EP1118713A1 - Method for steering a construction machine or roadpaver and road finisher - Google Patents

Abstract

The method involves determining the actual position of a measurement point on a drive unit or working device in a geodetic position measurement system, deriving the actual position of the working device or an element indicative of the marked route, comparing this with a desired position to generate correction signals and actuating control elements to bring the actual position to the desired position. Independent claims are also included for the following: a road making machine.

Description

The invention relates to a method according to the preamble of patent claim 1, 11 and 12 and a paver according to claim 13.

Construction machines affected here include road pavers, graders, Crawlers, slipform pavers and traffic area recycling machines where the working device works the subsoil to a planned route to form, with the driving unit acting as a carrier of the working device, the necessary Applying propulsive force and taking the direction and an adjustment the longitudinal and / or transverse slope and / or working width of the working device is possible on the driving unit.

With a paver, the screed has the material evenly over the Spread, compact and smooth the width. Using a sensor The screed is leveled with the control system The target values are adjusted in height and / or cross slope. When using a extending screed the working width can also be adjusted. Usually guide wires representing the desired height and course (EP-B-542 297) stretched along the planned route, which are scanned by sensors, to get information on leveling the screed. The high effort for adjusting the guide wires is disadvantageous. So far, the others have been similar Construction machines of the above-mentioned group controlled. Some construction machines are automatically steered, with a guide wire providing directional information. At Automatic steering is not absolutely necessary for graders and caterpillars; however the working device is still along the planned route Taxes.

In a method known from DE-B-11 51 531, the paver is made of Hand directed. The screed is leveled using two guide wires without guide wires stationary telescopes for observing height marks on the screed and via control devices on the telescopes, which the adjustment devices control the screed.

The following procedures are also used in practice:

With a geodetic device like a total station or a GPS system, a Measuring point recorded on the driving unit. Taking into account further measured variables, Like machine longitudinal and cross slope, a machine model is created with which the position of the construction machine is defined in a digital terrain model. The actual data can be compared with target data from the planning. Position deviations determined in the process are used to control control elements. For slip shift pavers e.g. the steering cylinders and the lifting cylinders of the height adjustment of the support frame controlled. Automatic guidance of the construction machine in the field and leveling of the working device still need a guidewire or similar reference element for deriving directional information and thus a considerable measurement effort. Specifically In the case of construction machinery traveling on caterpillars, precise steering is difficult and steering errors can affect the accuracy of the settings of the working device significantly impair if the driving unit is primarily guided and the working device is secondary the driving unit is tracked.

The invention has for its object a method of the type mentioned to create with the working device a construction machine without guide wires or Earth-based reference elements with high working accuracy automatically in one the planned route is mobile, and an automatically precisely controllable one Specify paver.

The task is with the features of claim 1, the sibling Claims 12 and 13, and the independent claim 14 solved.

By means of the geodetic positioning system, the working device of the construction machine exactly in the planned route. Guide wires or earthbound Reference elements are not required. Nevertheless, the planned The route was created very precisely because the work fixture was used with the positioning system or an element of the Working device guided transversely to the direction of travel and in its height and inclined position is, and the driving unit only in the second line of the working device can be. Thereby the knowledge is taken into account that it is for high work accuracy it is important to control the work equipment primarily, and only secondarily the driving unit, since steering movements of the driving unit and made via the driving unit Adjustments of the working device would be too imprecise. Independently of, whether the measuring point is on the driving unit, on the working device or on the the planned route is the relevant element of the working device, the position of the working device or that for the planned one is determined via the measuring point The route determines the essential element of the work equipment and in addition to the position information of the measuring point additional information relevant to the location of the working device, for example via sensors, procured and used for control.

For automatic steering of the driving unit, however, is used according to claim 2 guided working device for reference.

In the method according to claim 12, automatic width control takes place the screed using the planned data of obstacles, for example Gullies or the like, the control elements of the screed for driving around of the obstacle. It is possible to overcome an obstacle with either Bypass working width, or the working width in the area of the obstacle to reduce or enlarge only on one side. The automatic width control has no influence on the automatic control of the screed along the planned route. With the automatic width control, one-sided or double-sided parking or alternative bays or traffic route constrictions shape, the automatic width control of the guide of the Screed is superimposed along the planned route. This method for automatic width control is of independent inventive importance.

