WO2020080981A1

WO2020080981A1 - Method and system for facilitating safely controlling vehicle operation

Info

Publication number: WO2020080981A1
Application number: PCT/SE2018/051047
Authority: WO
Inventors: Joel Huselius; Johannes Slettengren
Original assignee: Scania Cv Ab
Priority date: 2018-10-15
Filing date: 2018-10-15
Publication date: 2020-04-23

Abstract

The present invention relates to a method for facilitating safely controlling vehicle operation of a vehicle. Said vehicle operation comprises different drive operation modes. Said drive operation modes comprises a manual drive operation mode and an assisted drive operation mode and/or an autonomous drive operation mode. The method comprises the steps of: determining (S1) current drive operation mode; determining (S2) if certain predetermined requirements for said current drive operation mode are fulfilled; taking action (S3A) for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are not fulfilled; and allowing continued drive (S3B) in said current drive operation mode if said certain predetermined requirements for a current drive operation mode are fulfilled. The present invention also relates to a system for facilitating safely controlling vehicle operation. The present invention also relates to a vehicle.

Description

METHOD AND SYSTEM FOR FACILITATING SAFELY CONTROLLING

VEHICLE OPERATION

TECHNICAL FIELD The invention relates to a method for facilitating safely controlling vehicle operation. The invention also relates to a system for facilitating safely controlling vehicle operation. The invention also relates to a vehicle.

BACKGROUND ART Vehicle operation of vehicles such as commercial vehicles in the form of heavy trucks is becoming more and more advanced with regard to driver assistance aiming at helping the driver of the vehicle to drive safely and easily. Examples of advanced driver assistance support is adaptive cruise control, automatic emergency brake and lane keep assist. As an evolutionary quantum leap in this direction, pilot functions are aimed at driving vehicles autonomously, i.e. under an autonomous drive operation mode.

Currently, pilot functions cannot be expected to work in all areas and under all circumstances.

WO20131 17313 discloses a driver assistance system for a motor vehicle wherein the drive can choose between a plurality of assistance modes which differ from each other in degree of autonomy of the driver assistance system when the motor vehicle is driven.

There is however a need for facilitating safely controlling vehicle operation in when driving in different drive operation modes. OBJECTS OF THE INVENTION

An object of the present invention is to provide a method for facilitating safely controlling vehicle operation during drive in certain drive operation modes.

Another object of the present invention is to provide a system for facilitating safely controlling vehicle operation during drive in certain drive operation modes.

SUMMARY OF THE INVENTION

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

Specifically an object of the invention is achieved by a method for facilitating safely controlling vehicle operation of a vehicle. Said vehicle operation comprises different drive operation modes, said drive operation modes comprising a manual drive operation mode and an assisted drive operation mode and/or an autonomous drive operation mode. The method comprises the steps of: determining, by drive operation mode determination means, current drive operation mode; determining, by determining means, if certain predetermined requirements for said current drive operation mode are fulfilled; taking action by action taking means for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled; and allow continued drive in said current drive operation mode if said certain predetermined requirements for a current drive operation mode are fulfilled.

By thus taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled safe control of vehicle operation is facilitated in that continued drive in said unsafe drive operation mode may be avoided due to said action. Said action may depend on current drive operation mode and state of driver and may comprise warning the driver comprising recommendation to stop or shift drive mode, activating automatic safe stop of the vehicle or activating automatic safe shifting to an allowable drive operation mode.

Thus, no action is taken and the vehicle may continue driving in current drive mode if there is no indication that certain predetermined requirements for the current drive operation mode are not fulfilled. According to an embodiment of the method the step of taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises the step of warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled. By thus warning the operator of the vehicle of said certain predetermined requirements for the current operation not being fulfilled safety may be further improved.

The step of warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled is performed by means of warning means. Said warning means may comprise visual warning means comprising e.g. any suitable display unit in the vehicle and/or projection outside the vehicle, e.g. on the road in front of the vehicle. Said warning means may comprise sound means for audible warning such as a loud speaker on board the vehicle. Said warning means may comprise tactile warning means, such as vibrations in the seat, pedals, steering wheel or the like.

The step of warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled comprises according to an embodiment informing the operator of the vehicle comprising recommending a certain action such as stopping the vehicle or shifting to an allowable drive operation mode.

According to an embodiment of the method the step of taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises the step of automatically safely stopping said vehicle. By thus automatically safely stop said vehicle if certain predetermined requirements for the current operation are determined not to be fulfilled safety is further improved. For example, if the vehicle is driving in an autonomous drive operation mode and certain requirements change, e.g. the type of road changes from a road on which autonomous drive operation mode is allowed to a road on which autonomous drive operation mode is not allowed, and driver is not in a state to take over control of the vehicle, the vehicle will hereby be safely automatically stopped.

According to an embodiment of the method the step of taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises the step of automatically shifting to an allowable drive operation mode by means of mode selection actuator arrangement for shifting between drive operation modes. The method comprises the step of determining whether one or more drive operation modes are allowable prior to performing the step of automatically shifting to an allowable drive operation mode.

By thus automatically shifting to an allowable drive operation mode if certain predetermined requirements for the current operation are determined not to be fulfilled safe control of vehicle operation is obtained. For example, if the vehicle is driving in a manual drive operation mode or an assisted drive operation mode and certain requirements change, e.g. state of drive changes so that the driver cannot maintain control of the vehicle, and it is determined that autonomous drive operation mode is allowed, a shift to autonomous drive operation mode may be safely automatically performed. Said certain predetermined requirements for a current drive operation mode may depend on the current drive operation mode. Thus, the predetermined requirements may differ depending on the current drive operation mode.

Said certain predetermined requirements for a current drive operation mode may comprise one or more of said certain predetermined requirements for allowing shifting to a requested drive operation mode.

Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise certain vehicle functions such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners and/or vehicle functions relevant for vehicle operation such as vehicle lights, stabilizing system of the vehicle, vehicle brakes, steering actuators, vehicle engine, cooling system, suspension system etc. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining vehicle function status by means of vehicle status determination means such as means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. Thus, certain vehicle functions need to be fulfilled for a current drive operation mode. Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise existence of road marks along the road on which the vehicle is travelling. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining road marks along the road, i.e. whether road marks exists along the road. The step of determining road marks may be performed by any suitable means for determining road marks such as on board sensors, e.g. cameras, laser scanners and/or radars. Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise vehicle position. Vehicle position may comprise vehicle position on the road comprising whether the vehicle is within a lane or crossing a line of a lane and/or geographical position comprising on which road and road type the vehicle is travelling. The step of determining vehicle position may be performed by means of any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like. The step of determining vehicle position may be performed by means of a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road and road type. Said certain predetermined requirements may thus comprise road type. Thus, certain external conditions need to be fulfilled for a current drive operation mode.

Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise external conditions in connection to the vehicle travelling along a road. External conditions may comprise weather conditions, road conditions and/or traffic conditions. The step of determining external conditions may be performed by means of any suitable means for determining external conditions comprising any suitable weather sensors, sensors for determining road conditions and sensors for determining traffic conditions. Thus, certain vehicle position needs to be fulfilled for a current drive operation mode.

Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise state of driver. The step of determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like.

According to an embodiment the method comprises the steps of: determining a requested shifting to a certain drive operation mode by means of said mode selection actuator arrangement for shifting between drive operation modes; prior to performing shifting to a requested drive operation mode, determining by determining means if certain predetermined requirements are fulfilled; performing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled; and denying said shifting request if said certain predetermined requirements are determined not to be fulfilled.

By thus determining if certain predetermined requirements are fulfilled prior to allowing shifting to a requested drive operation mode safety may be improved in that shifting may be controlled such that a requested shifting is only allowed if certain predetermined requirements are fulfilled. Thus, by only allowing shifting to a requested drive operation mode if said certain predetermined requirements are determined to be fulfilled and denying shifting if they are not safety of vehicle operation is improved.

Thus a shifting performance to said requested drive operation mode is allowed if said certain predetermined requirements are determined to be fulfilled. The certain predetermined requirements that need to be fulfilled may depend on to which operation mode shifting is requested to be performed.

The method thus comprises the step of determining requested shifting operation. The step of determining requested shifting operation comprises determining from which drive operation mode to which drive operation mode shifting has been requested.

Thus a shifting performance to said requested drive operation mode is denied if said certain predetermined requirements are determined not to be fulfilled.

The step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled is arranged to deny a certain shifting depending on which of said certain predetermined requirement that are determined not to be fulfilled.

The step of shifting between drive operation modes comprises the step of determining a requested shifting. Autonomous drive operation mode may also be denoted piloted drive operation mode.

Said mode selection actuator arrangement may be any suitable mode selection actuator arrangement configured to control shifting between said different drive operation modes. Said mode selection actuator arrangement may comprise one or more mode selection actuators. Said mode selection actuator arrangement may comprise any suitable kind of switches, levers, touch buttons, regulators, interlock configurations, dual command configurations or the like. Said certain predetermined requirements for allowing shifting to a requested drive operation mode may comprise certain vehicle functions being operable such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners and/or vehicle functions relevant for vehicle operation such as vehicle lights, stabilizing system of the vehicle, vehicle brakes, steering actuators, vehicle engine, cooling system, suspension system etc. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining vehicle function status by means of vehicle status determination means such as means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.

Said certain predetermined requirements for allowing shifting to a requested drive operation mode may comprise existence of road marks along the road on which the vehicle is travelling. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining road marks along the road, i.e. whether road marks exists along the road. The step of determining road marks may be performed by any suitable means for determining road marks such as on board sensors, e.g. cameras, laser scanners and/or radars.

Said certain predetermined requirements for allowing shifting to a requested drive operation mode may comprise correct vehicle position. Vehicle position may comprise vehicle position on the road comprising whether the vehicle is within a lane or crossing a line of a lane and/or geographical position comprising on which road and road type the vehicle is travelling. The step of determining vehicle position may be performed by means of any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like. The step of determining vehicle position may be performed by means of a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road and road type. Said certain predetermined requirements may thus comprise road type. Thus, certain vehicle position need to be fulfilled for allowing shifting to a requested drive operation mode.

Said certain predetermined requirements for allowing shifting to a requested drive operation mode may comprise external conditions in connection to the vehicle travelling along a road. External conditions may comprise weather conditions, road conditions and/or traffic conditions. The step of determining external conditions may be performed by means of any suitable means for determining external conditions comprising any suitable weather sensors, sensors for determining road conditions and sensors for determining traffic conditions. Thus, certain external conditions need to be fulfilled for allowing shifting to a requested drive operation mode.

Said certain predetermined requirements for allowing shifting to a requested drive operation mode may comprise state of driver. The step of determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like. The step of performing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled is arranged to allow a certain shifting depending on which of said certain predetermined requirements that are determined to be fulfilled. According to an embodiment a shifting from manual drive operation mode to assisted drive operation mode may require that less certain predetermined requirements are fulfilled than a shifting from assisted drive operation mode to autonomous drive operation mode.

According to an embodiment a shifting to manual drive operation mode may require a certain driver awareness.

The step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled comprises the step of informing driver of said shifting request being denied. The step of informing driver of said shifting request being denied may be performed by means of any suitable means for informing driver of said shifting request being denied, comprising visual means for visual information and/or sound means for audible information and/or tactile means for tactile information. Said visual means may comprise a display unit e.g. on the instrument panel or the like. Said sound means may comprise a voice message, an alarm or the like. Said tactile means may comprise vibrations in driver seat, steering wheel or the like.

According to an embodiment of the method said drive operation modes comprises said manual drive operation mode, said assisted drive operation mode and said autonomous drive operation mode, wherein the step of shifting between manual drive operation mode and autonomous drive operation mode by means of said mode selection actuator arrangement is performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement is configured such that said shifting always is performed via said assisted drive operation mode. By thus performing said shifting between manual drive operation mode and autonomous drive operation mode by means of said mode selection actuator arrangement such that said shifting always is performed via said assisted drive operation mode a safe control of the vehicle operation is obtained in an efficient way.

Specifically an object of the invention is achieved by a system for facilitating safely controlling vehicle operation of a vehicle, said vehicle operation comprising different drive operation modes, said drive operation modes comprising a manual drive operation mode and an assisted drive operation mode and/or an autonomous drive operation mode, characterized by drive operation mode determination means arranged to determine current drive operation mode; determining means arranged to determine if certain predetermined requirements for said current drive operation mode are fulfilled; action taking means for taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are not fulfilled; said system being arranged to allow continued drive in said current drive operation mode if said certain predetermined requirements for a current drive operation mode are fulfilled.

According to an embodiment of the system said action taking means for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises warning means for warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled. According to an embodiment of the system said action taking means for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises means for automatically safely stopping said vehicle. According to an embodiment of the system said action taking means for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises means for automatically shifting to an allowable drive operation mode by means of mode selection actuator arrangement for shifting between drive operation modes.

According to an embodiment the system comprises a mode selection actuator arrangement arranged for shifting between drive operation modes based on a request for shifting to a certain drive operation mode; determining means arranged to determine if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode; means for allowing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled; and means for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled.

