Abstract: An accessory device for use with an automated guided vehicle (AGV) to assist loading and unloading of components onto the AGV for transport by the AGV. In one example, an electric motor, two lifting devices and an inverted omega-shaped upper platform are used to selectively raise and lower the component. In another example an accessory is positioned on a central portion of the upper platform to engage a pallet to further assist loading, unloading and positioning of the pallet relative to the AGV.

Abstract: Provided is a method for controlling movement of an autonomous mobile machine. The method includes that: a target path and a current state of the autonomous mobile machine are acquired; at least one preview distance is calculated according to a current speed; at least one preview point each corresponding to a respective one of the at least one preview distance is acquired according to the target path and the at least one preview distance; a lateral deviation from each preview point to a current position is calculated; a direction control angle parameter of a current control period is acquired according to the lateral deviation, the current speed and a preset parameter matching table; and the autonomous mobile machine is controlled to move according to the direction control angle parameter. Also provided are an apparatus for controlling movement of an autonomous mobile machine, a machine and a storage medium.

Abstract: According to one embodiment, a deadlock detection device includes a combining calculator and a deadlock determiner. The combining calculator performs selecting a mobile vehicle or combined mobile vehicles from among mobile vehicles, based on a traveling path configuration graph and first state information, going forward the selected mobile vehicle to go forward on traveling path configuration graph and combining the selected mobile vehicle to another mobile vehicle or another combined mobile vehicles at a back of the other mobile vehicle or the other combined mobile vehicles, iterating a process of the selecting, the going and combining. The deadlock determiner determines that a deadlock occurs if not all the mobile vehicles have been combined by the combining calculator, and determines that no deadlock occurs if all the mobile vehicles have been combined.

Abstract: An apparatus for providing a traveling in a vehicle is provided. The apparatus includes a plurality of sensors configured to obtain information about the vehicle and information about an external object, a steering device, an input device configured to receive a lane change command from a driver of the vehicle, and a control circuit configured to be electrically connected with the one or more sensors, the steering device, and the input device. The control circuit is configured to control the vehicle to travel along a deviated path in a driving path of the vehicle based on at least one of the information obtained by the plurality of sensors or an operation of the steering device, to complete a lane change, and to control the vehicle to travel along a deviated path in a target lane of the changed lane in response to the received lane change command.

Abstract: An apparatus for providing a traveling in a vehicle is provided. The apparatus includes a plurality of sensors configured to obtain information about the vehicle and information about an external object, a steering device, an input device configured to receive a lane change command from a driver of the vehicle, and a control circuit configured to be electrically connected with the one or more sensors, the steering device, and the input device. The control circuit is configured to control the vehicle to travel along a deviated path in a driving path of the vehicle based on at least one of the information obtained by the plurality of sensors or an operation of the steering device, to complete a lane change, and to control the vehicle to travel along a deviated path in a target lane of the changed lane in response to the received lane change command.

Abstract: A computer-implemented method, system, and/or computer program product controls self-driving vehicles (SDVs). An emergency message is transmitted to a receiver within a self-driving vehicle (SDV). The emergency message describes an emergency state of an emergency vehicle and an identified future route of the emergency vehicle, where the identified future route is a planned route to an emergency destination for the emergency vehicle that includes a first pathway. In response to the SDV receiving the emergency message, the SDV is redirected, via an auto-control hardware system on the SDV, to drive to a second pathway that does not conflict with the identified future route of the emergency vehicle.

Abstract: Platoon management control systems and methods rearrange three of more vehicles cooperatively travelling seriatim as a platoon along an associated roadway into a platoon arrangement other than the linear or single file formation. Multi roadway lane platoon management control systems and methods control the three or more vehicles cooperatively travelling as a multi-lane platoon along an associated multi-lane roadway into a platoon arrangement other than the linear or single file formation. Larger platoon sizes are provided thereby enabling more vehicles to participate in the larger multi-lane platoon. A platoon management control uses a combination of the GPS position of the lead vehicle representative of the position of the vehicle relative to the associated geographical area, and braking performance data representative of the braking capabilities of following vehicles to rearrange the vehicles into the non-columnar formation.

