SE541566C2

SE541566C2 - Method and system for controlling steering of a vehicle

Info

Publication number: SE541566C2
Application number: SE1750541A
Authority: SE
Inventors: Emil Lundgren; Tom Nyström
Original assignee: Scania Cv Ab
Priority date: 2017-05-04
Filing date: 2017-05-04
Publication date: 2019-11-05
Also published as: WO2018203792A1; KR20200003392A; CN110573409A; EP3619094A1; EP3619094A4; SE1750541A1; CN110573409B

Abstract

The present invention relates to a method for controlling steering of a vehicle (V2) during drive of the vehicle, said vehicle having at least one wheel axle (X2) with steerable wheels (W2L, W2R) steerable by steering control means (SC) separated from a steering wheel mechanism actuated by the steering wheel of the vehicle. The method comprises the step of: determining the current operational situation during said drive of the vehicle; determining external conditions along the route (R) of the vehicle; and taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels (W2L, W2R) of said at least one wheel axle (X2).The present invention also relates to a system for controlling steering of a vehicle (V1; V2) during drive of the vehicle. The present invention also relates to a computer program and a computer readable medium.

Description

METHOD AND SYSTEM FOR CONTROLLING STEERING OF A VEHICLE TECHNICAL FIELD The invention relates to a method for controlling steering of a vehicle according to the preamble of claim 1. The invention also relates to a system for controlling steering of a vehicle. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer readable medium.

BACKGROUND ART In order to improve manoeuvrability when steering vehicles during drive the vehicles may have more than one axle with steerable wheels.

Vehicles with wheel axle with steerable wheels steerable by steering control means separated from the steering wheel mechanism actuated by the steering wheel of the vehicle are known.

US5562175A a steering system for tandem-type surface compacting machines, said system having simultaneously actuatable steering wheel control valve and joystick which activate electrically operated control valve.

US4175638A discloses electronically controlled four-wheel steering having single steering wheel and switches selecting different modes of rear wheel operation.

There is however a need for improving controlling steering of a vehicle during drive of the vehicle.

OBJECTS OF THE INVENTION An object of the present invention is to provide a method for controlling steering of a vehicle during drive of the vehicle which improves manoeuvrability of the vehicle in a flexible and efficient way.

Another object of the present invention is to provide a system for controlling steering of a vehicle during drive of the vehicle which improves manoeuvrability of the vehicle in a flexible and efficient way.

SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer program product, as set out in the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.

Specifically an object of the invention is achieved by a method for controlling steering of a vehicle during drive of the vehicle. Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle. The method comprises the step of, by means of operational situation determining means, determining the current operational situation during said drive of the vehicle. The method further comprises the step of, by means of external condition determining means, determining external conditions along the route of the vehicle, said external conditions comprising one or more of: route conditions comprising surface conditions of the route, weather conditions, obstacles along the route, extension of the route. The method also comprises the step of taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle.

By thus taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle manoeuvrability of the vehicle may be improved in a flexible and efficient way.

According to the method the step of taking measures based on said determined operational situation and said determined external conditions comprises the step of presenting, by means of presentation means, a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle. By thus presenting, by means of presentation means, a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle based on said determined operational situation and said determined external conditions manoeuvrability of the vehicle may be improved in a flexible and efficient way. By thus presenting, by means of presentation means, a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle the operator of the vehicle may choose whether such control should be activated or not.

Said steering control means may comprise a steering mechanism for steering said wheels of said at least one wheel axle with steerable wheels, said steering mechanism of the control means being separated from the steering wheel mechanism actuated by the steering wheel of the vehicle for steering the wheels coupled to the steering wheel.

Said operational situation may comprise intention to put the vehicle to a stop at a stop location along the route of the vehicle. Said stop location may be a bus stop at which the vehicle, e.g. a bus, is intending to stop for allowing passengers to get on and/or of the vehicle, said bus stop requiring certain manoeuvre of the vehicle involving turning and thus steering the vehicle.

The stop location may be any suitable stop location where the vehicle may be put to a stop during drive along the route and where said stop of the vehicle requires certain manoeuvring involving steering. The stop location may be a bus stop, any kind of parking place, a tank station, a docking station for e.g. loading/unloading of the vehicle or the like.

Said external conditions may comprise one or more of: route conditions, e.g. route conditions, weather conditions, obstacles along the route, extension of the route.

Route conditions may be determined by means of any suitable detector means comprising any suitable detector for detecting the surface of the route, e.g. road, along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars. Route conditions may be determined by means of external data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.