According to an embodiment of the system said drive operation modes comprises said manual drive operation mode, said assisted drive operation mode and said autonomous drive operation mode, wherein said mode selection actuator arrangement is configured such that said shifting is arranged to be performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement is configured such that said shifting always is arranged to be performed via said assisted drive operation mode.

The system for facilitating safely controlling vehicle operation is adapted to perform the method as set out herein.

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

Specifically an object of the invention is achieved by a vehicle comprising a system 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. 2 schematically illustrates a block diagram of the method for facilitating safely controlling vehicle operation according to an embodiment of the present invention;

Fig. 3 schematically illustrates a block diagram of a system for facilitating safely controlling vehicle operation according to an embodiment of the present invention; and Fig. 4 schematically illustrates shifting between drive operation modes for controlling vehicle operation 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 non physical connector such as a wireless connection, for example a radio or microwave link.

Hereinafter the term “mode selection actuator arrangement” refers to any suitable selection actuator arrangement configured to control shifting between different drive operation modes. Said mode selection actuator arrangement may comprise one or more mode selection actuators. Said mode selection actuator arrangement may comprise any suitable kind of switches, levers, touch buttons, regulators, interlock configurations, dual command configurations or the like. Fig. 1 schematically illustrates a side view of a vehicle V according to the present invention. The exemplified vehicle V 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 V comprises a system I for facilitating safely controlling vehicle operation according to the present invention.

The vehicle V comprises a according to an embodiment a mode selection actuator arrangement 1 10. Said mode selection actuator arrangement 110 is arranged for shifting between different drive operation modes. Said mode selection actuator arrangement 1 10 may be arranged to provide information about current drive operation mode.

Fig. 2 schematically illustrates a block diagram of the method for facilitating safely controlling vehicle operation according to an embodiment of the present invention.

Said vehicle operation comprises different drive operation modes, said drive operation modes comprising a manual drive operation mode and an assisted drive operation mode and/or an autonomous drive operation mode.

According to the embodiment the method for facilitating safely controlling vehicle operation comprises a step S1. In this step current drive operation mode is determined. The step of determining current drive operation mode is arranged to be performed by means of drive operation mode determination means.

According to the embodiment the method for facilitating safely controlling vehicle operation comprises a step S2. In this step it is determined if certain predetermined requirements for said current drive operation mode are fulfilled. The step of determining if predetermined requirements for said current drive operation mode are fulfilled is arranged to be performed by means of determining means. According to the embodiment the method for facilitating safely controlling vehicle operation comprises a step S3A. In this step action is taken for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled.

According to the embodiment the method for facilitating safely controlling vehicle operation comprises a step S3B. In this step continued drive in said current drive operation mode is allowed if said certain predetermined requirements for a current drive operation mode are fulfilled.

According to an embodiment of the method the step of taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises the step of warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled.

According to an embodiment of the method the step of taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises the step of automatically safely stopping said vehicle.

According to an embodiment of the method the step of taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises the step of automatically shifting to an allowable drive operation mode by means of mode selection actuator arrangement for shifting between drive operation modes. The method comprises the step of determining whether one or more drive operation modes are allowable prior to performing the step of automatically shifting to an allowable drive operation mode. Said certain predetermined requirements for a current drive operation mode may comprise one or more of said certain predetermined requirements for allowing shifting to a requested drive operation mode.

Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise certain vehicle functions such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners and/or vehicle functions relevant for vehicle operation such as vehicle lights, stabilizing system of the vehicle, vehicle brakes, steering actuators, vehicle engine, cooling system, suspension system etc. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining vehicle function status by means of vehicle status determination means such as means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. Thus, certain vehicle functions need to be fulfilled for a current drive operation mode.

Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise existence of road marks along the road on which the vehicle is travelling. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining road marks along the road, i.e. whether road marks exists along the road. The step of determining road marks may be performed by any suitable means for determining road marks such as on board sensors, e.g. cameras, laser scanners and/or radars.

Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise vehicle position. Vehicle position may comprise vehicle position on the road comprising whether the vehicle is within a lane or crossing a line of a lane and/or geographical position comprising on which road and road type the vehicle is travelling. The step of determining vehicle position may be performed by means of any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like. The step of determining vehicle position may be performed by means of a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road and road type. Said certain predetermined requirements may thus comprise road type. Thus, certain external conditions need to be fulfilled for a current drive operation mode.

Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise external conditions in connection to the vehicle travelling along a road. External conditions may comprise weather conditions, road conditions and/or traffic conditions. The step of determining external conditions may be performed by means of any suitable means for determining external conditions comprising any suitable weather sensors, sensors for determining road conditions and sensors for determining traffic conditions. Thus, certain vehicle position needs to be fulfilled for a current drive operation mode. Said certain predetermined requirements to be fulfilled for a current drive operation mode may comprise state of driver. The step of determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like.

Thus a shifting performance to said requested drive operation mode is denied if said certain predetermined requirements are determined not to be fulfilled. The step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled is arranged to deny a certain shifting depending on which of said certain predetermined requirement that are determined not to be fulfilled. The step of shifting between drive operation modes comprises the step of determining a requested shifting.

Autonomous drive operation mode may also be denoted piloted drive operation mode.

Said mode selection actuator arrangement may be any suitable mode selection actuator arrangement configured to control shifting between said different drive operation modes. Said mode selection actuator arrangement may comprise one or more mode selection actuators. Said mode selection actuator arrangement may comprise any suitable kind of switches, levers, touch buttons, regulators, interlock configurations, dual command configurations or the like.

Said certain predetermined requirements for allowing shifting to a requested drive operation mode may comprise certain vehicle functions being operable such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners and/or vehicle functions relevant for vehicle operation such as vehicle lights, stabilizing system of the vehicle, vehicle brakes, steering actuators, vehicle engine, cooling system, suspension system etc. The step of determining if certain predetermined requirements are fulfilled may thus comprise determining vehicle function status by means of vehicle status determination means such as means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.

Said certain predetermined requirements for allowing shifting to a requested drive operation mode may comprise state of driver. The step of determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like.

The step of performing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled is arranged to allow a certain shifting depending on which of said certain predetermined requirements that are determined to be fulfilled.

According to an embodiment a shifting from manual drive operation mode to assisted drive operation mode may require that less certain predetermined requirements are fulfilled than a shifting from assisted drive operation mode to autonomous drive operation mode. According to an embodiment a shifting to manual drive operation mode may require a certain driver awareness.

The step of denying said shifting request if said certain predetermined requirements are determined not to be fulfilled comprises the step of informing driver of said shifting request being denied. The step of informing driver of said shifting request being denied may be performed by means of any suitable means for informing driver of said shifting request being denied, comprising visual means for visual information and/or sound means for audible information and/or tactile means for tactile information. Said visual means may comprise a display unit e.g. on the instrument panel or the like. Said sound means may comprise a voice message, an alarm or the like. Said tactile means may comprise vibrations in driver seat, steering wheel or the like. Fig. 3 schematically illustrates a block diagram of a system I for facilitating safely controlling vehicle operation according to an embodiment of the present invention.