Abstract: A method and guidance system guides a land vehicle (180) along a pathway (300) using a downward-looking, lateral position-sensing, radar guidance apparatus on the vehicle and a microwave reflector (200) distributed along the pathway (300). A radar sensor (100) transmits radar signals (1111) downward towards the pathway (300) surface along which the vehicle (180) travels. The signals (1110) are reflected back to the vehicle by the microwave reflector (200) distributed along the pathway (300).

Abstract: According to one embodiment, a travel planning system for a plurality of mobile objects which travel in a travel network including a plurality of traveling paths includes first processing circuitry and second processing circuitry. The first processing circuitry generates a plurality of traveling timing schedules including timings of traveling on the traveling paths for the plurality of mobile objects under a condition that conflict among the mobile objects does not occur on the traveling paths, based on: position information of the plurality of mobile objects; structure information of the travel network; and a plurality of route plans which designates order of passing through one or more designated areas in the travel network for the plurality of mobile objects. The second processing circuitry transmits movement command data for the plurality of mobile objects on a basis of the plurality of traveling timing schedules.

Abstract: A vehicle control system includes a recognition unit recognizing a surrounding environment of an own vehicle, and a driving control unit controlling a speed or steering of the own vehicle on the basis of a recognition result from the recognition unit, in which the driving control unit causes the own vehicle to perform a first operation in which an inter-vehicle distance between a preceding vehicle and the own vehicle is reduced, and a second operation in which an inter-vehicle distance between the preceding vehicle and the own vehicle is increased after the first operation in a case where a change amount of another vehicle satisfies a predetermined condition or another vehicle is identified as a cutting-in vehicle, on the basis of one of a behavior or a position of another vehicle when another vehicle traveling in an adjacent lane that is adjacent to a traveling lane of the own vehicle changes lane to the traveling lane.

Abstract: A mobile robot configured to travel across a residential floor or other surface while cleaning the surface with a cleaning pad and cleaning solvent is disclosed. The robot includes a controller for managing the movement of the robot as well as the treatment of the surface with a cleaning solvent. The movement of the robot can be characterized by a class of trajectories that achieve effective cleaning. The trajectories include sequences of steps that are repeated, the sequences including forward and backward motion and optional left and right motion along arcuate paths.

Abstract: A vehicular vision system includes a rearward viewing camera and a control, which includes a processor that processes image data captured by the camera. During a reversing maneuver of the vehicle, the control, via processing of captured image data, detects points of interest of detected objects. Responsive to detection of the points of interest of the detected objects, the control determines if the detected objects have height dimensions and determines that objects having a height dimension greater than a threshold height are objects of interest. During the reversing maneuver of the vehicle, the control determines distances to the determined objects of interest and determines which object of interest is closest to the vehicle. During the reversing maneuver of the vehicle, responsive to the determination of the closest object of interest rearward of the vehicle, the control determines whether the determined closest object of interest is a potential hazard.

Abstract: A system for operating a driverless utility vehicle in a restricted area, including: a transfer module for transferring control of the utility vehicle at an entrance: from the driver of the utility vehicle to the system, and at an exit: from the system to the driver of the utility vehicle, wherein the restricted area has the entrance, the exit and a predetermined target point; a movement module for autonomously moving the utility vehicle from the entrance to the predetermined target point and from the predetermined target point to the exit; and a performance module for autonomously performing an action on the utility vehicle while the utility vehicle is situated at the predetermined target point, so as to change a state of the utility vehicle by the action. Also described are a related management system, a method, and a computer readable medium.

Abstract: A self-moving device is provided and includes a signal detector configured to detect a boundary wire signal, a coordinate obtaining module, and a control module. The control module includes a program module and a processing module. When the signal detector does not detect the boundary wire signal, the self-moving device inputs location coordinates obtained by the coordinate obtaining module into the program module, to obtain a first determining result whether the self-moving device is within the boundary wire, and the processing module controls the self-moving device to move and work; and when the signal detector detects the boundary wire signal, the self-moving device inputs the boundary wire signal obtained by the signal detector into the program module, to obtain a second determining result whether the self-moving device is within the boundary wire, and the processing module controls the self-moving device to move and work.