This also applies to the method according to claim 13. Arranged on the paver Sensors detect oncoming obstacles, such as gullies, and control the control elements of the extendable screed to close the obstacles bypass. The geodetic positioning system does not necessarily need to do this To influence. This also means that the automatic width control with sensors arranged on the paver, even without automatic ones Control of the screed with the help of the geodetic positioning system is appropriate.

The paver according to claim 14 is for performing a fully automatic Control along the planned route with the help of a geodetic positioning system designed. Regardless of where the measurement point is supporting mast (on the drive unit or on the working device), is always the real or virtual reference point on the screed or at one for the planned one The route determines the relevant element and this reference point controlled that the screed forms the planned route. By deriving of direction vectors using the measuring point and the respective reference point the driving unit can also be steered automatically. That for the design element is a lower outer edge, for example the screed or the rear end point of this lower outer edge, the should be routed along the planned edge line of the route. Largely the working width is independent of the driving movement of the driving unit Control elements of the screed parts in the transverse direction in the planned route adjustable, and the transverse and longitudinal inclinations of the screed are also remotely controlled adjustable.

Is the measuring point in a fixed relative position to the at least one for the the relevant element of the work device attached to it according to the planned route, then the position of this element is a constant for the control. Changes this relative position, e.g. in the transverse direction, the measurement point is opened again the element for controlling the construction machine that is decisive for the planned route closed (claim 3).

Similarly, according to claim 4, the actual working position for control purposes via the measuring point determined, taking into account machine-specific information. For example, a calculation is made in the construction machine Sensors determined where the element of the working device that is decisive for the route is located precisely around this element and therefore the working device to run in the planned route.

According to claim 5 relative or automatic steering of the driving unit measured absolute directional deviations from a planned reference direction, and, if they exceed a tolerance range, for automatic Steering used.

Alternatively or additionally, additionally calculated or derived from a digital terrain model or from a compass, a Direction sensor or a GPS-based system measured direction information be taken into account in the automatic steering. But that's always the case precise guidance of the working device in the foreground and becomes the driving unit of the Work device tracked. This can result in inaccurate steering movements not on the positioning of the working device in the planned route impact or simply be compensated.

Since the planned route can change in space, it is expedient according to claim 7, the spatial actual working position of the working device to determine a work device model in a the planned one To set the digital terrain model containing the route, and from a comparison Derive control or correction signals for the control elements of the working device and to control the working device. Here, sensors for longitudinal and / or Bank of the working device are used, the necessary additional information deliver.

According to claim 8, the abundance of the total data obtained for the control processed with at least one system computer, the stationary or in the construction machine itself can be provided.

According to claim 9, special direction vectors are determined, from which correction signals for automatic steering of the driving unit.

For a paver with a screed with a constant working width, which can be moved back and forth in a linear transverse guide are used in the automatic Guiding the screed along the planned route also adjusted the longitudinal and / or transverse slope of the screed. The measurement point is expediently arranged on the screed to always keep the location, for example knowing a lower outer plank edge. The measuring point can also be at the Driving unit or be arranged on a spar of the screed, then using Known machine-specific information or information derived from sensors from the measuring point the position of the screed or the outer one Edge of the screed calculated (claim 10).

In the case of a paver with a extending screed, the derived one is used Correction signals controlled the width adjustment device to initially a screed part to run exactly in the planned route. The other screed part is either adjusted in exactly the opposite direction to a screed section, in order to achieve a constant working width, or is even adjusted individually, to achieve a working width that varies according to plan. The Longitudinal and / or transverse inclination of the screed in accordance with the planned specifications adjusted to keep the extending screed exactly in the planned route to drive. The measuring point can either be on the screed, expediently even on a screed section, on the drive unit or on a spar of the screed be arranged (claim 11).

In the road paver according to claim 15 is the mast carrying the measuring point arranged on the screed, which can be adjusted with the working width that cannot be changed, so that control movements required for control are clearly traceable.

Alternatively, according to claim 16, the mast carrying the measuring point is on a screed part arranged. Control movements caused to control are so directly traceable via the measuring point.

According to claim 17, the mast carrying the measuring point is on a spar of the screed appropriate. The actual working position is controlled with additional information determined, for example, representing strokes of the control elements Signals and / or calculated direction vectors.

In any case, it can be useful for a paver for the actual working position relevant reference point to the lower outer edge of the screed or even to put the rearmost end of this lower outer edge because of this created an outer edge of the route or ceiling layer.