Said vehicle operation comprises according to an embodiment a manual drive operation mode, an assisted drive operation mode and an autonomous drive operation mode. The system I comprises a control arrangement 100. Said control arrangement 100 may comprise any suitable control arrangement for facilitating safely controlling vehicle operation. Said control arrangement 100 may comprise one or more electronic control units, processing units, computers, server units or the like for facilitating safely controlling vehicle operation. Said control arrangement 100 may comprise control arrangement such as one or more electronic control units arranged on board said vehicle.

The system comprises a mode selection actuator arrangement 1 10 arranged for shifting between drive operation modes based on a request for shifting to a certain drive operation mode. Said mode selection actuator arrangement 1 10 comprises according to an embodiment means for determining a requested shifting to a certain drive operation mode. Said mode selection actuator arrangement 1 10 is according to an embodiment means for determining a requested shifting to a certain drive operation mode. Such a means for determining a requested shifting to a certain drive operation mode may according to an embodiment be comprised in the control arrangement 100. Such a means for determining a requested shifting to a certain drive operation mode may according to an embodiment be a separate means operably connected to the mode selection actuator arrangement 110 and/or the control arrangement 100.

The system I thus comprises means for determining a requested shifting to a certain drive operation mode. The mode selection actuator arrangement 1 10 is according to an embodiment arranged for shifting between manual drive operation mode and autonomous drive operation mode. Said mode selection actuator arrangement 1 10 is configured such that said shifting is arranged to be performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement 1 10 is configured such that said shifting always is arranged to be performed via said assisted drive operation mode.

Said mode selection actuator arrangement 110 comprises a manual drive operation mode selection means 1 12 for manual drive operation mode selection. Said manual drive operation mode selection means 1 12 is configured to handle manual drive operation mode requests comprising providing manual drive operation mode request and allowing shift to manual drive operation mode.

Said mode selection actuator arrangement 110 comprises an assisted drive operation mode selection means 1 14 for assisted drive operation mode selection. Said assisted drive operation mode selection means 1 14 is configured to handle assisted drive operation mode requests comprising providing assisted drive operation mode request and allowing shift to assisted drive operation mode. Said assisted drive operation mode selection means 114 is configured to handle shifting between manual drive operation mode and autonomous drive operation mode such that shift to assisted drive operation mode may be allowed based on a request to shift from manual mode to autonomous mode or a request to shift from autonomous mode to manual mode. Said mode selection actuator arrangement 1 10 comprises an autonomous drive operation mode selection means 1 16 for autonomous drive operation mode selection. Said autonomous drive operation mode selection means 1 16 is configured to handle autonomous drive operation mode requests comprising providing autonomous drive operation mode request and allowing shift to autonomous drive operation mode.

The system I comprises drive operation mode determination means 170 arranged to determine current drive operation mode.

Said drive operation mode determination means 170 is according to an embodiment comprised in said control arrangement 100.

Said drive operation mode determination means 170 is according to an embodiment arranged to determine current drive operation mode based on said mode selection actuator arrangement 1 10. Said drive operation mode determination means 170 is according to an embodiment arranged to determine current drive operation mode based on information from said mode selection actuator arrangement 110 regarding selected drive operation mode.

According to an embodiment the system I comprises means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled. Said certain predetermined requirements for a current drive operation mode may depend on the current drive operation mode. Thus, the predetermined requirements may differ depending on the current drive operation mode.

Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 151 for determining vehicle function status. Vehicle function status may comprise any vehicle function status relevant for vehicle operation, i.e. relevant for a certain operation mode, such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners. Vehicle function status may comprise any vehicle function status relevant for vehicle operation such as function of vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. Said means for determining vehicle function status thus comprises means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.

Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 152 for determining road marks along the road on which the vehicle is travelling. Said means for determining road marks may be any suitable sensor/sensors on board the vehicle such as one or more cameras, one or more laser scanner units and/or one or more radars. Said road marks may be any kind of detectable road marks for facilitating following of the road, e.g. lane keeping or the like. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road.

Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 153 for determining vehicle position.

Said means 153 for determining vehicle position comprises means for determining vehicle position on the road comprising determining whether the vehicle is within a lane or crossing a line of a lane. Said means for determining vehicle position on the road may comprise any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like.

Said means 153 for determining vehicle position comprises according to an embodiment a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road. Said means 153 for determining vehicle position comprises according to an embodiment map data for determining on which road the vehicle is travelling.

Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 154 for determining road type. Said means 154 for determining road type may be comprised in said means 153 for determining vehicle position, i.e. said Global Navigation Satellite System and map data. Said means 154 for determining road type may comprise one or more on board sensors for detecting road typ.

Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 155 for determining external conditions in connection to the vehicle driving along a road.

The means 155 for determining external conditions comprises according to an embodiment means for determining weather conditions in connection to the vehicle driving along said road. Said means for determining weather conditions in connection to the vehicle driving along said road may be comprised in, comprise or constitute said means 125a.

Thus determined weather conditions may comprise any weather conditions that may affect vehicle operation, vehicle drive operation mode and possibility to shift between drive operation modes such as rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like.

The means 155 for determining external conditions comprises according to an embodiment means for determining road conditions in connection to the vehicle driving along said road. Said means for determining road conditions in connection to the vehicle driving along said road may be comprised in, comprise or constitute said means 125b.

Thus determined road 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, construction work along the road or other road conditions that may affect driving along the road comprising drive operation mode and suitability to shift between drive operation modes.

The means 155 for determining external conditions comprises according to an embodiment means for determining traffic conditions along said road. Said means for determining traffic conditions along said road may be comprised in, comprise or constitute said means 125c.

Traffic conditions may comprise number of vehicles, frequency of vehicles, speed of vehicles, traffic flow, traffic jam etc. along the road on which the vehicle is travelling. Said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled comprises means 156 for determining state of driver of the vehicle. Said means 156 for determining state of drive may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like. According to an embodiment the system I comprises means 160 for taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are not fulfilled. Said means 160 for taking action may comprise any suitable action taking means comprising any suitable processing means, electronic control unit, computer or the like. Said means 160 for taking is according to an embodiment comprised in said control arrangement 100. Said means 160 for taking comprises according to an embodiment said control arrangement 100. Said means 160 for taking is according to an embodiment arranged to take action by means of said control arrangement 100. Said action may depend on current drive operation mode and state of driver and may comprise warning the driver comprising recommendation to stop or shift drive mode, activating automatic safe stop of the vehicle or activating automatic safe shifting to an allowable drive operation mode. Said means 160 for taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are not fulfilled is according to an embodiment arranged to provide one or more of: a warning to the operator of the vehicle comprising recommendation to stop or shift drive mode, activating automatic safe stop of the vehicle, activating automatic safe shifting to an allowable drive operation mode.

