Jan Schattenberg, Georg Happich, Thorsten Lang, Götting, Hans-Heinrich
2010 unpublished
Convoy-safe automatical vehicle guidance based on environmental sensing technologies Regarding to the development of automatical vehicle guidance nowadays-even in the fi eld of agriculture-several solutions are being discussed. One solution is that one unmanned vehicle autonomously follows another manned vehicle. In agriculture parallel loading processes as well as row based tillage or seeding operations are the most common usage scenarios. In the fi eld of automotive engineering the likely
more » ... e of this principle is in platoons or convoys of vehicles. At the Cebit 2009 trade fair a system has been presented, which demonstrates the "convoy"-mode. The system has been independently developed during a cooperation of the Götting KG and the Institute of Agricultural Engineering and Fluid Power of the TU Braunschweig. Abstract Landtechnik 65 (2010), no. 4, pp. 252-255, 4 fi gures, 5 references ■ The operation of fully automated vehicles offers many advantages. In industrial environments so-called automated transport vehicles (ATV, German FTF) have been enforced for some time to deal with partially complex transport tasks. There, the vehicles are inter alia used in areas where people can stay at the same time. However, the number of serious accidents that are caused by the use of ATV (FTF) is vanishingly small. Various operational areas of autonomous vehicles In comparison, the usage of autonomous vehicles in outdoor scenarios generates rapidly complex and diffi cult challenges. On the one hand greater covered distances require higher vehicle speed. On the other hand requirements are added to the obstacle detection, the braking distance calculation as well as general security aspects in relation to other participants, such as on public roads. In addition, if the factors moisture, dust, changes of temperature or slipperiness on the roads are taken into account, the requirements for the used sensors and the data processing are rising even more. Furthermore, the ATV (FTF) is still debated for much harsher environments than road traffi c, such as construction equipment and agricultural machinery. Regardless of whether there are vehicles on roads or in off-highway environments, the autonomous vehicles can be distinguished according to the operating mode. On the one hand there is the completely autonomous operation mode of the vehicles in which the driving task must be solved completely independently. On the other hand there is the possibility of a convoy or master-slave operation, in which, for example, an autonomous vehicle follows a vehicle which is driven by a human driver. In this article, a convoy system is described, which was presented at CeBIT 2009. The fair demonstration was completely realized by its own resources in cooperation between the Institute of Agricultural Machinery and Fluid Power of the Tech-nische Universität Braunschweig and the company Götting KG. The project was tested and approved by the TÜV Nord on the basis of DIN EN 1525. State of research Convoy systems are being researched for quite some time. In the area of autonomous vehicles which are used on streets there are two major projects to emphasize. In the scope of "California PATH" (Partners for Advanced Transit and California Highway), which consists of a consortium led by the University of Califor-nia at Berkley as well as many other public and private institutions , the so-called "Vehicle platooning" has been realized [1]. In Europe the CHAUFFEUR project was launched under the leadership of DaimlerChrysler. In this project trucks are coupled over an electronic tow-bar [2]. The travel data from the leading vehicle are sent to a second vehicle, which could follow the leader with this information. In both projects, a reduction of fuel consumption was sought by minimizing the distance between