The arrangement of the measuring point on a mast offers the advantage, the measuring point even with uneven terrain or obstacles with the geodetic positioning system to "see". For this, the mast should appear or tower over obstacles caused by the construction site.

In the above-described method variants and embodiments only one geodetic positioning system was assumed, the used to control the working device and the driving unit becomes. However, it would be conceivable to add two geodetic positioning systems use, for example, to separate the working device and the driving unit Taxes. However, this solution would be very complex.

The method according to the invention can be used with a grader in order to the rotatability of the graders in the planned route drive. The line of motion of the other end of the group of degrees is by calculation known at any time. With a caterpillar with a pushed or pulled Dozer blade can be guided exactly in the planned route. In the case of a slipform paver, the slipform and / or the screed guided in the planned route. It can be changed or unchangeable Working width. The same applies to a traffic area recycling device its working device guided in the planned route. You can also work with a fixed or variable working width.

A geodetic position determination system is used for a route section Total station installed in the vicinity of the planned route, i.e. a kind of theodolite with appropriate equipment and actuators, if necessary combined with the process computer or one with the process computer linked calculator. Alternatively, a stationary or moving GPS system can be used are used, using a DGPS system to increase accuracy recommends that you work with a stationary reference station to get the procured Precise or calibrate position data. The data transfer or the transmission of measurements and correction signals can be wireless, e.g. through radio or laser transmission, or via one or more cable harnesses.

Fig. 1

einen Funktionsplan des erfindungsgemäßen Verfahrens bei einer Baumaschine in Form eines Straßenfertigers mit einer Einbaubohle konstanter Arbeitsbreite,

Fig. 2

eine schaubildartige Maschinenkonfiguration des Straßenfertiges zum Funktionsplan der Fig. 1,

Fig. 3

einen Funktionsplan zur Durchführung des Verfahrens bei einer als Straßenfertiger mit einer Ausziehbohle ausgebildeten Baumaschine,

Fig. 4

eine Maschinenkonfiguration zum Straßenfertiger passend zum Funktionsplan der Fig. 3,

Fig. 5

eine Maschinenkonfiguration als Beispiel einer Baumaschine mit an der Fahreinheit angebrachtem Messpunkt, nämlich einem Straßenfertiger mit einer Ausziehbohle,

Fig. 6

eine schematische Draufsicht auf einen Straßenfertiger in einer planungsgemäßen Trasse mit Hindernissen, die durch eine automatische Breitensteuerung der Ausziehbohle berücksichtigt werden, und

Fig. 7

eine schematische Draufsicht auf einen in einer planungsgemäßen Trasse fahrenden Straßenfertiger mit Ausziehbohle, dessen Auszieh-bohle mit variabler Arbeitsbreite arbeitet.

Embodiments of the invention are explained with reference to the drawing. Show it:

Fig. 1

1 shows a functional diagram of the method according to the invention in a construction machine in the form of a paver with a screed of constant working width,

Fig. 2

2 shows a diagram-like machine configuration of the finished road for the functional diagram of FIG. 1,

Fig. 3

a functional diagram for carrying out the method in a construction machine designed as a paver with a screed,

Fig. 4

3 shows a machine configuration for the road paver suitable for the functional diagram of FIG. 3,

Fig. 5

a machine configuration as an example of a construction machine with a measuring point attached to the driving unit, namely a paver with a screed,

Fig. 6

a schematic plan view of a paver in a planned route with obstacles, which are taken into account by an automatic width control of the extending screed, and

Fig. 7

is a schematic plan view of a road paver traveling in a planned route with extending screed, the extending screed of which works with a variable working width.

1 and 2, a method for controlling a self-propelled construction machine A based on a functional plan (Fig. 1) and one shown in Fig. 2 Machine configuration explained. Construction machine A is, for example, a paver with a driving unit M and a working device B, namely one on bars 1 towed screed with constant working width. The construction machine A is self-driving. The transverse and longitudinal slopes of the screed are included Adjustable elements, as well as the height of the screed above the Flat surface. The screed is in a linear guide 2 on the spars 1 transverse to Direction of travel back and forth adjustable, by means of at least one control element 3, for example a hydraulic cylinder which is controlled via a control C1 becomes. In the driving unit M there is also a controller C for functions of the driving unit M is provided, e.g. for the driving speed, the steering angle etc. From the Control C2 off may also have functions in and on the screed controllable. Furthermore, in the embodiment shown, a system computer CPU is on the driving unit M provided (Fig. 2).

