 of any of examples 24 to 30.

[0158] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including" when used herein specify the presence of stated features, integers, actions, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, components, and / or groups thereof.

[0159] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[0160] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[0161] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0162] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the disclosure being set forth in the following claims.

Claims

ClaimsWhat is claimed is:

1. A computer system (100) comprising processing circuitry (110) configured to: obtain map data (260) of a confined off-road area (1) comprising obstacle data (265) and loading area data (263) indicating a loading area (3) within the confined off-road area (1), determine permitted transporter destinations (221) within the loading area (3) indicated by the loading area data (263) for a specific transporting vehicle (20) based on maneuverability of the specific transporting vehicle (20) and the obstacle data (265), each permitted transporter destinations (221) indicating a transporting location (221a) and a transporting orientation (221b), select one permitted transporter destinations (221) as a transporter routing destination (241) from the permitted transporter destinations (221), and provide the transporter routing destination (241) for routing of the specific transporting vehicle (20).

2. The computer system (100) of claim 1, wherein the map data () further comprises entry path data (267) and an exit path data (268) of the loading area (3) indicated by the loading area data (263) and the processing circuitry (110) is further configured to: determine the permitted transporter destinations (221) further based on the entry path data (267) and the exit path data (268).

3. The computer system (100) of claim 1 or 2, wherein the processing circuitry (110) is configured to: determine the permitted transporter destinations (221) by simulating transporting trajectories (225e) for the specific transporting vehicle (20).

4. The computer system (100) of any one of claims 1 to 3, wherein the processing circuitry (110) is further configured to: assign transporting cost data (221c) to each of the permitted transporter destinations (221), wherein the transporting cost data (221c) is indicative of a cycle time (225tc)and / or a cycle energy (225ec) associated with each of the permitted transporter destinations (221), and select the transporter routing destination (241) from the permitted transporter destinations (221) based on the transporting cost data (221c).

5. The computer system (100) of claim 4, wherein the processing circuitry (110) is further configured to, for each of the permitted transporter destinations (221): simulate an access time (225ta) indicative of a duration required for the specific transporting vehicle (20) to access the permitted transporter destinations (221), and determine transporting cost data (221c) of the permitted transporter destinations (221) based on the access time (225ta).

6. The computer system (100) of claim 4 or 5, wherein the processing circuitry (110) is further configured to, for each of the permitted transporter destinations (221): simulate an exit time (225te) indicative of a duration required for the specific transporting vehicle (20) to exit the permitted transporter destinations (221), and determine transporting cost data (221c) of the permitted transporter destinations (221) based on the exit time (225te).

7. The computer system (100) of any one of claims 4 to 6, wherein the processing circuitry (110) is further configured to, for each of the permitted transporter destinations (221): simulate an access energy (225ea) indicative of energy required for the specific transporting vehicle (20) to access the permitted transporter destinations (221), and determine transporting cost data (221c) of the permitted transporter destinations (221) based on the access energy (225ea).

8. The computer system (100) of any one of claims 4 to 7, wherein the processing circuitry (110) is further configured to, for each of the permitted transporter destinations (221): simulate an exit energy (225ee) indicative of energy required for the specific transporting vehicle (20) to exit the permitted transporter destinations (221), anddetermine transporting cost data (221c) of the permitted transporter destinations (221) based on the exit energy (225ee).

9. The computer system (100) of any one of claims 1 to 8, wherein the processing circuitry (110) is further configured to: determine permitted loading destinations (231) within the loading area (3) indicated by the loading area data (263) for a specific loading vehicle (10) based on maneuverability of the specific loading vehicle (10) and the obstacle data (265), each permitted loading destination (231) indicating a loading location (23 la) and loading orientation (231b), and determine the permitted transporter destinations (221) further based on the permitted loading destinations (231).

10. The computer system (100) of claim 9, wherein the processing circuitry (110) is further configured to: assign loading cost data (231c) to each of the permitted loading destinations (231), wherein the loading cost data (231c) is indicative of a cycle time (235ct) and / or an cycle energy (235ce) associated with each of the permitted loading destinations (231), and select one permitted loading destination (231) as transporter routing destination (241) from the permitted loading destinations (231) based on the loading cost data (231c).

