VEHICLE COMPRISING A MANOEUVRING SYSTEM

Abstract

In a vehicle comprising a manoeuvring system for manoeuvring a predetermined part of the vehicle into a target position provided by a target object, wherein the manoeuvring system comprises a first optical sensor device, arranged at the vehicle, for capturing the target object and a calculating device for calculating a trajectory of the predetermined part of the vehicle into the target position with the aid of an image of the target object captured by the first optical sensor device, fast and safe manoeuvring should be facilitated by improved monitoring of the manoeuvring process and an improved calculation of the trajectory of the predetermined part of the vehicle into the target position, as a result of which accidents and damage to humans, vehicles and wares are avoided. This is achieved by virtue of the manoeuvring system comprising a second optical sensor device arranged at the vehicle in a manner offset relative to the first optical sensor device in the longitudinal direction of the vehicle.

Claims

1. Vehicle comprising a manoeuvring system for manoeuvring a predetermined part of the vehicle into a target position provided by a target object, wherein the manoeuvring system comprises a first optical sensor device, arranged at the vehicle, for capturing the target object and a calculating device for calculating a trajectory of the predetermined part of the vehicle into the target position with the aid of an image of the target object captured by the first optical sensor device, wherein the manoeuvring system comprises a second optical sensor device arranged at the vehicle in a manner offset relative to the first optical sensor device in the longitudinal direction of the vehicle.

2. Vehicle comprising a manoeuvring system according to claim 1, wherein the optical sensor devices are cameras and/or LIDAR sensors and/or time-of-flight cameras.

3. Vehicle comprising a manoeuvring system according to claim 1, wherein the optical sensor devices are fastened to the vehicle in a manner offset along the vertical axis of the vehicle.

4. Vehicle comprising a manoeuvring system according to claim 1, wherein the height of at least one of the optical sensor devices is adjustable.

5. Vehicle comprising a manoeuvring system according to claim 4, wherein the heights of both optical sensor devices are adjustable.

6. Vehicle comprising a manoeuvring system according to claim 1, wherein the first optical sensor device is fastened to the predetermined part of the vehicle and the second optical sensor device is fastened to such a location on the vehicle from which the second optical sensor device is able to capture the image of the target object, relevant for manoeuvring, from a position which is elevated in relation to the position of the first optical sensor device.

7. Vehicle comprising a manoeuvring system according to claim 1, wherein the viewing angle of the first optical sensor device differs from the viewing angle of one of the second optical sensor devices.

8. Vehicle comprising a manoeuvring system according to claim 1, wherein at least one optical sensor device is rotatable and/or swivellable and hence that the viewing angles of at least one of the optical sensor devices are adjustable.

9. Vehicle comprising a manoeuvring system according to claim 9, wherein both optical sensor devices are rotatable and/or swivellable and that the viewing angle of both optical sensor devices is adjustable.

10. Vehicle comprising a manoeuvring system according to claim 1, wherein the optical sensor devices are configured in such a way that they permit the calculation of a trajectory of the predetermined part of the vehicle into the target position independently of one another, together with the calculating device.

11. Vehicle comprising a manoeuvring system according to claim 1, wherein at least one of the optical sensor devices is displaceable along the longitudinal direction of the vehicle.

12. Vehicle comprising a manoeuvring system according to claim 11, wherein both optical sensor devices are displaceable along the longitudinal direction of the vehicle.

13. Vehicle comprising a manoeuvring system according to claim 1, wherein at least one of the optical sensor devices is displaceable along the transverse axis of the vehicle.

14. Vehicle comprising a manoeuvring system according to claim 13, wherein both optical sensor devices are displaceable along the transverse axis of the vehicle.

15. Method for manoeuvring a predetermined part of a vehicle into a target position provided by a target object, comprising the following steps: capturing the target object using a first optical sensor device arranged at the vehicle, capturing the target object using a second optical sensor device arranged at the vehicle, said second optical sensor device being arranged on the vehicle in a manner offset relative to the first optical sensor device in the longitudinal direction of the vehicle, calculating a trajectory of the predetermined part of the vehicle into the target position with the aid of an image of the target object captured by the first optical sensor device and with the aid of an image of the target object captured by the second optical sensor device.

16. Method according to claim 15, wherein the first optical sensor device is a 2D LIDAR sensor and the second optical sensor device is a 3D LIDAR sensor, which is arranged at the vehicle in a position that is lower down and further towards the rear than the first optical sensor device.

17. Method according to claim 16, wherein two second optical sensor devices are provided in the form of a respective 3D LIDAR sensor, said 3D LIDAR sensors being arranged in the region of the rear right edge and rear left edge of the vehicle, respectively.

18. Method according to claim 17, wherein a stereo camera is arranged between the 3D LIDAR sensors.

19. Method according to claim 15, wherein at least one of the two optical sensor devices captures whether the target object is inclined laterally and/or along the longitudinal axis thereof.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG. 1 shows a schematic side view of a vehicle comprising a manoeuvring system in accordance with a first preferred exemplary embodiment of the invention,

[0028] FIG. 2 schematically shows a plan view of a lifting platform of a vehicle in accordance with a second preferred exemplary embodiment of the invention,

[0029] FIG. 3 schematically shows a side view of a vehicle in accordance with the second preferred exemplary embodiment of the invention,

[0030] FIG. 4 schematically shows manoeuvring in accordance with a preferred exemplary embodiment of the invention,

[0031] FIG. 5 schematically shows a front view of a swap body and

[0032] FIG. 6 shows a flowchart for a method in accordance with a preferred exemplary embodiment of the invention.