The screed has sensors 4 for the longitudinal and / or transverse inclination the control C2 and / or the system computer CPU are connected. At the Screed is fixed to a measuring point P, for example at one at one End 5 of the screed stationed mast 6, which carries a prism 18, the measuring point P defined. The driving unit M can be steered in the direction of a double arrow 15. On The driving unit M is provided with a real or virtual reference point 9.

The procedure below for automatically controlling the paver is also for other self-propelled construction machines with at least one each Appropriate working device. Such construction machines are without the scope want to restrict the invention, for example with pavers Extending screeds (high compaction screed or normal screed), graders with graders, Slipform paver with supporting frame, slipforms and at least one Screed, traffic area recycling equipment and caterpillars with drawn or pushed Dozer blade.

To control the construction machine A based on the measuring point P, a geodetic Positioning system G used, which via a signal and information transmitting Route 17 is connected to the system computer CPU. The system computer could be arranged externally of the construction machine A and with the controller communicate with the construction machine.

Examples of geodetic positioning systems that are useful here would be the well-known GPS system, which works satellite-guided, the DGPS system, the satellite-guided and with a stationary reference station to specify the Position determination works (DGPS = differential GPS), or a total station, the stationary near the construction site or the planned route, for example is arranged within a range of 5 km and in the manner of a high-performance theodolite with laser scanning of the measuring point P.

In the function diagram in FIG. 1, the actual position of the actual point P is turned on in a step S1 the screed B in the x, y, z directions. If necessary, a second measuring point provided on the screed or on the construction machine and be scanned.

From the known, planned data or the planned course The route that the screed is to follow in the field is specified with regard to the target position of the measuring point P is generated, i.e. it becomes a digital one in a step S2 Prepared terrain model. The course of the planned route is, for example determined by the course of the edges, the thickness, the inclination and the width of a ceiling layer to be installed on a subgrade, the driving unit drives on the formation and the screed above the specifications of the formation is managed.

Furthermore, using machine-specific information, for example of the signals from the sensors 4 and from signals which indicate the height adjustment of the screed represent a spatial machine model created above the formation. in the Step S4 takes place with the planning data from step S2 and the spatial machine model a target-actual comparison from step S3, for example by calculation in the CPU system computer.

The position is then controlled on the basis of a detected position deviation Working device, in this case the screed. The screed becomes transverse is adjusted to the direction of travel in the linear guide 2. At the same time, the Signals from the sensors 4 and, via the control C2, also longitudinal and / or bank adjustments and screed height settings according to the target values be made. This takes place in a step S5. Become such Adjustments made, then the respective change in position in step S6 of the screed relative to the driving unit M. In a step S7 is off the result of step S6 determines a directional deviation, expediently in the form of a direction vector 8 between the measuring point P and the virtual one or real measuring point 9 on the driving unit M.

In step S8, the steering of the driving unit M is controlled by a longitudinal movement in the direction of the double arrow 15, the driving unit M, e.g. according to the Target values from the planning data, automatically steer and the working device track.

3 and 4, the automatic control of a construction machine A is based of a paver with a so-called extending screed. The the Extending screed representing working device B is on the spars 1 of the driving unit M towed and is above the level in its height, and in its transverse and / or longitudinal inclinations adjustable. It has one connected to the spars 1 Screed base body 10 of predetermined working width and two extending screed parts 11, 12, which can be extended and retracted relative to the basic screed body 10 via adjusting elements 3 ', 3 " are. The measuring point P is attached to a mast 13 in an elevated position, the one on a screed part 11, preferably in the outer End, is firmly mounted. The height of the measuring point P is selected so that the Total station T of the geodetic positioning system G also via terrain-related Elevations or construction site-related obstacles "see" the measuring point. Each screed part 11, 12 can be transverse to the direction of a double arrow 7 Move the direction of travel back and forth. The height settings are made in the direction of a Double arrow 14. Steering movements of the driving unit M are in the direction of a Double arrow 15 controlled. The virtual or real measuring point 9 on the driving unit M is used to generate a direction vector 8 between the measuring points P, 9. Die Total station T scans the actual position of measuring point P, for example using laser beams and communicates with the system computer, not shown. In the total station For example, a high-performance theodolite 16 is provided. The total station T can work independently from a GPS system. But it can be useful be using position information from a GPS or DGPS system.