Abstract: Systems, computer readable media storing instructions, and computing device-implemented methods include receiving one or more signals that represent an angular speed of a permanent magnet electric motor of a hybrid electric vehicle, receiving a signal representing a voltage from the electric motor, determining if the angular speed is within a predetermined threshold, calculating an error angle representing a correction factor for an alignment of the electric motor based on a ratio of the voltage and the angular speed, determining if the error angle indicates that the motor is installed in a correct or an incorrect orientation, and adding an orientation correction factor to the error angle.

Abstract: A driving support device executes a limit control to control a vehicle in such a manner that an actual acceleration of when the vehicle is being reversed does not exceed a limit acceleration during a time period from a time point that a start condition becomes satisfied to a time point that an end condition becomes satisfied. The driving support device sets a state of itself to either one of a prohibiting state in which an execution of the limit control is prohibited or an allowing state in which the execution of the limit control is allowed. The driving support device sets the state of itself to the allowing state when a failure that the driving support device cannot detect/receive a request signal occurs.

Abstract: An industrial vehicle comprising a tag reader, a reader module, and a diagnostic tag, wherein the diagnostic tag is coupled to the industrial truck within a read range of the tag reader. The reader module and the tag reader cooperate to identify the diagnostic tag and individual tags of a tag layout and the reader module discriminates between the individual tags of the tag layout and the diagnostic tag and the individual tags of the tag layout, correlates an identified individual tag of the tag layout with tag data, correlates an identified diagnostic tag with operation of the tag reader, and generates a missing tag signal if the diagnostic tag is not identified or the operation of the tag reader is not within specified operating parameters.

Abstract: Platoon management control systems and methods rearrange three of more vehicles cooperatively travelling seriatim as a platoon along an associated roadway into a platoon arrangement other than the linear or single file formation. Multi roadway lane platoon management control systems and methods control the three or more vehicles cooperatively travelling as a multi-lane platoon along an associated multi-lane roadway into a platoon arrangement other than the linear or single file formation. Larger platoon sizes are provided thereby enabling more vehicles to participate in the larger multi-lane platoon. A platoon management control uses a combination of the GPS position of the lead vehicle representative of the position of the vehicle relative to the associated geographical area, and braking performance data representative of the braking capabilities of following vehicles to rearrange the vehicles into the non-columnar formation.

Abstract: An emergency braking system according to an embodiment of the present invention, which performs emergency braking and brake release according to a position of an object detected while a vehicle moves backward, comprises a processor deriving a position of the object by processing data detected by a sensor, and a controller controlling emergency braking and brake release using the derived position of the object, wherein the controller releases a brake through different operation according to an area in which the position of the object is included after emergency braking of a plurality of areas into which a detecting area of the sensor is divided.

Abstract: An illumination control system for a mobile machine that operates in coordination with other mobile machines is configured to adjust an illumination lamp disposed on the mobile machine and directed in a travel direction of the machine. The illumination control system includes a positioning/location device that can determine a proximity distance between the mobile machine and a second mobile machine approaching in the travel direction. The illumination control system also includes an electronic controller configured to adjust the illumination device based on the proximity distance as determined. The illumination control system may find particular usefulness in paving and/or milling operations.

Abstract: A method and a system for controlling the travel path of automated guided vehicles in a system where at least one automated guided vehicle is in the form of a towing vehicle pulling at least a first wagon. A path for the towing vehicle to travel along is determined, as well as a first position of the towing vehicle. Data identifying the first position is stored in a data storage unit and a reserved state is assigned to a path portion based on the stored data. A second vehicle is prohibited from entering the path portion while in the reserved state, to prevent collision. The towing vehicle is moved from the first position, along the path, to a second position, and the reserved state of the path portion is cancelled once the first wagon has passed the path portion.

Abstract: A residue detection and implement control system and method are disclosed for an agricultural implement. The system includes a source of environment data and image data of an imaged area of a crop field containing residue. The system includes a data store containing a plurality of image processing methods and at least one controller that processes the image data according to one or more image processing instruction sets. The controller selects one or more of the image processing methods based on the environment data, and processes the image data using the selected image processing instruction(s) to determine a value corresponding to residue coverage in the imaged area of the field. The controller adjusts the configuration of the agricultural implement to respond to the amount and type of residue detected.