Weather conditions may be determined by means of weather sensors comprising any suitable rain sensor e.g. arranged in connection to the windshield, any suitable temperature sensor, any suitable wind sensor. Weather conditions may be determined by means of external weather data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.

Thus determined weather conditions may comprise rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like. Thus determined route conditions may comprise slippery road due to e.g. ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, curves of the road or other route conditions that may affect driving along the road.

Obstacles along the route may be determined by means of any suitable detector means comprising any suitable detector for detecting obstacles such as one or more cameras and/or one or more laser scanners and/or one or more radars.

Extension of the route may be determined by means of any suitable detector means comprising any suitable detector for detecting extension of the route comprising curvature such as one or more cameras and/or one or more laser scanners and/or one or more radars. Extension of the route may be determined by means of a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for determining the position of the vehicle in during drive along said route and map data of the route, e.g. road, along which the vehicle is travelling.

According to an embodiment of the method a suitable control of said steerable wheels of said at least one wheel axle is determined based on said determined operational situation and said determined external conditions.

According to an embodiment of the method said operational situation and said external conditions are analysed so as to determine whether said steerable wheels of said at least one wheel axle should be controlled and, if so, how they should be controlled. According to an embodiment of the method said operational situation and said external conditions are analysed so as to determine whether a control means for automatically controlling said steerable wheels of said at least one wheel axle should be activated.

According to an embodiment of the method the step of taking measures based on said determined operational situation and said determined external conditions comprises the step of automatically controlling, by means of said steering control means, steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle. By thus automatically controlling, by means of said steering control means, steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle based on said determined operational situation and said determined external conditions manoeuvrability of the vehicle may be improved in a flexible and efficient way.

Said presentation means for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels comprises according to an embodiment visual means for visual presentation. The visual means for visual presentation comprises according to an embodiment one or more display units/displays on e.g. the instrument panel, a head-up-display on the windshield or the like, for displaying said recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle.

Said presentation means for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels comprises according to an embodiment sound means for audible presentation. Said sound means may comprise a voice message or the like for audibly presenting recommendation to the operator of the vehicle for steering of said steerable wheels. Said sound means may comprise an alarm in order to get the attention of the operator of the vehicle.

Said presentation means comprises according to an embodiment tactile means such as vibrating/moving the seat of the operator, the steering wheel, the gas pedal, the brake pedal or the like so as to draw attention to the operator of the recommendation to the operator of the vehicle for steering of said steerable wheels. The tactile means may be a complement to the visual means and/or the sound means in order to get the attention of the operator of the vehicle.

According to an embodiment of the method said determined current operational situation during said drive of the vehicle comprises determined intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle, and wherein the step of determining the external conditions along the route of the vehicle comprises determining the configuration of said stop location, wherein the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location. Hereby manoeuvring of the vehicle in connection to a stop at a stop location may be performed efficiently and safely based on the configuration of the stop location so as to avoid e.g. an overhang of the vehicle colliding with an object in connection to the stop location.

According to an embodiment of the method said determined current operational situation during said drive of the vehicle comprises determined intention to make a turn, and wherein the step of determining the external conditions along the route of the vehicle comprises determining a potential obstacle in connection to said intended turn, wherein the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so as to avoid collision with said potential obstacle. Hereby manoeuvring of the vehicle in connection to a turn may be performed efficiently and safely so as to avoid a potential object. Said steering control of said steerable wheels may be performed based on whether there is an object that needs to be considered.

According to an embodiment of the method said determined external conditions along the route of the vehicle comprises determined route conditions affecting driveability and/or manoeuvrability, wherein the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or controlling said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions. Hereby drivability and manoeuvrability may be efficiently improved.

Specifically an object of the invention is achieved by a system for controlling steering of a vehicle during drive of the vehicle. Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle. The system comprises means for determining the operational situation; means for determining external conditions along the route of the vehicle, said external conditions comprising one or more of: route conditions comprising surface conditions of the route, weather conditions, obstacles along the route, extension of the route. The system further comprises means for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle.

The means for taking measures based on said determined operational situation and said determined external conditions comprises means for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle.

According to an embodiment of the system the means for taking measures based on said determined operational situation and said determined external conditions comprises means for automatically controlling, by means of said steering control means, steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.

According to an embodiment of the system said means for determining current operational situation during said drive of the vehicle comprises means for determining intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle, and wherein the means for determining the external conditions along the route of the vehicle comprises means for determining the configuration of said stop location, wherein the means for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises means for controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.