Said means 160 for taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are not fulfilled comprises according to an embodiment warning means 162 for warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled.

Said warning means 162 may comprise visual warning means comprising e.g. any suitable display unit in the vehicle and/or projection outside the vehicle, e.g. on the road in front of the vehicle. Said warning means 162 may comprise sound means for audible warning such as a loud speaker on board the vehicle. Said warning means 162 may comprise tactile warning means, such as vibrations in the seat, pedals, steering wheel or the like.

The warning means 162 for warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled is according to an embodiment arranged to inform the operator of the vehicle, said information according to an embodiment comprising recommending a certain action such as stopping the vehicle or shifting to an allowable drive operation mode.

Said means 160 for taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are not fulfilled comprises according to an embodiment means 164 for automatically safely stopping said vehicle. Said means 164 for automatically safely stop said vehicle if said certain predetermined requirements for a current drive operation mode are not fulfilled is according to an embodiment comprised in said control arrangement 100.

Said means 164 for automatically safely stop said vehicle if said certain predetermined requirements for a current drive operation mode are not fulfilled is according to an embodiment arranged to automatically safely stop said vehicle depending on which of said certain predetermined requirements that are determined not to be fulfilled and what the current drive operation mode is. Thus, a certain operation mode may require that at least some of said certain predetermined requirements are fulfilled in order for said means 164 not to automatically safely stop said vehicle and another operation mode may require that other or all of said certain predetermined requirements are fulfilled in order for said means 164 not to automatically safely stop said vehicle.

For example, if the vehicle is driving in an autonomous driving mode and certain requirements change, e.g. the type of road changes from a road on which autonomous drive is allowed to a road on which autonomous drive is not allowed, and driver is not in a state to take over control of the vehicle, said means 164 for automatically safely stop said vehicle will be activated so that said vehicle is automatically stopped in a safe way.

Said means 164 for automatically safely stop said vehicle may comprise means for determining surrounding, means for determining position of vehicle, means for controlling drive and stop of said vehicle, etc., so as to be able to safely bring the vehicle to a stop.

Said means 160 for taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are not fulfilled comprises according to an embodiment comprises means 166 for automatically shifting to an allowable drive operation mode by means of mode selection actuator arrangement 1 10 for shifting between drive operation modes. The system I comprises means 180 for determining whether one or more drive operation modes are allowable. Said means 180 for determining whether one or more drive operation modes are allowable is arranged to perform said determination prior to activating said means 166 for automatically shifting to an allowable drive operation mode. Said means 180 for determining whether one or more drive operation modes are allowable is arranged to determine whether one or more other drive operation modes than said current drive operation mode are allowable. Said means 180 for determining whether one or more drive operation modes are allowable is according to an embodiment comprised in said control arrangement 100.

Said means 180 for determining whether one or more drive operation modes are allowable comprises according to an embodiment means for determining if certain predetermined requirements for said one or more drive operation modes are fulfilled. Said means for determining if certain predetermined requirements for said one or more drive operation modes are fulfilled may comprise one or more of said certain predetermined requirements of said means 150 for determining if certain predetermined requirements for said current drive operation mode are fulfilled.

For example, if the vehicle is driving in a manual drive operation mode or an assisted drive operation mode and certain requirements change, e.g. state of drive changes so that the driver cannot maintain control of the vehicle, and it is determined that autonomous drive operation mode is allowed, a shift to autonomous drive operation mode may be safely automatically performed.

Said means 166 for automatically shifting to an allowable drive operation mode by means of mode selection actuator arrangement 1 10 for shifting between drive operation modes is according to an embodiment comprised in said mode selection actuator arrangement 1 10.

Said means 166 for automatically shifting to an allowable drive operation mode by means of mode selection actuator arrangement 1 10 for shifting between drive operation modes is according to an embodiment operably connected to said mode selection actuator arrangement 1 10.

According to an embodiment the system I comprises determining means 120 arranged to determine if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode. Thus, the system comprises means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode. Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode may comprise, i.e. correspond to, one or more of said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled.

Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode comprises means 121 for determining vehicle function status. Vehicle function status may comprise any vehicle function status relevant for vehicle operation such as function of vehicle sensors for assisting in vehicle operation such as cameras, radars, laser scanners. Vehicle function status may comprise any vehicle function status relevant for vehicle operation such as function of vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. Said means for determining vehicle function status thus comprises means for determining function of vehicle sensors, and means for determining function of other vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. Said means 121 may be comprised in, comprise or constitute said means 151 .

Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode comprises means 122 for determining road marks along the road on which the vehicle is travelling. Said means for determining road marks may be any suitable sensor/sensors on board the vehicle such as one or more cameras, one or more laser scanner units and/or one or more radars. Said road marks may be any kind of detectable road marks for facilitating following of the road, e.g. lane keeping or the like. Said road marks may be marks on the road such as marks for dividing the road into lanes and marks on the road for marking side of the road. Said road marks may be posts or the like arranged on the side of the road. Said means 152 may be comprised in, comprise or constitute said means 12.

Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode comprises means 123 for determining vehicle position. Said means 153 may be comprised in, comprise or constitute said means 123.

Said means 123 for determining vehicle position comprises means for determining vehicle position on the road comprising determining whether the vehicle is within a lane or crossing a line of a lane. Said means for determining vehicle position on the road may comprise any suitable sensor on board the vehicle comprising one or more cameras, laser scanners or the like.

Said means 123 for determining vehicle position comprises according to an embodiment a Global Navigation Satellite System, GNSS, e.g. a global positioning system, GPS, for determining the geographical position of the vehicle comprising position along the road. Said means 123 for determining vehicle position comprises according to an embodiment map data for determining on which road the vehicle is travelling.

Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode comprises means 124 for determining road type. Said means 124 for determining road type may be comprised in said means 123 for determining vehicle position, i.e. said Global Navigation Satellite System and map data. Said means 124 for determining road type may comprise one or more on board sensors for detecting road typ. Said means 154 may be comprised in, comprise or constitute said means 124.

Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode comprises means 125 for determining external conditions in connection to the vehicle driving along a road. Said means 155 may be comprised in, comprise or constitute said means 125.

The means 125 for determining external conditions comprises means 125a for determining weather conditions in connection to the vehicle driving along said road.

The means 125a for determining weather conditions in connection to the vehicle driving along said road may comprise any suitable means for determining weather conditions.