11. The computer system (100) of claim 10, wherein the processing circuitry (110) is further configured to, for each of the permitted loading destinations (231): simulate an access time (235ta) indicative of a duration required for the specific loading vehicle (10) to access the permitted loading destination (231), and determine loading cost data (231c) of the permitted loading destination (231) based on the access time (235ta).

12. The computer system (100) of claim 10 or 11, wherein the processing circuitry (110) is further configured to, for each of the permitted loading destinations (231):simulate an exit time (235te) indicative of a duration required for the specific loading vehicle (20) to exit the permitted loading destination (231), and determine loading cost data (231c) of the permitted loading destination (231) based on the exit time (235te).

13. The computer system (100) of any one of claims 10 to 12, wherein the processing circuitry (110) is further configured to, for each of the permitted loading destinations (231): simulate an access energy (235ae) indicative of energy required for the specific loading vehicle (20) to access the permitted loading destination (231), and determine loading cost data (231c) of the permitted loading destination (231) based on the access energy (235ae).

14. The computer system (100) of any one of claims 10 to 13, wherein the processing circuitry (110) is further configured to, for each of the permitted loading destinations (231): simulate an exit energy (235ee) indicative of energy required for the specific loading vehicle (20) to exit the permitted loading destination (231), and determine loading cost data (231c) of the permitted loading destination (231) based on the exit energy (235ee).

15. The computer system (100) of any one of claims 4 to 8 and any one of claims 10 to 14, wherein the processing circuitry (110) is further configured to: select the transporter routing destination (241) based on weighting of transporting cost data (221c) of permitted transporter destinations (221) with loading cost data (231c) of the corresponding transporter routing destination (241).

16. The computer system (100) of any one of claims 1 to 15, wherein the processing circuitry (110) is further configured to: simulate removal of one or more obstacles (5) indicated by obstacle data (265) to provide updated obstacle data (265’),determine permitted updated transporter destinations (221’) within the loading area (3) indicated by the loading area data (263) for the specific transporting vehicle (20) based on maneuverability of the specific transporting vehicle (20) and the updated obstacle data (265’), each updated permitted transporter destinations (221’) indicating a transporting location (221a’) and a transporting orientation (221b’), assign updated transporting cost data (221c’) to each of the permitted updated transporter destinations (221’), wherein the updated transporting cost data (221c’) is indicative of a cycle time (225ct) and / or a cycle energy (225ce) associated with each of the updated permitted transporter destinations (221’), and compare the transporting cost data (221c) with the updated transporting cost data (221c’) to determine a cost difference (255) associated with removal of the one or more obstacles (5).

17. The computer system (100) of any one of claims 1 to 16, wherein the confined off-road area (1) is a mining area.

18. The computer system (100) of any one of claims 1 to 17, wherein the obstacle data (265) comprises position data, size data and required traction capability associated with a specific obstacle (5).