According to an embodiment of the system said means for determining current operational situation during said drive of the vehicle comprises means for determining intention to make a turn, and wherein the means for determining the external conditions along the route of the vehicle comprises means for determining a potential obstacle in connection to said intended turn, wherein the means for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises means for controlling said steerable wheels so as to avoid collision with said potential obstacle.

According to an embodiment of the system said means for determining external conditions along the route of the vehicle comprises means for determining route conditions affecting driveability and/or manoeuvrability, wherein the means for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions is arranged to control said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or is arranged to control said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.

The system for determining connection between a leading vehicle unit and a trailing vehicle unit is adapted to perform the methods as set out herein.

The system according to the invention has the advantages according to the corresponding method claims.

Specifically an object of the invention is achieved by a vehicle comprising a system as set out herein.

Specifically an object of the invention is achieved by a computer program for controlling steering of a vehicle during drive of the vehicle, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.

Specifically an object of the invention is achieved by a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.

BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a side view of a vehicle according to the present invention; Fig. 2a schematically illustrates a plan view of a vehicle driving on a road with a stop location according to prior art; Fig. 2b schematically illustrates a plan view of a vehicle driving on the road with a stop location in fig. 2a where steering of the vehicle is being controlled according to an embodiment of the present invention; Fig. 2c schematically illustrates a plan view of the vehicle in fig. 2b where steering of the vehicle is being controlled according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a system for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention; Fig. 4 schematically illustrates a block diagram of a method for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention; and Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a nonphysical connector such as a wireless connection, for example a radio or microwave link.

Hereinafter the term “route” refers to any ground on which the vehicle may be driven and thus operated such as a road, a mine area, a loading/unloading area, a parking area or the like. The term “route” may also refer to a trajectory.

Hereinafter the term “route conditions” refers to any conditions of the route on which the vehicle is travelling comprising any surface condition.

Hereinafter the term “steering control means” refers to any suitable mechanism for steering wheels, said steering control means being separated from the steering wheel mechanism actuated by the steering wheel of the vehicle for steering the wheels coupled to the steering wheel. Said steering control means thus comprises a steering mechanism being separated from the steering wheel mechanism actuated by the steering wheel of the vehicle for steering the wheels coupled to the steering wheel. Hereinafter the term “steering control means” refers to a steering control means which is arranged to control those wheels taking other wheels/wheel shaft/wheel shafts of the vehicle into consideration. Hereinafter the term “steering control means” refers to a steering control means which is arranged to take wheel angles of wheels controllable by the steering wheel and distances between wheel shaft/wheel shafts into consideration. Hereinafter the term “steering control means” refers to a steering control means which is arranged to process information of wheel angles of wheels controllable by the steering wheel and distances between wheel shaft/wheel shafts into consideration.

Fig. 1 schematically illustrates a side view of a vehicle V1 according to the present invention. The exemplified vehicle V1 is a commercial vehicle in the shape of a truck. The vehicle according to the present invention could be any suitable vehicle such as a bus or a car. The vehicle according to the present invention could be an autonomous vehicle. Said vehicle V1 has a front wheel axle X1 with front wheels steerable by means of the steering wheel of the vehicle V1. Said vehicle has a rear wheel axle X2 with steerable wheels steerable by steering control means separated from the steering wheel mechanism actuated by the steering wheel of the vehicle V1. The vehicle V1 comprises a system I for controlling steering of a vehicle during drive of the vehicle along a route R according to the present invention. The system I or at least parts of the system is arranged on board the vehicle V1.

Fig. 2a schematically illustrates a plan view of a vehicle VP driving on a route R, e.g. road, with a stop location H according to prior art. Said vehicle VP has a front wheel axle X1 P with front wheels steerable by means of the steering wheel of the vehicle VP and a rear wheel axle X2P with non-steerable wheels. The vehicle has a front side 1P and a rear side 2P. The vehicle has a front overhang extending forwardly from the front wheel axle X1P and a rear overhang extending rearwardly from the rear wheel axle X2P. The vehicle VP is moving forwardly, i.e. in the direction of the arrow A.

The stop location H is according to an embodiment a bus stop and the vehicle VP a bus. In order to put the vehicle VP to a stop at the stop location H the vehicle VP is required to make a turn, said turn resulting in a portion 1a of the front overhang of the vehicle VP extending over the side of the stop location H where an obstacle, e.g. a vulnerable road user such as a potential passenger for the vehicle VP may be located/stand.

Fig. 2b schematically illustrates a plan view of a vehicle V2 driving on the road with a stop location H in fig. 2a where steering of the vehicle V2 is being controlled according to an embodiment of the present invention.

