Control of a vehicle via reference sensor data
AssigneeZF Friedrichshafen AG
InventorsAndreas Heinzler, Carolin Heller, Markus Birk, Gabriela Jager
Life of this patent
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Abstract
A control method for a vehicle (101) in which the vehicle (101) is controlled manually while sensor data, from at least one sensor of the vehicle (101), is collected and stored. Then the vehicle (101) is controlled autonomously while sensor data, from the at least one sensor is detected and matched to the stored sensor data.
Claims13
A control method for controlling operation of a forklift truck having a working hydraulic system which controls actuation of a lifting device designed to engage with one of a pallet, a container or goods to be transported, the control method comprising:
- initiating manual control, by a human operator, of the forklift truck at a start point;
- engaging the lift device with the pallet, the container or the goods to be transported at the start point;
- transporting the pallet, the container or the goods to be transported, by the forklift truck, during a forward movement sequence along a travel trajectory in a forward travel direction under manual control, from the starting point to an end point;
- depositing the pallet, the container or the goods to be transported at the end point;
- storing sensor data from at least one sensor of the forklift truck while the forklift truck is manually controlled by the human operator along the travel trajectory, in the forward travel direction, from the starting point to the end point;
- also storing sensor data concerning actuation of the working hydraulic system controlling actuation of the lifting device during the travel trajectory, in the forward travel direction, from the starting point to the end point;
- thereafter initiating autonomous control of the forklift truck, during a reverse movement sequence of the forklift truck (101) along the travel trajectory, in a reverse travel direction, from the end point to the starting point, based upon sensor data of the forklift truck, which is detected and compared with the stored sensor data;
- and
- offsetting control of the lift device, along the travel trajectory in the reverse travel direction, until the lift device is extracted from the pallet, the container or the goods that were transported and deposited at the end point.
A method for controlling operation of a forklift truck having a working hydraulic system which controls actuation of a lifting device designed to engage with one of a pallet, a container or goods to be transported, the control method comprising:
- initiating manual control, by a human operator, of the forklift truck at a start point;
- engaging the lift device with the pallet, the container or the goods to be transported at the start point;
- transporting the pallet, the container or the goods to be transported, by the forklift truck, during a forward movement sequence along a travel trajectory in a forward travel direction under manual control by the human operator, from the starting point to an end point;
- depositing the pallet, the container or the goods to be transported at the end point;
- storing sensor data from at least one sensor of the forklift truck while the forklift truck is manually controlled by the human operator along the travel trajectory, in the forward travel direction, from the starting point to the end point;
- also storing sensor data concerning actuation of the working hydraulic system controlling actuation of the lifting device during the travel trajectory, in the forward travel direction, from the starting point to the end point;
- after depositing the pallet, the container or the goods to be transported at the end point, initiating autonomously control of the forklift truck, during a reverse movement sequence of the forklift truck along the travel trajectory, in a reverse travel direction, from the end point to the starting point, based upon sensor data of the forklift truck, which is detected and compared with the stored sensor data;
- offsetting actuation of the lift device, along the travel trajectory in the reverse travel direction, until the lifting device is extracted from the pallet, the container or the goods that were transported and deposited at the end point;
- and
- permitting the operator to terminate or overrule the reversed movement sequence, at any time, by actuating an accelerator pedal, a brake pedal, the working hydraulic system, the lifting device or by steering intervention.
Dependencies are inferred from the claim text.