The means 125a for determining weather conditions in connection to the vehicle driving along said road comprises one or more weather sensor units. The weather sensor units may comprise one or more rain sensors. The weather sensor units may comprise one or more temperature sensors. The weather sensor units may comprise one or more wind sensors. Said weather sensor units comprises on board sensors arranged on board said vehicle. The means 125a for determining weather conditions in connection to the vehicle driving along said road comprises according to an embodiment means for extracting external weather data from one or more external weather data units comprising any suitable external server unit. The means 125a for determining weather conditions in connection to the vehicle driving along said road comprises one or more external weather data units.

The means 125 for determining external conditions comprises means 125b for determining road conditions in connection to the vehicle driving along said road.

The means 125b for determining road conditions in connection to the vehicle driving along said road comprises means for detecting road conditions in connection to the vehicle driving along said road. The means for detecting road conditions comprises any suitable detector for detecting the surface of the 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.

The means 125b for determining road conditions in connection to the vehicle driving along said road comprises means for extracting information about road conditions from one or more external units comprising any suitable server unit. Thus determined road 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, construction work along the road or other road conditions that may affect driving along the road comprising drive operation mode and suitability to shift between drive operation modes. The means 125 for determining external conditions comprises means 125c for determining traffic conditions along said road.

The means 125c for determining traffic situation along said road comprises means for detecting traffic conditions in connection to the vehicle driving along said road. The means for detecting traffic conditions comprises any suitable detector for detecting other vehicles comprising detecting number of vehicles, frequency of vehicles, speed of vehicles, traffic flow, traffic jam etc. along the road on which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars. The means 125c for determining traffic conditions in connection to the vehicle driving along said road and intended route of vehicle comprises means for extracting information about traffic conditions from one or more external units comprising any suitable server unit.

Said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode comprises means 126 for determining state of driver of the vehicle. Said means 126 for determining state of driver may comprise any suitable sensor for detecting awareness of driver, whether driver is sleeping or the like. Said means 156 may be comprised in, comprise or constitute said means 126.

According to an embodiment the system I comprises means 130 for allowing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled. Said means 130 for allowing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled is according to an embodiment comprised in said control arrangement 100.

Shifting between different drive operation modes may require certain predetermined requirements in accordance with the examples in fig. 2.

Said means 130 for allowing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled is thus arranged to allow a shifting performance.

Said means 130 for allowing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled is arranged to allow a certain shifting depending on which of said certain predetermined requirement that are determined to be fulfilled.

According to an embodiment a shifting from manual drive operation mode to assisted drive operation mode may require that less certain predetermined requirements are fulfilled than a shifting from assisted drive operation mode to autonomous drive operation mode.

According to an embodiment a shifting to manual drive operation mode may require a certain driver awareness. According to an embodiment the system comprises means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled. Said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled is according to an embodiment comprised in said control arrangement 100. Said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled is arranged to deny a certain shifting depending on which of said certain predetermined requirement that are determined not to be fulfilled.

Said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled comprises means 142 for informing driver of said shifting request being denied. Said means 142 for informing driver of said shifting request being denied may comprise visual means for visual information and/or sound means for audible information and/or tactile means for tactile information. Said visual means may comprise a display unit e.g. on the instrument panel or the like. Said sound means may comprise a voice message, an alarm or the like. Said tactile means may comprise vibrations in driver seat, steering wheel or the like.

The control arrangement 100 is operably connected to said drive operation mode determination means 170 via a link 70. The control arrangement 100 is via the link 70 arranged to receive a signal from said means 170 representing data for current drive operation mode.

The control arrangement 100 is operably connected to said mode selection actuator arrangement 1 10 via a link 10a. The control arrangement 100 is via the link 10a arranged to receive a signal from said mode selection actuator arrangement 1 10 representing data for requested shifting to a certain drive operation mode. The control arrangement 100 is according to an embodiment via the link 10a arranged to receive a signal from said mode selection actuator arrangement 1 10 representing data for current drive operation mode.

The control arrangement 100 is operably connected to said manual drive operation mode selection means 1 12 via a link 12a. The control arrangement 100 is via the link 12a arranged to receive a signal from said means 1 12 representing data for request for shifting to manual drive operation mode. The control arrangement 100 is according to an embodiment via the link 12a arranged to receive a signal from said means 1 12 representing data for current drive operation mode being manual drive operation mode.

The control arrangement 100 is operably connected to said assisted drive operation mode selection means 1 14 via a link 14a. The control arrangement 100 is via the link 14a arranged to receive a signal from said means 1 14 representing data for request for shifting to assisted drive operation mode. The control arrangement 100 is according to an embodiment via the link 14a arranged to receive a signal from said means 1 14 representing data for current drive operation mode being assisted drive operation mode. The control arrangement 100 is operably connected to said autonomous drive operation mode selection means 1 16 via a link 16a. The control arrangement 100 is via the link 16a arranged to receive a signal from said means 1 16 representing data for request for shifting to autonomous drive operation mode. The control arrangement 100 is according to an embodiment via the link 16a arranged to receive a signal from said means 1 16 representing data for current drive operation mode being autonomous drive operation mode.

The control arrangement 100 is operably connected to said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled via a link 50a. The control arrangement 100 is via the link 50a arranged to send a signal to said means 150 representing data for current drive operation mode.

The control arrangement 100 is operably connected to said means 151 for determining vehicle function status via a link 51. The control arrangement 100 is via the link 51 arranged to receive a signal from said means 151 representing data for vehicle function status comprising data for function of one or more vehicle sensors and/or data for function of vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc. The control arrangement 100 is operably connected to said means 152 for determining road marks along the road on which the vehicle is travelling via a link 52. The control arrangement 100 is via the link 52 arranged to receive a signal from said means 152 representing data for existence of road marks and where applicable data for type of road marks. The control arrangement 100 is operably connected to said means 153 for determining vehicle position via a link 53. The control arrangement 100 is via the link 53 arranged to receive a signal from said means 153 representing data vehicle position comprising data for vehicle position on said road and/or geographical vehicle position comprising where applicable data for type of road on which said vehicle is positioned.

The control arrangement 100 is operably connected to said means 154 for determining road type via a link 54. The control arrangement 100 is via the link 54 arranged to receive a signal from said means 154 representing data for road type. The control arrangement 100 is operably connected to said means 155 for determining external conditions via a link 55. The control arrangement 100 is via the link 55 arranged to receive a signal from said means 155 representing data for external conditions in connection to the vehicle comprising data for weather conditions in connection to the vehicle and/or data for road conditions in connection to the vehicle and/or data for traffic conditions in connection to the vehicle.

The control arrangement 100 is operably connected to said means 156 for determining state of driver via a link 56. The control arrangement 100 is via the link 56 arranged to receive a signal from said means 156 representing data for state of driver.