In step S2, target values for the position of the Measuring point P or the target working position generated. Is the measuring point at the end of the Extending screed part 11, then its position represents the actual working position the decisive element of the extending screed for the route, e.g. the outer, lower edge of the screed part 11. Is the Measuring point P further inside, then in this case its transverse distance from the outside lower edge of the screed part 11 as a constant value for determining the Actual work position taken into account. In step S3, a spatial machine model created, for example, the working device B, with information from the sensor 4 and a height sensor for the height of the screed. This spatial machine model is converted into digital with its actual working position Terrain model set, which is generated from target values of the planning data. in the Step S4 becomes a position deviation between the actual position of the measuring point P or the actual working position and the target position.

In step S5, an adjustment is made on the basis of the calculated position deviation the screed. The screed part 11 is in the direction of Double arrow 7 adjusted transversely and relative to the driving unit M by a certain amount. Is then to form a planned route with a constant working width in step S9 the other, opposite screed part 12 is adjusted in opposite directions, i.e. when one screed part 11 is extended, the other screed part becomes 12 retracted accordingly, and vice versa. However, it is a varying one Drive working width, then the other screed part 12 is controlled individually, where its respective location based on the machine-specific data or Sensor signals is determined and set.

In step S6, the one that occurs due to the adjustment of the one screed part 11 Change in position of measuring point P compared to measuring point 9 of the driving unit M captured.

In step S7, the change in position or the directional deviation or the direction vector 8 is determined, specifically in comparison to the previous relative position of the two measuring points P, 9.

Finally, in step S8, the steering of the driving unit M is controlled by the Tracking unit M of the extending screed. With the automatic steering of the Driving unit can also relative or absolute directional deviations measured and taken into account in relation to a planned reference direction by a compass, a direction sensor or a GPS system measured direction information.

Basically, the scanning of measuring point P becomes the actual working position the working device, e.g. the screed, or one for the planned one Line of relevant elements of the working device, e.g. one Extending screed part outer edge, captured to the working device exactly in the planned Route to drive. Is the measuring point directly on the relevant element arranged the working device so that it exactly its movements follows, then the measuring point largely represents the actual working position. Is the Measuring point, however, on the driving unit or, for example, the screed spar fixedly arranged, then machine-specific to determine the actual work position Data also taken into account to determine the respective position from the actual position Obtain actual work position. In the latter case, this can be done using direction vectors done so that, for example, the outer lower edge of the screed or even the rear end of the edge exactly along a line of the planned one Route is maintained. The opposite can also be used as a starting point Edge.

In the machine configuration in Fig. 5 is based on a paver with a Spars 1 towed extending screed B the measuring point P on a mast 13 arranged in an elevated position on a spar 1. It becomes real or virtual Measuring point 19 at the outer lower edge of one screed part 11 or even the position of the rear end 20 of that edge, e.g. about one Direction vector 25 and with corresponding measurements of the sensor 4 or one Screed height sensor (not shown). This real or virtual measuring point 19 and the end point 20 are routed in the planned route e.g. by movements in the direction of the double arrows 7, 14. The other screed part 12 becomes exactly the opposite direction depending on whether a constant working width is to be traveled adjusted, or individually if the working width varies according to plan. The real or virtual further measuring point is on the driving unit M of the construction machine A. 9 is provided, so that a direction vector between the measurement points 9 and P. 8 can be calculated, for automatic steering (steering movements in the direction of the double arrow 15) of the driving unit M is used to move the driving unit M of the working device B to track.

6 is an automatic width control of the working device B, here an extendable screed of a paver to be explained. This automatic Width control can be completely independent of an automatic guidance control the construction machine A are used or this is superimposed to Obstacles H in the planned route must be taken into account. On the paver A, for example on the screed parts 11, 12, are sensors 23, e.g. Ultrasonic sensors, arranged that the subgrade with regard to emerging Scan obstacles H. This may even take place while the paver is running with the total station T and the measuring point attached to the extending screed part 11 P is controlled automatically. Sets one of the sensors 23, for example oncoming left-hand obstacle H, e.g. a gully, firm, that's how it will be Actuating element 3 ', taking into account the driving speed of the driving unit M, around the one screed part 11 corresponding to the dotted line 21 around the obstacle H. The other screed part is correspondingly 12 by its sensor 23 around obstacles present on the right. This on-board latitude control is expediently carried out with the automatic Control combined, i.e., the adjusting movements of the respective screed part 11 or 12 when driving around an obstacle H in automatic control ignored, so that the screed is still along the planned route travels, for example along a line 22 of the route. Scanning areas 24 of the sensors 23, which could additionally or alternatively also be arranged on the driving unit M, are designed to be sufficiently deep and wide. There may be a plurality of sensors provided precise information about the position, width and length of the Win obstacles.