Said vehicle V2 has a front wheel axle X1 with front left and right wheels W1R, W1L steerable by means of the steering wheel of the vehicle V2. Said vehicle V2 has a rear wheel axle X2 with steerable rear left and right wheels W2R, W2L steerable by steering control means SC separated from the steering wheel mechanism actuated by the steering wheel of the vehicle V1. Said steering control means SC thus comprises a steering mechanism for steering said rear left and right wheels W2R, W2L, said steering mechanism of the control means SC being separated from the steering wheel mechanism actuated by the steering wheel of the vehicle for steering the wheels coupled to the steering wheel. The steering control means SC may comprise any suitable mechanism for steering the wheels W2R, W2L. The steering control means SC is according to an embodiment arranged to control said based on information regarding angle of said front left and right wheels W1R, W1L steerable by means of the steering wheel of the vehicle V2 and distance between front axle X1 and rear axle X2. The angle of said front left and right wheels W1R, W1L may be determined by means of detecting the steering wheel angle. Thus, according to an embodiment the steering control means SC is operably connected to one or more detectors configured to detect steering angle of the steering wheel.

The vehicle V2 comprises a system I for controlling steering of a vehicle during drive of the vehicle along a route R, e.g. road, according to the present invention. The system I or at least parts of the system is arranged on board the vehicle V1.

The stop location H is according to an embodiment a bus stop and the vehicle V2 a bus.

The system I comprises means for determining the operational situation involving intention to put the vehicle V2 to a stop at said stop location H. The system I comprises means, e.g. any suitable detector such as one or more cameras and/or one or more laser scanners and/or one or more radars, for determining external conditions along the route of the vehicle comprising determining the configuration of said stop location H. The system I further comprises means for taking measures based on said determined intention to put the vehicle V2 at a stop as said stop location H and the configuration of said stop location H so as to facilitate controlling steering of said steerable wheels W2R, W2L of said rear wheel axle X2. Hereby the steerable wheels W2R, W2L are controlled such that the vehicle is put to a stop at said stop location H avoiding the front overhang of the vehicle V2 extending over the side of the stop location H and thus avoiding the risk of colliding with an obstacle, e.g. a vulnerable road user such as a potential passenger for the vehicle V2 being located/stand at the side of said stop location H. In the example illustrated in fig. 2b the steerable rear wheels W2R, W2L are controlled such that they are turned relative to the vehicle essentially corresponding how the front wheels W1R, W1L steerable by means of the steering wheel of the vehicle V2 are turned relative to the vehicle V2.

Fig. 2c schematically illustrates a plan view of the vehicle V2 in fig. 2b where steering of the vehicle V2 is being controlled according to an embodiment of the present invention.

In the example illustrated in fig. 2c the steerable rear wheels W2R, W2L are controlled so that they are essentially following the same track as the front wheels W1R, W1L steerable by means of the steering wheel of the vehicle V2.

The system I is according to this embodiment arranged to determine external conditions along the route of the vehicle affecting driveability and/or manoeuvrability. The system I is arranged to control said steerable rear wheels W2R, W2L so that they are essentially following the same track as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive based on said determined route conditions.

Above with reference to fig. 1 and fig. 2b-c vehicles V1, V2 with two axles X1, X2 one wheel axle X1 with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle. The vehicle according to the present invention may have any suitable number of wheel axles with steerable wheels steerable by steering control means separated from a steering wheel mechanism. One or more of said at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism may be drive axle for propelling the thus steerable wheels of the vehicle. The vehicle according to the present invention may have one or more front axles, one or more rear axles operating as drive axles in combination with non-driving support axles arranged in front and/or behind driving axel/axles. The vehicle according to the present invention may be any wheeled articulated vehicle such as an articulated bus having certain wheel configuration.

Fig. 3 schematically illustrates a block diagram of a system I for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention.

Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle.

The system I or at least parts of the system is configured to be arranged on board the vehicle.

The system I comprises an electronic control unit 100.

The system I comprises means 110 for determining the operational situation of said vehicle. The means 110 may be arranged on board the vehicle.

According to an embodiment of the system I said means 110 for determining current operational situation during said drive of the vehicle comprises means 112 for determining intention to put the vehicle to a stop at a stop location along the route of the vehicle.

The means 112 for determining intention to put the vehicle to a stop at a stop location along the route of the vehicle map data of the route comprising map data of said intended stop location along which the vehicle is travelling and a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for determining the position of the vehicle.

