US 11,787,443 B2
Use of a load distribution of an automated utility vehicle for trajectory planning and trajectory control adapted in a situation-dependent fashion
Fridtjof Stein, Ostfildern (DE); and Holger Mielenz, Ostfildern (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on May 14, 2020, as Appl. No. 16/874,024.
Claims priority of application No. 10 2019 207 276.3 (DE), filed on May 17, 2019.
Prior Publication US 2020/0361492 A1, Nov. 19, 2020
Int. Cl. B60W 60/00 (2020.01); B60W 40/13 (2012.01); B60G 17/017 (2006.01); G01C 21/36 (2006.01); G01C 21/34 (2006.01)
CPC B60W 60/0025 (2020.02) [B60G 17/017 (2013.01); B60W 40/13 (2013.01); G01C 21/3407 (2013.01); G01C 21/3691 (2013.01); B60G 2300/02 (2013.01); B60G 2400/61 (2013.01); B60W 2300/12 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for operating an automated utility vehicle, the method comprising:
determining a current position and a current length of the automated utility vehicle using at least one infrastructure sensor of a loading center;
making the current position and the current length available to the automated utility vehicle as current position information;
determining a trajectory from the current position to a balance of the loading center, using the current position information;
determining, based on the current position and the current length, a stopping position on the balance at which the automated utility vehicle is arranged in an optimum fashion on the balance;
outputting control signals in order to move the automated utility vehicle from the current position to the stopping position, along the trajectory;
determining, once the automated utility vehicle is moved to the stopping position on the balance, at least one of a current weight and a current load distribution of the automated utility vehicle after a change in a load state of the automated utility vehicle, the at least one of the current weight and the current load distribution being determined using the balance of the loading center;
making the at least one of the current weight and the current load distribution available to the automated utility vehicle as current load information; and
using the available current load information for situation-related adaptation of at least one of trajectory planning and trajectory control of the automated utility vehicle.