Abstract: A method for operating an automatically moving service device includes detecting obstacles within an environment with a detection device. The detection results are used to generate an environment map of the environment, and the service device moves within the environment based on the environment map. A control device of the service device receives information about a spatial position of a base station in the environment, and a maneuvering area for the service device to approach, turn toward and/or dock with the base station is determined. The spatial position and maneuvering area are stored in the environment map and a turning point for a directional change is prescribed within the maneuvering area. The service device can execute a last directional change at this turning point at the latest and independently of the remaining progression of movement, before it moves along a straight line toward the base station.

Abstract: Method and vehicle for tracking the position of a remotely operated vehicle following a set route relative to tracks laid out on a frame structure forming a grid, the vehicle having first and second sets of wheels connected to drives for moving the vehicle in corresponding x- and y-directions on the grid, the method comprising: receiving information of the number of track crossings to pass between start and stop positions in x- and y-directions according to the set route; directing sensors attached to the vehicle at the tracks along the route of the vehicle; detecting and monitoring track crossings passed when moving the vehicle in the x- and y-directions according to the set route, and transmitting a signal to a controller, controlling the drives of the wheels of the vehicle, when the number of track crossings passed is close to the total number of track crossings to pass between the start and stop positions in respective x- and y-directions along the set route.

Abstract: A smart moving platform for transport of components in manufacturing includes a vehicle body, a transmission device, a conveying system, a detection device, a tag installation device, a control unit, and a tag reader. The conveying system conveys components. The detection device detects a location of the component and in a first predetermined area, the tag installation device installs and activates a tag on the component. The control unit writes component information to the activated tag and sets a predetermined period. The tag starts to count time elapsing, and the conveyor belt conveys the component to a second predetermined area. The tag reader reads the component information, the elapsed time, and a predetermined period of the tag. When the elapsed time matches the predetermined period, the conveying system sends the component to a third predetermined area.

Abstract: A racking for storing articles having guiding tracks and a rail vehicle, which may be moved on the guiding tracks for storing and retrieving the articles, wherein the guiding tracks merge in an intersection area. Within the guiding tracks there are formed current bars and at the rail vehicle there are formed current receivers engaging with the current bars and supplying the rail vehicle in the guiding tracks with energy. The intersection area is free of current bars. The rail vehicle has an intersection sensor, which is configured to detect whether the rail vehicle is within the intersection area. The vehicle control is configured to switch the rail vehicle, on the basis of the signals of the intersection sensor and the voltage in the guiding tracks, into different operation modes.

Abstract: A method for operating at least one intelligent floor element includes receiving at least one planned movement of at least one object on at least one floor element, determining at least one safety area for each object in its environment on at least one floor element, checking overlaps of safety areas, and outputting a signal with respect to the safety area with the aid of activatable markings on at least one floor element.

Abstract: A self-propelled device includes a spherical housing and an internal drive system. The self-propelled device can further include an internal structure having a magnet holder that holds a first set of magnets and an external accessory comprising a second set of magnets to magnetically interact, through the spherical housing, with the first set magnets.

Abstract: Systems, method, and computer-readable storage media for controlling item retrieval processes from an item and storage infrastructure are disclosed. The disclosed techniques utilize an automated guided vehicle (AGV) and real-time feedback to validate the item retrieval process is performed correctly. Item retrieval may be performed autonomously by an AGV equipped with item retrieval components, such as hydraulic arms, pistons, and other components and control logic, or may be performed as a user-aided process, where feedback is provided to the user to instruct the user which item is to be retrieved and the user then loads the item onto the AGV. The AGV is configured to utilize a coordinate system to facilitate automated navigation along a series of determined waypoints during the item retrieval process. Additionally, feedback or instructions may be provided to a user device (e.g., for user-aided processes) to assist with the item retrieval process.

Abstract: A vehicle control method and a vehicle control system are provided. A lateral distance between a vehicle and a tunnel wall of a tunnel is obtained through a lidar sensor when the vehicle is moving in a lane in the tunnel. A lateral offset parameter between the vehicle and a lane centerline is obtained based on the lateral distance. A moving direction of the vehicle is controlled according to the lateral offset parameter.