If the stop location is a bus stop said means 112 for determining intention of vehicle to stop at said bus stop may comprise means for determining intention of passenger to enter bus, e.g. any suitable detection means such as camera or the like and means for determining intention of passenger to leave bus, e.g. indicators such as buttons on the bus which when pressed indicates intention of passenger to leave the bus at an upcoming bus stop.

The vehicle may be a distribution vehicle and the route along which the vehicle is travelling may comprise a stop location where the distribution vehicle is intended to drive to a certain position for loading and/or unloading.

According to an embodiment of the system said means 110 for determining current operational situation during said drive of the vehicle comprises means 114 for determining intention to make a turn. The means 114 for determining intention to make a turn may comprise means for determining activation of a blinker indicating intention to turn and in which direction to turn. The means 114 for determining intention to make a turn may comprise stored information regarding planned route, map data of the route, e.g. road, along which the vehicle is travelling and a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for determining the position of the vehicle.

The system I comprises means 120 for determining external conditions along the route of the vehicle. The means 120 may be arranged on board the vehicle. Parts of the means 120 may be arranged externally to the vehicle.

According to an embodiment of the system I said means 120 for determining the external conditions along the route of the vehicle comprises means 122 for determining the configuration of said stop location. Said means 122 for determining the configuration of said stop location may comprise any suitable detector means comprising any suitable detector for detecting the configuration of the stop location such as one or more cameras and/or one or more laser scanners and/or one or more radars.

According to an embodiment of the system I said means 120 for determining the external conditions along the route of the vehicle comprises means 124 for determining a potential obstacle in connection to an intended turn. Said means 124 for determining a potential obstacle in connection to an intended turn may comprise any suitable detector means comprising any suitable detector for detecting the obstacle such as one or more cameras and/or one or more laser scanners and/or one or more radars.

According to an embodiment of the system I said means 120 for determining external conditions along the route of the vehicle comprises means 126 for determining route conditions affecting driveability and/or manoeuvrability. The means 126 for determining route conditions may comprise any suitable detector means comprising any suitable detector for detecting the surface of the route, e.g. road, along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars. Route conditions may be determined by means of external data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.

The system I further comprises means 130 for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle. The means 130 is arranged on board the vehicle.

According to an embodiment of the system I the means 130 for taking measures based on said determined operational situation and said determined external conditions comprises means 132 for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.

Said means 132 for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle is arranged to automatically control steering of said steerable wheels by means of the steering control means of the vehicle.

According to an embodiment of the system I said means 132 for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises means 132a for controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.

The steerable wheels are according to an embodiment arranged to be controlled by said means 132a such that the vehicle is put to a stop at said stop location avoiding the front overhang of the vehicle extending over the stop location so as to avoid the risk of colliding with an obstacle, e.g. a vulnerable road user, being located at the stop location.

According to an embodiment of the system I said means 132 for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises means 132b for controlling said steerable wheels so as to avoid collision with said potential obstacle.

The means 132 for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions is arranged to control said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or is arranged to control said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.

Said means 132 automatically controlling said steerable wheels is according to an embodiment arranged to be automatically activated based on said determined operational situation and said determined external conditions.

Said means 132 automatically controlling said steerable wheels is according to an embodiment arranged to be activated during drive of the vehicle.

According to an embodiment of the system I the means 130 for taking measures based on said determined operational situation and said determined external conditions comprises means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle.

Said means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels comprises according to an embodiment visual means for visual presentation. The visual means for visual presentation comprises according to an embodiment one or more display units/displays on e.g. the instrument panel, a head-up-display on the windshield or the like, for displaying said recommendation to the operator of the vehicle for steering of said steerable wheels.

Said means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels comprises according to an embodiment sound means for audible presentation. Said sound means may comprise a voice message or the like for audibly presenting recommendation to the operator of the vehicle for steering of said steerable wheels. Said sound means may comprise an alarm in order to get the attention of the operator of the vehicle.

According to an embodiment the system I comprises activation means 140 for activating said means 132 for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions. Said means 140 for activating said means 132 for automatically controlling said steerable wheels may comprise any suitable activation member accessible for the operator of the vehicle such as a switch or the like. The operator of the vehicle may then, based on said presented recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means, activate said means 132 for automatically controlling said steerable wheels by means of said activation means 140. Said means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels may comprise a recommendation to activate said means 132 automatically controlling said steerable wheels.

The electronic control unit 100 is operably connected to the means 110 for determining the operational situation of said vehicle via a link 10. The electronic control unit 100 is via the link 10 arranged to receive a signal from said means 110 representing data about operational situation of said vehicle during drive of the vehicle.

