CONVEYING VEHICLE AND METHOD FOR CONVEYING PAYLOAD UNITS ONTO THE VEHICLE

A vehicle having a chassis (5), having a drive device (30) and having a vehicle frame (10) which is arranged on the chassis (5) and which has a receiving component (7) for the placement of at least one payload unit (L) that is situated in an operating area, wherein the vehicle (1) has a vehicle system (S) having: *a control function (50) which, on the basis of control setpoint specifications, determines control commands and transmits these to the drive device (30), *a docking specification function (60), which generates a setpoint docking trajectory for the vehicle (1) to attain a setpoint docking state, wherein, in the setpoint docking state, the vehicle (1) is docked by way of a contact device of the vehicle frame (10) on a docking device (101) of a tool device (100), wherein the docking specification function (60) transmits the setpoint docking trajectory to the control function (50) as a control setpoint specification for the movement of the vehicle (1) along said setpoint docking trajectory, *a manoeuver specification function (70) with a manoeuver trajectory generating function which, on the basis of a respective actual tool state, determines a reference point manoeuver trajectory and, in a manner dependent thereon, uses the tool movement model to determine a vehicle manoeuver trajectory into a setpoint receiving state of the vehicle (1), along which vehicle manoeuver trajectory the vehicle (1) manoeuvers the tool device (100) from the actual tool state into a setpoint tool state in which a reference point position of the reference point is situated within a setpoint difference in relation to a payload unit position of the payload unit (L), wherein, with regard to the vehicle manoeuver trajectory, the manoeuver specification function (70) transmits control setpoint specifications, for the movement of the vehicle (1) along the vehicle manoeuver trajectory, to the drive device.