Abstract: In one embodiment, a method for performing an obstacle detection for an ADV includes detecting an obstacle by a primary ADS and a secondary ADS using an obstacle detection algorithm based on sensor data provided by sensors on the ADV. In response to detecting the obstacle, a first controlled stop distance and a second controlled stop distance are calculated by the primary ADS and secondary ADS respectively based on a speed and a deceleration capability of the ADV. The first and second controlled stop distances between the primary ADS and secondary ADS are exchanged to determine a third controlled stop distance which is the maximum of the two. In response to determining that the ADV reaches within the third controlled distance between the ADV and the obstacle, a controlled stop operation is activated by the primary ADS to decelerate the ADV based on the third controlled stop distance.

Abstract: The present invention relates to a method and apparatus to determine the position of an image sensor relative to a predetermined continuous pattern of colors and/or objects based on the images said patterns of colors and/or objects produces within the image sensor.

Abstract: Methods include electronically monitoring sensor or transceiver location information to detect a location of a machine. Responsive to detection of the machine, determining if the machine is located within a first geographic region, and if the machine is located within a first geographic region, electronically sending a command to an actuator that is coupled to the machine to initiate a first response. The first response includes limiting a height of an implement that is coupled to a chassis of the machine. The implement being height-adjustable relative to the chassis by action of the actuator.

Abstract: A method of providing guidance in a host vehicle, including receiving a first broadcast signal transmitted by a first vehicle; and extracting vehicle data, a vehicle identifier, and a request from the first broadcast signal; responsive to the request, determining a recommended path for the host vehicle based upon the extracted vehicle data; and displaying or causing the displaying of the recommended path to the driver of the host vehicle.

Abstract: A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector.

Abstract: A method and apparatus that control lateral movement of a vehicle are provided. The method includes receiving vehicle information and path information of the vehicle, determining a center of vehicle rotation from the vehicle information, minimizing a path tracking error based on the path information of the vehicle, determining a road wheel angle command or a steering torque command using non-linear optimization based on the minimized path tracking error, and controlling an actuator according to the road wheel angle command or steering torque command.

Abstract: The present application discloses a vehicle. The vehicle comprises: a first support component and a second support component which may rotate relative to each other; a first drive wheel which is rotatable relative to the first support component; a second drive wheel which is rotatable relative to the second support component; a first universal wheel mounted on the first support component; and a second universal wheel mounted on the second support component. If the vehicle is placed on a horizontal floor and if both drive wheels touch the horizontal floor, then the axis of the first drive wheel and the axis of the second drive wheel may be contained or nearly contained in a vertical plane. The vehicle further comprises motors, sensors and a computer.

Abstract: Disclosures herein are related to improving energy transfer with vehicles.

Abstract: An autonomous or semi-autonomous vehicle may improve the overall safety of other vehicles by determining an action of a proximate vehicle based on sensor data and determining one or more expected visual cues associated with the determined action. One or more images of the proximate vehicle may then be used to detect a difference between expected visual cues and the captured images. Detected differences may be used to notify one or more entities that can then take corrective actions.

Abstract: A robotic drive system can be attached to a garbage container. A computing device can be configured to determine a travel path for the robotic drive system to travel to a location designated for garbage pickup. The computing device can be configured to cause the robotic drive system to move to be proximate to a location designated for garbage pickup.

Abstract: A learning system (1) for vehicles for learning a neutral point of a measurement sensor equipped in a vehicle by using a magnetic marker disposed in a traveling road includes a sensor unit (11) which detects the magnetic marker and measures a lateral shift amount of the vehicle with respect to the magnetic marker, a route information acquiring part which acquires route information indicating a shape of the traveling road, and a learning determination part which determines whether a learning condition as a condition for performing learning of the neutral point of the measurement sensor is satisfied, wherein a fluctuation range of a lateral shift amount measured by the sensor unit (11) when the vehicle is traveling a learning road as a traveling road in a constant shape is equal to or smaller than a predetermined threshold is set at least as the learning condition.

Abstract: A system for identifying and following a moving electronic device, the system includes an antenna for receiving a transmitting signals, a plurality of sensors for distance measurement, a processor, and a memory in communication with the processor. The memory storing instructions that, when executed by the processor, cause the processor to determine a speed and a direction of the moving electronic device; adjust a movement path of the system based on the determined speed and direction of the moving electronic device; determine a distance between the moving electronic device and the system; command the system to follow the moving electronic device within a predetermined range of the distance while identifying and avoiding an obstacle in the movement path of the system.