Finally, FIG. 7 shows how an automatic width control of the working device B, here the extendable screed of a paver, with the help of the geodetic Position determination system, here a total station T, made becomes. The exact coordinates for the location and size of an obstacle H are in the contain planned data that are processed by the controller. Further is the course of, for example, the planned edge line 22 with an alternative bay 22 'known. The measuring point P is arranged on a spar 1 as in FIG. 5. Direction vectors 25 and 8 are used to determine the actual working position of the Measuring point 19, 20 and the actual position of measuring point 9 on the driving unit M. In addition, the planned data of the obstacle H and over the process computer CPU corresponding to the measuring point 19, 20 of the one screed part 11 the dotted line 21 around the left-hand obstacle H. In the evasive bay 22 ', on the other hand, becomes the actuating element based on the planned data 3 "of the other screed part 12 is adjusted to the evasive bay 22 ' to form. The driving unit M can continue to be steered automatically so that the obstacle H and the avoidance bay 22 'only by adjusting the screed parts 11, 12 are deliberately steered to the right, in combination with appropriate Adjustment movements of the two screed parts 11, 12. In the case of FIG. 7 described automatic width control of the extending screed B is strict controlled according to planned information on obstacles H or the like, with continuous determination of the actual working position of the measuring point 19, 20 via the measuring point P.

In the above process and design variants, each with a geodetic positioning system worked. In practice, this means that at least two such geodetic positioning systems exist have to be because one is used to control each section of the route will be adjusted while that for the subsequent route section got to. As an alternative, the automatic control could be in a route section the construction machine with two geodetic positioning systems working simultaneously be made, the one for example the working device and the other controls the driving unit. Then would be for the continuous A total of four geodetic positioning systems are required.

Claims (18)