19. The computer system (100) of claim 1, wherein the map data () further comprises entry path data (267) and an exit path data (268) of the loading area (3) indicated by the loading area data (263) and the processing circuitry (110) is further configured to: determine the permitted transporter destinations (221) further based on the entry path data (267) and the exit path data (268); wherein the processing circuitry (110) is configured to: determine the permitted transporter destinations (221) by simulating transporting trajectories (225e) for the specific transporting vehicle (20); wherein the processing circuitry (110) is further configured to: assign transporting cost data (221c) to each of the permitted transporter destinations (221), wherein the transporting cost data (221c) is indicative of a cycle time (225tc) and / or a cycle energy (225ec) associated with each of the permitted transporter destinations (221), and select the transporter routing destination (241) from the permitted transporter destinations (221)based on the transporting cost data (221c); wherein the processing circuitry (110) is further configured to, for each of the permitted transporter destinations (221): simulate an access time (225ta) indicative of a duration required for the specific transporting vehicle (20) to access the permitted transporter destinations (221), and determine transporting cost data (221c) of the permitted transporter destinations (221) based on the access time (225ta); wherein the processing circuitry (110) is further configured to, for each of the permitted transporter destinations (221): simulate an exit time (225te) indicative of a duration required for the specific transporting vehicle (20) to exit the permitted transporter destinations (221), and determine transporting cost data (221c) of the permitted transporter destinations (221) based on the exit time (225te); wherein the processing circuitry (110) is further configured to, for each of the permitted transporter destinations (221): simulate an access energy (225ea) indicative of energy required for the specific transporting vehicle (20) to access the permitted transporter destinations (221), and determine transporting cost data (221c) of the permitted transporter destinations (221) based on the access energy (225ea); wherein the processing circuitry (110) is further configured to, for each of the permitted transporter destinations (221): simulate an exit energy (225ee) indicative of energy required for the specific transporting vehicle (20) to exit the permitted transporter destinations (221), and determine transporting cost data (221c) of the permitted transporter destinations (221) based on the exit energy (225ee); wherein the processing circuitry (110) is further configured to: determine permitted loading destinations (231) within the loading area (3) indicated by the loading area data (263) for a specific loading vehicle (10) based on maneuverability of the specific loading vehicle (10) and the obstacle data (265), each permitted loading destination (231) indicating a loading location (231a) and loading orientation (231b), and determine the permitted transporter destinations (221) further based on the permitted loading destinations (231); wherein the processing circuitry (110) is further configured to: assign loading cost data (231c) to each of the permitted loading destinations (231), wherein the loading cost data (231c) is indicative of a cycle time (235ct) and / or an cycle energy (235ce) associated with each of the permitted loading destinations (231), and select one permitted loading destination (231) as transporter routing destination (241) from the permitted loading destinations (231) based on the loading cost data (231c); wherein the processing circuitry (110) is furtherconfigured to, for each of the permitted loading destinations (231): simulate an access time (235ta) indicative of a duration required for the specific loading vehicle (10) to access the permitted loading destination (231), and determine loading cost data (231c) of the permitted loading destination (231) based on the access time (235ta); wherein the processing circuitry (110) is further configured to, for each of the permitted loading destinations (231): simulate an exit time (235te) indicative of a duration required for the specific loading vehicle (20) to exit the permitted loading destination (231), and determine loading cost data (231c) of the permitted loading destination (231) based on the exit time (235te); wherein the processing circuitry (110) is further configured to, for each of the permitted loading destinations (231): simulate an access energy (235ae) indicative of energy required for the specific loading vehicle (20) to access the permitted loading destination (231), and determine loading cost data (231c) of the permitted loading destination (231) based on the access energy (235ae); wherein the processing circuitry (110) is further configured to, for each of the permitted loading destinations (231): simulate an exit energy (235ee) indicative of energy required for the specific loading vehicle (20) to exit the permitted loading destination (231), and determine loading cost data (231c) of the permitted loading destination (231) based on the exit energy (235ee); wherein the processing circuitry (110) is further configured to: select the transporter routing destination (241) based on weighting of transporting cost data (221c) of permitted transporter destinations (221) with loading cost data (231c) of the corresponding transporter routing destination (241); wherein the processing circuitry (110) is further configured to: simulate removal of one or more obstacles (5) indicated by obstacle data (265) to provide updated obstacle data (265’), determine permitted updated transporter destinations (221’) within the loading area (3) indicated by the loading area data (263) for the specific transporting vehicle (20) based on maneuverability of the specific transporting vehicle (20) and the updated obstacle data (265’), each updated permitted transporter destinations (221’) indicating a transporting location (221a’) and a transporting orientation (221b’), assign updated transporting cost data (221c’) to each of the permitted updated transporter destinations (221’), wherein the updated transporting cost data (221c’) is indicative of a cycle time (225ct) and / or a cycle energy (225ce) associated with each of the updated permitted transporter destinations (221’), and compare the transporting cost data (221c) with the updatedtransporting cost data (221c’) to determine a cost difference (255) associated with removal of the one or more obstacles (5); wherein the confined off-road area (1) is a mining area; wherein the obstacle data (265) comprises position data, size data and required traction capability associated with a specific obstacle (5); wherein the permitted transporter destinations (221) are presented on a user interface of the loading vehicle (10).