Abstract: Disclosed are a system and a method that includes a robotic unit configured to deliver items (e.g., medicine, foodstuff, linens, equipment, etc.) to sites (e.g., rooms, offices, etc.) and/or individuals (e.g., patients, pharmacists, technician, etc.) throughout a facility (e.g., hospital, office building, mailroom, manufacturing facility, etc.). The robotic unit is a mobile unit that operates autonomously to follow predetermined or programmed routes throughout the facility to deliver the items. The system is configured to maintain a chain of custody for the items. In addition, the robotic unit is configured to only allow designated items to be delivered to designated sites and/or to authorized individuals. This can be achieved by the robotic unit having a plurality of containers that are locked within a storage space of the robotic unit, and are only accessible upon successful completion of an authorization process.

Abstract: A driving support Electronic Control Unit (ECU) initializes a target trajectory calculation parameter at a start of Lane Change Assist Control (LCA), calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position in accordance with an elapsed time from the start of LCA; and calculates a target control amount according to the target trajectory function. When it is determined that the own vehicle has crossed a boundary white line, the driving support ECU again initializes the target trajectory calculation parameter, and calculate the target trajectory function based on the target trajectory calculation parameter.

Abstract: An integrated computing system computes a geo-location of a vehicle based on location data generated by a GNSS receiver, operates one or more external communication interfaces, calculates a desired path for steering the vehicle based on the geo-location, and communicates the desired path to one or more external operating units via the one or more external communication interfaces. The integrated computing system may include one or more computer processing units programmed to provide shared coordinated execution of software functions that are all implemented and located within a same integrated circuit or enclosure. The integrated computing system lowers the overall cost and complexity of agricultural guidance systems by reducing and simplifying the number of chassis, boxes, connectors, power supplies, and manufacturing processes.

Abstract: A system for the supraregional operation of a vehicle includes at least one control device. A first vehicle bus can be connected to the control device, wherein a defined number of first control apparatuses can be connected to the first vehicle bus; and a second vehicle bus can be connected to the control device, wherein a defined number of second control apparatuses can be connected to the second vehicle bus. The control device provides for a defined minimum functionality during a moving transition of the vehicle from a defined first region into a defined second region. The control device changes a functionality for the second control apparatuses during the moving transition from the first region into the second region, and the control device is configured to control the coordination of the changing of the functionality of the second control apparatuses.

Abstract: A system included and a computer-implemented method performed in an autonomous-driving vehicle are described. The system performs: detecting a wireless push signal transmitted from a signal transmitter accompanied by an off-vehicle passer and received by a signal receiver of the autonomous-driving vehicle, the wireless push signal including information about a motion capability level of the off-vehicle passer, determining a position and a motion capability level of the off-vehicle passer at least based on the wireless push signal, and controlling a locomotive mechanism of the autonomous-driving vehicle based on the determined position and motion capability level of the off-vehicle passer.

Abstract: A system for processing a ground at least partially in an outdoor region, in particular removing dirt or grass cuttings, includes a base station and a mobile robot unit. The system further includes at least one detection device for detecting at least one environmental variable, and a controller which influences the operating mode of the mobile robot unit in accordance with the value of at least one of the environmental variables detected by the at least one detection device. A method for controlling a mobile robot unit for processing a ground at least partially in an outdoor region, in particular removing dirt or grass cuttings, is also provided.

Abstract: Systems and methods are provided to permit groups of recreational vehicle riders and others the ability to quickly create and join groups without prior knowledge of the contact information of everyone in the group. In one embodiment, groups are joinable based on the proximity information of the prospective member and the current group members.

Abstract: In a method and system for position capture of a vehicle along a driving route, situated on a concrete floor having a reinforcement: the vehicle carries out a reference drive along the driving route, the vehicle records measuring points along the driving route, and each measuring point allocates a signal from the reinforcement to a position on the driving route; a reference profile of the driving route is determined based on the measuring points ascertained during the reference drive; the vehicle drives along the driving route and records further measuring points; a profile segment is determined from the further measuring points; the profile segment is uniquely allocated to a segment of the reference profile, e.g., using a correlation method; a position on the driving route is uniquely allocated to the vehicle with the aid of the profile segment allocated to the reference profile.