The electronic control unit 100 is operably connected to the means 112 for determining intention to put the vehicle to a stop at a stop location along the route of the vehicle via a link 12. The electronic control unit 100 is via the link 12 arranged to receive a signal from said means 112 representing data about intention to put the vehicle to a stop at a stop location along the route of the vehicle.

The electronic control unit 100 is operably connected to the means 114 for determining intention to make a turn via a link 14. The electronic control unit 100 is via the link 14 arranged to receive a signal from said means 114 representing data about intention to make a turn.

The electronic control unit 100 is operably connected to the means 120 for determining the external conditions along the route of the vehicle via a link 20. The electronic control unit 100 is via the link 20 arranged to receive a signal from said means 120 representing data about the external conditions along the route of the vehicle.

The electronic control unit 100 is operably connected to the means 122 for determining the configuration of a stop location at which the vehicle intends to stop via a link 22. The electronic control unit 100 is via the link 22 arranged to receive a signal from said means 122 representing data about configuration of stop location.

The electronic control unit 100 is operably connected to the means 124 for determining a potential obstacle in connection to an intended turn via a link 24. The electronic control unit 100 is via the link 24 arranged to receive a signal from said means 124 representing data about an obstacle in connection to an intended turn.

The electronic control unit 100 is operably connected to the means 126 for determining route conditions affecting driveability and/or manoeuvrability via a link 26. The electronic control unit 100 is via the link 26 arranged to receive a signal from said means 126 representing data about determining route conditions affecting driveability and/or manoeuvrability.

The electronic control unit 100 is operably connected to the means 130 for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle via a link 30a. The electronic control unit 100 is via the link 30a arranged to send a signal to said means 130 representing data about determined operational situation.

The electronic control unit 100 is operably connected to the means 130 for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle via a link 30b. The electronic control unit 100 is via the link 30b arranged to send a signal to said means 130 representing data about determined external conditions.

The electronic control unit 100 is operably connected to the means 132 for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle via a link 32. The electronic control unit 100 is via the link 32 arranged to send a signal to said means 132 representing data about automatically controlling steering of said steerable wheels.

The electronic control unit 100 is operably connected to the means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle via a link 34. The electronic control unit 100 is via the link 34 arranged to send a signal to said means 134 representing data about recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means.

The electronic control unit 100 is operably connected to the means 140 for activating said means 132 for automatically controlling said steerable wheels via a link 40. The electronic control unit 100 is via the link 40 arranged to receive a signal from said means 140 representing data about activating said means 132 for automatically controlling said steerable wheels.

Fig. 4 schematically illustrates a block diagram of a method for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention. Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle.

According to the embodiment the method for controlling steering of a vehicle during drive of the vehicle comprises a step S1. In this step the current operational situation during said drive of the vehicle is determined by means of operational situation determining means.

According to the embodiment the method for controlling steering of a vehicle during drive of the vehicle comprises a step S2. In this step external conditions along the route of the vehicle are determined by means of external condition determining means. Said external conditions comprise one or more of: route conditions, weather conditions, obstacles along the route, extension of the route.

According to the embodiment the method for controlling steering of a vehicle during drive of the vehicle comprises a step S3. In this step measures are taken based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle.

Route conditions may be determined by means of any suitable detector means on board the vehicle comprising any suitable detector for detecting the surface of the route, e.g. road, along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars. Route conditions may be determined by means of external data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.

Weather conditions may be determined by means of weather sensors on board the vehicle comprising any suitable rain sensor e.g. arranged in connection to the windshield, any suitable temperature sensor, any suitable wind sensor. Weather conditions may be determined by means of external weather data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.

Thus determined weather conditions may comprise rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like. Thus determined route conditions may comprise slippery road due to e.g. ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, curves of the road or other route conditions that may affect driving along the route and thus steering of said steerable wheels.

Obstacles along the route may be determined by means of any suitable detector means on board the vehicle comprising any suitable detector for detecting obstacles such as one or more cameras and/or one or more laser scanners and/or one or more radars.

According to an embodiment of the method the step S3 of taking measures based on said determined operational situation and said determined external conditions comprises the step of automatically controlling, by means of said steering control means, steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.

According to an embodiment of the method the step S3 of taking measures based on said determined operational situation and said determined external conditions comprises the step of presenting, by means of presentation means, a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle.

