US 12,467,235 B2
Method and control device for operating a self-driving working machine
Rico Gloeckner, Pocking (DE); and Migen Bebeti, Munich (DE)
Assigned to ZF FRIEDRICHSHAFEN AG, Friedrichshafen (DE)
Appl. No. 18/249,973
Filed by ZF FRIEDRICHSHAFEN AG, Friedrichshafen (DE)
PCT Filed Oct. 21, 2021, PCT No. PCT/EP2021/079154
§ 371(c)(1), (2) Date Apr. 21, 2023,
PCT Pub. No. WO2022/090041, PCT Pub. Date May 5, 2022.
Claims priority of application No. 10 2020 213 674.2 (DE), filed on Oct. 30, 2020.
Prior Publication US 2023/0392350 A1, Dec. 7, 2023
Int. Cl. E02F 9/22 (2006.01); E02F 9/20 (2006.01)
CPC E02F 9/226 (2013.01) [E02F 9/205 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for operating a self-driving working machine comprising:
determining an operating variable of a working device of the self-driving working machine by determining that a task hydraulic request requested by an automatic system for automatically performing a task with the working device exceeds a predefined threshold communicated by the automatic system, wherein the operating variable includes a current operating state of the working device, and wherein determining the operating variable of the working device includes a query as to whether the automatic system is activated;
determining a longitudinal dynamics driving variable of the self-driving working machine;
checking whether a hazardous state for stability of the self-driving working machine can occur based on the determined operating variable and the determined longitudinal dynamics driving variable; and
intervening in longitudinal dynamics of the self-driving working machine depending on a check result based on the checking step.