Method for controlling a self-propelled construction machine (A), such as a paver with at least one screed, or a caterpillar with a clearing blade, a grader with a grader share, or a slipform paver with slipforms and at least one screed, or a traffic area recycling machine, in a planned manner Route, the construction machine having a driving unit (M) and at least one working device (B) which can be moved relative to the driving unit by means of adjusting elements (3, 3 ', 3 "), in which method correction signals are derived by comparing determined actual positions and target positions and processed for control, characterized by the following steps: With a geodetic position determination system (G, T), the actual position of a measuring point (P) arranged on the driving unit (M) or on the working device (B) is determined when the construction machine is running in the planned route, on the basis of the actual position and with machine-specific position information, the actual working position of the working device (B) or of an element (20) of the working device that is relevant for the planned route is determined, Position deviations are determined from a comparison of the derived actual work position and a planned target work position, The correction signals for the adjusting elements of the working device are generated from the position deviations, the actuating elements are actuated on the basis of the correction signals in order to bring the actual working position to the desired working position and to guide the working device in the planned route. A method according to claim 1, characterized by the following steps: Starting from the target working position and with machine-specific position information on the relative position between the working device and the driving unit (M), directional information is determined, On the basis of the directional information, the driving unit (M) is automatically steered in the planned route and tracked the working device (B). Method according to Claim 1, characterized in that the actual working position of the working device (B) is determined by means of the measuring point (P) fixedly attached to the working device in a fixed relative position to the at least one element relevant for the planned route. A method according to claim 1, characterized in that the actual working position of the at least one element relevant to the planned route by means of the measuring point (P) fixed to the driving unit (M) and determined machine-specific information on the respective relative position between the measuring point (P) and the relevant element is determined. A method according to claim 2, characterized in that for the automatic steering of the driving unit (M), the relative or the absolute directional deviation compared to a planned reference direction is measured. A method according to claim 2, characterized in that for the automatic steering of the driving unit (M) additionally calculated, derived from a digital terrain model, or measured, for example measured by a compass, a direction sensor, a GPS-based system, directional information is taken into account. Method according to claim 1, characterized in that the actual spatial working position of the working device (B) in the planned route is also determined by measured values of the longitudinal and / or transverse inclination of the working device determined by sensors (4), and that a comparison of one on the basis of the actual spatial working position of the working device model and the desired spatial working position in a digital terrain model containing the planned route, control signals for the adjusting elements of the longitudinal and / or transverse inclination of the working device are derived. Method according to at least one of the preceding claims, characterized in that generated, planned, machine-specific and geodetic data are processed with at least one system computer CPU provided in a stationary manner or in the construction machine (A). Method according to Claim 2, characterized in that the direction information for the automatic steering of the driving unit (M) is determined in the form of direction vectors (8, 25) related to the measuring point (P). Method according to at least one of the preceding claims, characterized in that in the case of a road paver with a towed screed with a constant working width, the measuring point (P) is arranged on the screed (B) and the screed with the correction signals in a linear transverse guide (2), for example the driving unit (M) is moved back and forth with at least one linear adjusting element (3), and that the longitudinal or transverse inclination of the screed is or are adjusted in accordance with planned specifications, for example in the digital terrain model. Method according to at least one of Claims 1 to 9, characterized in that, in the case of a road paver with an extension screed with a width adjustment device (3 ', 3 ") with extension screed parts (11, 12), the width adjustment device (3', 3") with the Correction signals are controlled so that for a working width of the route that remains the same, the other screed part (12) from the width adjustment device (3 ") in exactly the opposite direction to one screed part (11) or for a working width that varies according to the plan, the other screed part (12) individually relative to one screed part (11) is adjusted and that the longitudinal and / or transverse inclination of the screed is or are adjusted in accordance with the stipulated planning. Method for controlling a self-propelled paver in a planned route, the paver having a driving unit (M) and at least one working device in the form of a screed that can be moved relative to the driving unit by means of adjusting elements, in which correction signals are derived by comparing determined actual positions and target positions and processed for control, characterized in that positional deviations between the actual working position of the screed (B) and the planned target working position are continuously derived by means of a geodetic position determination system (G; T) and the control elements are controlled at least on the basis of the derived positional deviations in order to bring the actual working position to the target working position, and that on the basis of the actual working position of the screed or one for the planned route determined with the aid of the geodetic position determination system e relevant element (19, 20) of the screed for driving around obstacles (H) in the course of the planned route, an automatic width control of the screed (B) is carried out, and that with automatic width control the screed the obstacle (H) either with a constant working width circumvents or temporarily reduces its working width only on the side of the obstacle (H). A method for controlling a self-propelled road finisher in a planning proper route, wherein the paver a driving unit (M) and as a work device (B) at least one pull-out screed with movable by means of adjusting elements (3 ', 3 ") Ausziehbohlenteilen (11, 12), characterized characterized in that with sensors (23) arranged on the paver, an automatic width control of the extending screed (B) is carried out, in which obstacles encountered along the planned route are detected by the sensors and adjusting elements (3 ', 3 ") corresponding to the width and Length of the obstacles (H), are controlled automatically, and that with the automatic width control the obstacle (H) either bypasses the same working width or the working width is temporarily reduced only on the side of the obstacle. Asphalt pavers with a driving unit (M), a screed coupled to the driving unit (M) via spars (1) and with longitudinal and cross-slope sensors (4) on the screed, the screed with a fixed working width in a linear transverse guide with adjusting elements (3 ) is adjustable back and forth or to change the working width with adjusting elements (3 ', 3 ") extendable and retractable screed parts (11, 12), characterized in that on the paver there is an upright, one for a stationary, geodetic, at least A measuring point (P) carrying a process computer (CPU) comprising a position determination system is provided that at least one real or virtual reference point (9, 19,) on the driving unit (M) or on the driving unit and on the screed (B) is provided. 20) for generating at least one direction vector (8, 25) between the measuring point (P) and the reference point (9, 19, 21). Paving machine according to claim 14, characterized in that the mast (13) is attached to the screed which can be adjusted in the linear transverse guide with an unchangeable working width. Paving machine according to claim 14, characterized in that the mast (13) is mounted on a screed part (11, 12). Paver according to claim 14, characterized in that the mast (13) is mounted on a spar (1). Road paver according to claim 14, characterized in that the reference point (19) on the working device (B) is the rearmost end (20) of the lower outer screed edge or smoothing sheet edge in the direction of travel.

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