20. A vehicle (10, 20) comprising the computer system of any of claims 1-19.

21. The vehicle (10) of claim 20, wherein the vehicle is a loader (10).

22. The vehicle (20) of claim 20, wherein the vehicle (20) is a transporter (20).

23. The vehicle (20) of claim 22, wherein the vehicle (20) is an autonomous transporter(20).

24. A computer-implemented method (300), comprising: obtaining (310), by processing circuitry (110) of a computer system (100) map data (260) of a confined off-road area (1) comprising obstacle data (265) and loading area data (263) indicating a loading area (3) within the confiner off-road area (1), determining (320), by the processing circuitry (110) of the computer system (100), permitted transporter destinations (221) within the loading area (3) indicated by the loading area data (263) for a specific transporting vehicle (20) based on maneuverability of the specific transporting vehicle (20) and the obstacle data (265), each permitted transporter destinations (221) indicating a transporting location (221a) and a transporting orientation (221b), selecting (340), by the processing circuitry (110) of the computer system (100), one permitted transporter destinations (221) as transporter routing destination (241) from the permitted transporter destinations (221), and providing (350) the transporter routing destination (241) for routing of the specific transporting vehicle (20).

25. The computer-implemented method (300) of claim 24, wherein the map data (260) further comprises a entry path data (267) and an exit path data (268) of the loading area (3) indicated by the loading area data (263) and the computer implemented method (300) further comprises: determining (320), by the processing circuitry (110) of the computer system (100), the permitted transporter destinations (221) further based on the entry path data (267) and the exit path data (268).

26. The computer-implemented method (300) of claim 24 or 25, further comprising: determining (320), by the processing circuitry (110) of the computer system (100), the permitted transporter destinations (221) by simulating (325) transporting trajectories (225e) for the specific transporting vehicle (20).

27. The computer-implemented method (300) of claim 24 to 26, further comprising: assigning, by the processing circuitry (110) of the computer system (100), transporting cost data (221c) to each of the permitted transporter destinations (221), wherein the cost data (221c) is indicative of a cycle time (225tc) and / or a cycle energy (225ec) associated with each of the permitted transporter destinations (221), and selecting (340), by the processing circuitry (110) of the computer system (100), the transporter routing destination (241) based on the transporting cost data (221c).

28. The computer-implemented method (300) of any one of claims 24 to 27, further comprising: determining (330), by the processing circuitry (110) of the computer system (100), permitted loading destinations (231) within the loading area (3) indicated by the loading area data (263) for a specific loading vehicle (10) based on maneuverability of the specific loading vehicle (20) and the obstacle data (265), and determining (320), by the processing circuitry (110) of the computer system (100), the permitted transporter destinations (221) further based on the permitted loading destinations (231).

29. The computer-implemented method (300) of claim 28, further comprising:assigning, by the processing circuitry (110) of the computer system (100), loading cost data (231c) to each of the permitted loading destinations (231), wherein the cost data is indicative of a cycle time (235tc) and / or an cycle energy (235te) associated with each of the permitted loading destinations (231).

30. The computer-implemented method (300) of claims 27 and 29, further comprising: selecting (340), by the processing circuitry (110) of the computer system (100), the transporter routing destination (241) based on weighting of transporting cost data (221c) of permitted transporter destinations (221) with loading cost data (231c) of the corresponding permitted loader routing destination (231).

31. A computer program product (400) comprising program code (610) for performing, when executed by processing circuitry (110) of a computer system (100), the computer implemented method (300) of any of claims 24 to 30.

32. A non-transitory computer-readable storage medium (500) comprising instructions (610), which when executed by processing circuitry (110) of a computer system (100), cause the processing circuitry (110) to perform the computer implemented method (300) of any of claims 24 to 30.

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