Said presentation means comprises according to an embodiment visual means for visual presentation such as one or more display units/displays on e.g. the instrument panel, a head-up-display on the windshield or the like, for displaying said recommendation to the operator of the vehicle for steering of said steerable wheels. Said presentation means comprises according to an embodiment sound means for audible presentation such as a voice message or the like for audibly presenting recommendation to the operator of the vehicle for steering of said steerable wheels, an alarm in order to get the attention of the operator of the vehicle or the like. Said presentation means comprises according to an embodiment tactile means such as vibrating/moving the seat of the operator, the steering wheel, the gas pedal, the brake pedal or the like so as to draw attention to the operator of the recommendation to the operator of the vehicle for steering of said steerable wheels.

According to an embodiment of the method said determined current operational situation during said drive of the vehicle comprises determined intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle, and wherein the step S2 of determining the external conditions along the route of the vehicle comprises determining the configuration of said stop location, wherein the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.

According to an embodiment of the method said determined current operational situation during said drive of the vehicle comprises determined intention to make a turn, and wherein the step S2 of determining the external conditions along the route of the vehicle comprises determining a potential obstacle in connection to said intended turn, wherein the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so as to avoid collision with said potential obstacle.

According to an embodiment of the method said determined external conditions along the route of the vehicle comprises determined route conditions affecting driveability and/or manoeuvrability, wherein the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or controlling said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.

With reference to figure 5, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 3 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500.

Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.

A computer program P is provided comprising routines for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention. Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle. The program P comprises routines for determining the current operational situation during said drive of the vehicle. The program P comprises routines for determining external conditions along the route of the vehicle, said external conditions comprising one or more of: route conditions, weather conditions, obstacles along the route, extension of the route. The program P comprises routines for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle. The routines for taking measures based on said determined operational situation and said determined external conditions comprises routines for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle. The routines for taking measures based on said determined operational situation and said determined external conditions comprises routines for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle. The routines for determining current operational situation during said drive of the vehicle comprise routines for determining intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle. The routines for determining external conditions along the route of the vehicle comprise routines for determining the configuration of said stop location. The routines for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise routines for controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location. The routines for determining current operational situation during said drive of the vehicle comprise routines for determining intention to make a turn. The routines for determining external conditions along the route of the vehicle comprise routines for determining a potential obstacle in connection to said intended turn. The routines for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise routines for controlling said steerable wheels so as to avoid collision with said potential obstacle. The routines for determining external conditions along the route of the vehicle comprise routines for determining route conditions affecting driveability and/or manoeuvrability. The routines for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise routines for controlling said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or controlling said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.

When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.

Data processing device 510 may communicate with a data communications port 599 by means of a data bus 516. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 513. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 511. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 515. To the data communications port 599 e.g. the links connected to the control units 100 may be connected.

When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be used by apparatus 500 for determining the current operational situation during said drive of the vehicle. The signals received on data port 599 can be used by apparatus 500 for determining external conditions along the route of the vehicle, said external conditions comprising one or more of: route conditions, weather conditions, obstacles along the route, extension of the route. The signals received on data port 599 can be used by apparatus 500 for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle. The signals used for taking measures based on said determined operational situation and said determined external conditions comprises signals for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle. The signals used for taking measures based on said determined operational situation and said determined external conditions comprises signals for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle. The signals used for determining current operational situation during said drive of the vehicle comprise signals for determining intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle. The signals used for determining external conditions along the route of the vehicle comprise signals for determining the configuration of said stop location. The signals used for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise signals for controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location. The signals used for determining current operational situation during said drive of the vehicle comprise signals for determining intention to make a turn. The signals used for determining external conditions along the route of the vehicle comprise signals for determining a potential obstacle in connection to said intended turn. The signals used for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise signals for controlling said steerable wheels so as to avoid collision with said potential obstacle. The signals used for determining external conditions along the route of the vehicle comprise routines for determining route conditions affecting driveability and/or manoeuvrability. The signals used for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise routines for controlling said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or controlling said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.

Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims

1. A method for controlling steering of a vehicle (V1; V2) during drive of the vehicle, said vehicle having at least one wheel axle (X2) with steerable wheels (W2L, W2R) steerable by steering control means (SC) separated from a steering wheel mechanism actuated by the steering wheel of the vehicle, the method comprising the steps of: - by means of operational situation determining means (110), determining (S1) the current operational situation during said drive of the vehicle; - by means of external condition determining means (120), determining (S2) external conditions along the route (R) of the vehicle, said external conditions comprising one or more of: route conditions comprising surface conditions of the route, weather conditions, obstacles along the route, extension of the route; and - taking measures (S3) based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels (W2L, W2R) of said at least one wheel axle (X2), characterized in that the step of taking measures based on said determined operational situation and said determined external conditions comprises the step of presenting, by means of presentation means (134), a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means (SC) so as to facilitate manoeuvring of the vehicle.