DETAILED DESCRIPTION OF THE DRAWINGS

[0033] FIG. 1 shows a side view of a vehicle comprising a manoeuvring system in accordance with a first preferred exemplary embodiment of the invention, wherein the vehicle 1 points into a target position, provided by a target object 2, in the direction of the target object 2 with a predetermined part 7 of the vehicle 1 intended for manoeuvring. Here, the target object 2 is shown as a swap body.

[0034] A first sensor device 3 for capturing the target object 2 is fastened to the predetermined part 7 of the vehicle 1. The first sensor device 3 is mounted in a rotatable and swivellable manner. This renders it possible to ensure that the viewing angle thereof can be adapted to the situation and that the best possible capture of the target object 2 is ensured at all times. If the first sensor device 3 is covered by the target object during the manoeuvring for receiving the target object 2, for example when driving under the swap body, the viewing angle of the first sensor device 3 may be modified in such a way that it is able to monitor the region below the target object 2. As a result, it is possible to recognize humans and objects, and accidents and collisions can be avoided.

[0035] Further, provision is made for the height of the first sensor device 3 to be adjustable. In order to be able to capture the target object 2 in an ideal manner, a second sensor device 4 is arranged relative to the first sensor device 3 on the vehicle 1 in a manner offset in the longitudinal direction of the vehicle 1. The second sensor device 4 is fastened to such a point on the vehicle 1 from which it is able to capture the image of the target object 2, which is relevant for manoeuvring, from a position that is elevated in relation to the position of the first sensor device 3. This ensures that it is possible to monitor the entire manoeuvring process. Incidentally, this may attain a certain amount of shadowing of the first sensor device 3 by the target object 2 when the sun is low such that manoeuvring is made possible even in those situations in which the second sensor device 4 is dazzled by the sun and unable to record a usable image.

[0036] The second sensor device 4 is fastened in a height-adjustable manner in the region of the driver's cab 6 of the vehicle 1 by means of a height-adjustable fastening device 5. What may also be achieved by the height adjustment of both sensor devices 3, 4, for example in the case of autonomously driving unit load automatic guided vehicles, is that the vehicle is manoeuvred into a target position provided by a target object 2 with both ends of the longitudinal direction thereof.

[0037] From FIG. 2, which schematically shows a plan view of a lifting platform 9 of a vehicle 1 in accordance with a second preferred exemplary embodiment of the invention, it is clear that a first optical sensor 3 in the form of a 2D LIDAR sensor is arranged on the lifting platform 9 in the vicinity of the operator's cab 14 of the vehicle 1. The arrangement of the 2D LIDAR sensor on the lifting platform is movable. A second optical sensor 4 in the form of a respective 3D LIDAR sensor is arranged in each case at the rear corners of the lifting platform 9. Hence, the 3D LIDAR sensors each have a field of view of 270°. A stereo camera 8 is situated therebetween. The arrangement of the 2D LIDAR sensor and of the 3D LIDAR sensors becomes even clearer from FIG. 3, which schematically shows a side view of the vehicle 1. The 3D LIDAR sensors are placed on the vehicle 1 lower and further to the rear than the 2D LIDAR sensor.

[0038] A manoeuvring method in accordance with a preferred exemplary embodiment of the invention is explained below with reference to FIGS. 4, 5 and 6, with use being made of the vehicle 1 shown in FIGS. 2 and 3. Initially, the 2D LIDAR sensor measures the edges of the target object 2 formed by a swap body on legs 13. The lifting platform 9 is subsequently moved downwards to be level with the rails 12 of the swap body. In the case of correct positioning, a fixed scanning profile emerges from the 2D LIDAR sensor. Here, the 2D LIDAR sensor uses the rail guide as a collimator. Hence, it is possible to very precisely determine the position of the vehicle 1 relative to the swap body.

[0039] After approximately positioning by way of the stereo camera 8 and the 3D LIDAR sensors, the lifting platform 9 is lifted until the frontage of the swap body is recognized (first lifting height 10). Now, on the basis of the 2D scan, it is first of all possible to check whether the positioning is sufficiently accurate. This is carried out by way of the outer edges of the swap body. Subsequently, the lifting platform 9 is lowered until a bearing with the 2D LIDAR sensor is made possible by the rails 12 of the swap body (second lifting height 11). In the case of the correct positioning of lifting platform 9 and vehicle 1, the following must apply: the length ascertained by means of the LIDAR measurement is greater than or equal to the length of the swap body plus the distance of the 2D LIDAR sensor from the frontage of the swap body. The distance from the frontage of the swap body emerges by a 3D measurement for approximate positioning.

LIST OF REFERENCE NUMBERS

[0040] Vehicle 1

[0041] Target object 2

[0042] First sensor device 3

[0043] Second sensor device 4

[0044] Fastening device 5

[0045] Driver's cab 6

[0046] Predetermined part of the vehicle 7

[0047] Stereo camera 8

[0048] Lifting platform 9

[0049] First lifting height 10

[0050] Second lifting height 11

[0051] Rails 12

[0052] Legs 13

[0053] Operator's cab 14