The control arrangement 100 is operably connected to said means 150 for determining if certain predetermined requirements for a current drive operation mode are fulfilled via a link 50b. The control arrangement 100 is via the link 50b arranged to send a signal to said means 150 representing data for determined predetermined requirements to be fulfilled based on current drive operation mode.

The control arrangement 100 is operably connected to said warning means 162 for warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled via a link 62. The control arrangement 100 is via the link 62 arranged to send a signal to said means 162 representing data for certain predetermined requirements for a current drive operation mode not being fulfilled comprising data for activation of said means 162 for warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled.

The control arrangement 100 is operably connected to said means 164 for automatically safely stop said vehicle if said certain predetermined requirements for a current drive operation mode are not fulfilled via a link 64. The control arrangement 100 is via the link 64 arranged to send a signal to said means 164 representing data for certain predetermined requirements for a current drive operation mode not being fulfilled comprising data for activation of said means 164 for automatically safely stop said vehicle. The control arrangement 100 is operably connected to said means 166 for automatically shifting to an allowable drive operation mode by means of mode selection actuator arrangement 1 10 for shifting between drive operation modes via a link 66. The control arrangement 100 is via the link 66 arranged to send a signal to said means 166 representing data for certain predetermined requirements for a current drive operation mode not being fulfilled comprising data for activation of said means 166 for automatically shifting to an allowable drive operation mode.

The control arrangement 100 is operably connected to said mode selection actuator arrangement 1 10 via a link 10b. The control arrangement 100 is according to an embodiment via the link 10b arranged to send a signal to said mode selection actuator arrangement 1 10 representing data for automatically shifting to an allowable drive operation mode.

The means 166 for automatically shifting to an allowable drive operation mode operably connected to said mode selection actuator arrangement 1 10 via a link, not shown. The means 166 is according to an embodiment via said not shown link arranged to send a signal to said mode selection actuator arrangement 1 10 representing data for automatically shifting to an allowable drive operation mode.

The control arrangement 100 is operably connected to said means 180 for determining whether one or more drive operation modes are allowable via a link 80a. The control arrangement 100 is according to an embodiment via the link 80a arranged to send a signal to said means 180 representing data for current requirements for allowing drive in other operation modes. Said means 180 for determining whether one or more drive operation modes are allowable is arranged to process said data so as to determine whether one or more drive operation modes are allowable.

The control arrangement 100 is operably connected to said means 180 for determining whether one or more drive operation modes are allowable via a link 80b. The control arrangement 100 is according to an embodiment via the link 80b arranged to receive a signal from said means 180 representing data for whether one or more drive operation modes are allowable and if so, which drive operation mode/modes. The control arrangement 100 is operably connected to said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation via a link 20a. The control arrangement 100 is via the link 20a arranged to send a signal to said means 120 representing data for requested drive operation mode. The control arrangement 100 is operably connected to said means 121 for determining vehicle function status via a link 21. The control arrangement 100 is via the link 21 arranged to receive a signal from said means 121 representing data for vehicle function status comprising data for function of one or more vehicle sensors and/or data for function of vehicle functions such as vehicle lights, stabilizing system of the vehicle, brakes, steering actuators, engine, cooling system, suspension system etc.

The control arrangement 100 is operably connected to said means 122 for determining road marks along the road on which the vehicle is travelling via a link 22. The control arrangement 100 is via the link 22 arranged to receive a signal from said means 122 representing data for existence of road marks and where applicable data for type of road marks.

The control arrangement 100 is operably connected to said means 123 for determining vehicle position via a link 23. The control arrangement 100 is via the link 23 arranged to receive a signal from said means 123 representing data vehicle position comprising data for vehicle position on said road and/or geographical vehicle position comprising where applicable data for type of road on which said vehicle is positioned.

The control arrangement 100 is operably connected to said means 124 for determining road type via a link 24. The control arrangement 100 is via the link 24 arranged to receive a signal from said means 124 representing data for road type.

The control arrangement 100 is operably connected to said means 125a for determining weather conditions in connection to the vehicle driving along said road via a link 25a. The control arrangement 100 is via the link 25a arranged to receive a signal from said means 125a representing data for weather conditions in connection to the vehicle.

The control arrangement 100 is operably connected to said means 125b for determining road conditions in connection to the vehicle driving along said road via a link 25b. The control arrangement 100 is via the link 25b arranged to receive a signal from said means 125b representing data for road conditions in connection to the vehicle.

The control arrangement 100 is operably connected to said means 125c for determining traffic conditions along said road via a link 25c. The control arrangement 100 is via the link 25c arranged to receive a signal from said means 125c representing data for traffic conditions in connection to the vehicle.

The control arrangement 100 is operably connected to said means 126 for determining state of driver via a link 26. The control arrangement 100 is via the link 26 arranged to receive a signal from said means 126 representing data for state of driver.

The control arrangement 100 is operably connected to said means 120 for determining if certain predetermined requirements are fulfilled prior to performing shifting to a requested operation via a link 20b. The control arrangement 100 is via the link 20b arranged to send a signal to said means 120 representing data for determined predetermined requirements to be fulfilled based on requested drive operation mode. The control arrangement 100 is operably connected to said means 130 for allowing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled via a link 30a. The control arrangement 100 is via the link 30a arranged to send a signal to said means 130 representing data for certain predetermined requirements being fulfilled for the requested drive operation mode. The means 130 may be comprised in said control arrangement.

The control arrangement 100 is operably connected to said means 130 for allowing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled via a link 30b. The control arrangement 100 is via the link 30b arranged to receive a signal from said means 130 representing data for allowing shifting to said requested drive operation mode. The means 130 may be comprised in said control arrangement. The control arrangement 100 is operably connected to said manual drive operation mode selection means 1 12 via a link 12b. The control arrangement 100 is via the link 12b arranged to send a signal to said means 1 12 representing data for performing shifting to manual drive operation mode based on data for allowed shifting to manual drive from said means 130. The control arrangement 100 is operably connected to said assisted drive operation mode selection means 1 14 via a link 14b. The control arrangement 100 is via the link 14b arranged to send a signal to said means 1 14 representing data for performing shifting to assisted drive operation mode based on data for allowed shifting to assisted drive from said means 130. The control arrangement 100 is operably connected to said autonomous drive operation mode selection means 1 16 via a link 16b. The control arrangement 100 is via the link 16b arranged to send a signal to said means 1 16 representing data for performing shifting to autonomous drive operation mode based on data for allowed shifting to autonomous drive from said means 130. The control arrangement 100 is operably connected to said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled via a link 40a. The control arrangement 100 is via the link 40a arranged to send a signal to said means 140 representing data for certain predetermined requirements not being fulfilled for the requested drive operation mode. The means 140 may be comprised in said control arrangement.