2. A method according to claim 1, wherein the step of taking measures based on said determined operational situation and said determined external conditions comprises the step of automatically controlling, by means of said steering control means (SC), steering of said steerable wheels (W2L, W2R) of said at least one wheel axle (X2) so as to facilitate manoeuvring of the vehicle.

3. A method according to claim 1 or 2, wherein said determined current operational situation during said drive of the vehicle comprises determined intention to put the vehicle to a stop at a stop location (H), for example a bus stop, along the route of the vehicle, and wherein the step of determining the external conditions along the route of the vehicle comprises determining the configuration of said stop location, wherein the step of automatically controlling said steerable wheels (W2L, W2R) of said at least one wheel axle (X2) based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels (W2L, W2R) so as to facilitate putting the vehicle to a stop at said stop location.

4. A method according to any of claims 1 -3, wherein said determined current operational situation during said drive of the vehicle comprises determined intention to make a turn, and wherein the step of determining the external conditions along the route of the vehicle comprises determining a potential obstacle in connection to said intended turn, wherein the step of automatically controlling said steerable wheels (W2L, W2R) of said at least one wheel axle (X2) based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels (W2L, W2R) so as to avoid collision with said potential obstacle.

5. A method according to any of claims 1 -4, wherein said determined external conditions along the route of the vehicle comprises determined route conditions affecting driveability and/or manoeuvrability, wherein the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels (W2L, W2R) so that they are essentially following the same track as wheels (W1L, W1R) of other wheel axle (X1) of the vehicle or controlling said steerable wheels (W2L, W2R) so that they are not following the same wheel tracks as wheels (W1L, W1R) of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.

6. A system (I) for controlling steering of a vehicle (V1; V2) during drive of the vehicle, said vehicle having at least one wheel axle (X2) with steerable wheels (W2L, W2R) steerable by steering control means (SC) separated from a steering wheel mechanism actuated by the steering wheel of the vehicle, the system comprising means (110) for determining the operational situation; means (120) for determining external conditions along the route (R) of the vehicle, said external conditions comprising one or more of: route conditions comprising surface conditions of the route, weather conditions, obstacles along the route, extension of the route; and means (130) for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels (W2L, W2R) of said at least one wheel axle (X2), characterized in that the means (130) for taking measures based on said determined operational situation and said determined external conditions comprises means (134) for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels (W2L, W2R) of said at least one wheel axle (X2) by means of said steering control means (SC) so as to facilitate manoeuvring of the vehicle.

7. A system according to claim 6, wherein the means (130) for taking measures based on said determined operational situation and said determined external conditions comprises means (132) for automatically controlling, by means of said steering control means (SC), steering of said steerable wheels (W2L, W2R) of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.

8. A system according to claim 6 or 7, wherein said means (110) for determining current operational situation during said drive of the vehicle comprises means (112) for determining intention to put the vehicle (V2) to a stop at a stop location (H), for example a bus stop, along the route of the vehicle, and wherein the means (120) for determining the external conditions along the route of the vehicle comprises means (122) for determining the configuration of said stop location (H), wherein the means (132) for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises means (132a) for controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.

9. A system according to any of claims 6-8, wherein said means (110) for determining current operational situation during said drive of the vehicle comprises means (114) for determining intention to make a turn, and wherein the means (120) for determining the external conditions along the route of the vehicle comprises means (124) for determining a potential obstacle in connection to said intended turn, wherein the means (132) for automatically controlling said steerable wheels (W2L, W2R) of said at least one wheel axle (X2) based on said determined operational situation and said determined external conditions comprises means for controlling said steerable wheels (W2L, W2R) so as to avoid collision with said potential obstacle.

10. A system according any of claims 6-9, wherein said means (120) for determining external conditions along the route of the vehicle comprises means (126) for determining route conditions affecting driveability and/or manoeuvrability, wherein the means (132) for automatically controlling said steerable wheels (W2L, W2R) of said at least one wheel axle (X2) based on said determined operational situation and said determined external conditions is arranged to control said steerable wheels (W2L, W2R) so that they are essentially following the same track as wheels (W1L, W1R) of other wheel axle of the vehicle or is arranged to control said steerable wheels (W2L, W2R) so that they are not following the same wheel tracks as wheels (W1L, W1R) of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.

11. A vehicle (V1; V2) comprising a system (I) according to any of claims 6-10.

12. A computer program (P) for controlling steering of a vehicle during drive of the vehicle, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-5.

13. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to anyone of claims 1-5.