US 11,940,807 B2
Method for controlling a utility vehicle
Markus Birk, Friedrichshafen (DE)
Assigned to ZF FRIEDRICHSHAFEN AG, Friedrichshafen (DE)
Appl. No. 17/431,177
Filed by ZF Friedrichshafen AG, Friedrichshafen (DE)
PCT Filed Jan. 14, 2020, PCT No. PCT/EP2020/050788
§ 371(c)(1), (2) Date Aug. 16, 2021,
PCT Pub. No. WO2020/169272, PCT Pub. Date Aug. 27, 2020.
Claims priority of application No. 10 2019 202 182.4 (DE), filed on Feb. 19, 2019.
Prior Publication US 2022/0147054 A1, May 12, 2022
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/0274 (2013.01) [G05D 1/0223 (2013.01); G05D 1/024 (2013.01); G05D 1/0257 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for controlling a utility vehicle, the method comprising:
detecting, via a sensor, an elevation profile of a region located in front of the utility vehicle in the direction of travel;
initializing a grid comprising a plurality of grid cells, wherein the grid extends at least in a longitudinal direction and in a vertical direction of the region;
assigning the detected elevation profile to associated grid cells by writing elevation profile data into grid cells; and
controlling the vehicle based on the elevation profile data.