The control arrangement 100 is operably connected to said means 140 for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled via a link 40b. The control arrangement 100 is via the link 40b arranged to receive a signal from said means 140 representing data for denying shifting to said requested drive operation mode. The means 140 may be comprised in said control arrangement.

The control arrangement 100 is operably connected to said mode selection actuator arrangement 1 10 via a link 10b. The control arrangement 100 is via the link 10b arranged to send a signal to said mode selection actuator arrangement 1 10 representing data for requested shifting being denied.

The control arrangement 100 is operably connected to said means 142 for informing driver of said shifting request being denied via a link 42. The control arrangement 100 is via the link 42 arranged to receive a signal from said means 142 representing data for denying shifting to said requested drive operation mode.

Fig. 4 schematically illustrates shifting between drive operation modes for controlling vehicle operation according to an embodiment of the present invention.

Said vehicle operation comprises a manual drive operation mode, an assisted drive operation mode and autonomous drive operation mode. Fig. 4 illustrates shifting between said drive operation modes. During drive of the vehicle current drive operation mode is arranged to be determined by drive operation mode determination means. It is further determined, by determining means, if certain predetermined requirements for said current drive operation mode are fulfilled. Action is taken, by action taking means, for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled. Continued drive in said current drive operation mode is allowed if said certain predetermined requirements for a current drive operation mode are fulfilled. Said action may depend on current drive operation mode and state of driver and may comprise one or more of: warning the driver, said warning e.g. comprising recommendation to stop or shift drive mode; activating automatic safe stop of the vehicle; or activating automatic safe shifting to an allowable drive operation mode. Such shifting to an allowable drive operation mode Control of driving in a current drive operation mode and shifting between drive operation modes as schematically illustrated in fig. 4 may be performed by means of a method for facilitating safely controlling vehicle operation according to an embodiment of the present invention, e.g. the method described with reference to fig. 2. Control of driving in a current drive operation mode and shifting between drive operation modes as schematically illustrated in fig. 4 may be performed by means of a system for facilitating safely controlling vehicle operation according to an embodiment of the present invention, e.g. the system I described with reference to fig. 3. Shifting between manual drive operation mode and autonomous drive operation mode is performed by means of a mode selection actuator arrangement according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement is configured such that said shifting always is performed via said assisted drive operation mode.

Thus, shifting between said drive operation modes is performed based on a request for shifting to an operation mode. Thus, a request for shifting to an operation mode is received. Said request may be driver initiated via said mode selection actuator arrangement or automatic. An automatic request may also be initiated via said mode selection actuator arrangement.

In fig. 4 a first mode shift MS1 shifting from assisted drive operation mode to manual drive operation mode, a second mode shift MS2 shifting from manual drive operation mode to assisted drive operation mode, a third mode shift MS3 shifting from autonomous drive operation mode to assisted drive operation mode and a fourth mode shift MS4 shifting from assisted drive operation mode to autonomous drive operation mode are illustrated. Thus said mode selection actuator arrangement is configured such that said shifting always is performed via said assisted drive operation mode.

When automatic shifting to an allowable drive operation mode is performed if certain predetermined requirements for the current operation are determined not to be fulfilled shifting will according to this embodiment be performed via said assisted drive operation mode. For example, if the vehicle is driving in a manual drive operation mode or an assisted drive operation mode and certain requirements change, e.g. state of drive changes so that the driver cannot maintain control of the vehicle, and it is determined that autonomous drive operation mode is allowed, a shift to autonomous drive operation mode may be safely automatically performed via said assisted drive operation mode. Here the request will be automatic.

Shifting between drive operation modes when current drive operation mode is allowed will function essentially in the same way, said shifting request then generally being a request from the operator of the vehicle. For example, a request to manual drive operation mode when driving in autonomous drive operation mode will initially result in a mode shift MS3 shifting from autonomous drive operation mode to assisted drive operation mode and then in a mode shift MS1 shifting from assisted drive operation mode to manual drive operation mode. Prior to performing shifting to a requested drive operation mode it is determined if certain predetermined requirements are fulfilled. Said certain predetermined requirements may depend on whether a first mode shift MS1 shifting from assisted drive operation mode to manual drive operation mode, a second mode shift MS2 shifting from manual drive operation mode to assisted drive operation mode, a third mode shift MS3 shifting from autonomous drive operation mode to assisted drive operation mode or a fourth mode shift MS4 shifting from assisted drive operation mode to autonomous drive operation mode is to be realized based on said requested drive operation mode.

Shifting from manual drive operation mode to assisted drive operation mode according to mode shift MS2 may require certain vehicle functions to be operable for allowing assisted drive such as adaptive cruise control, automatic emergency brake and lane keep assist. Mode shift MS2 may require certain vehicle position such as vehicle being placed within a lane. Mode shift MS2 may require certain external conditions such as certain road conditions, certain weather conditions and certain traffic conditions.

Shifting from assisted drive operation mode to autonomous drive operation mode according to mode shift MS4 may require at least that the certain predetermined requirements for mode shift MS3 are fulfilled, i.e. certain vehicle functions to be operable for allowing assisted drive such as adaptive cruise control, automatic emergency brake and lane keep assist, certain vehicle position such as vehicle being placed within a lane, and certain external conditions such as certain road conditions, certain weather conditions and certain traffic conditions. Shifting from assisted drive operation mode to autonomous drive operation mode according to mode shift MS4 may in addition require even more strict predetermined requirements to be fulfilled such as certain road type.

Shifting from autonomous drive operation mode to assisted drive operation mode according to mode shift MS3 may require certain driver awareness comprising e.g. a confirmation from the driver. Mode shift MS3 may require certain vehicle position such as vehicle being placed within a lane.

Shifting from assisted drive operation mode to manual drive operation mode according to mode shift MS1 may require a certain driver awareness which is more strict than for mode shift MS3, comprising in addition to a confirmation from the driver, the driver being in certain control such as having hands on the steering wheel. Mode shift MS1 may require certain vehicle position such as vehicle being placed within a lane.

If said certain predetermined requirements for the respective mode shifts MS1 , MS2, MS3, MS4 are determined not to be fulfilled said shifting request is denied.

Such certain predetermined requirements and how they may be determined are described in more detail with reference to fig. 2 and fig. 3.

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 facilitating safely controlling vehicle operation of a vehicle (V), said vehicle operation comprising different drive operation modes, said drive operation modes comprising a manual drive operation mode and an assisted drive operation mode and/or an autonomous drive operation mode, characterized by the steps of: determining (S1 ), by drive operation mode determination means (170), current drive operation mode; determining (S2), by determining means (150), if certain predetermined requirements for said current drive operation mode are fulfilled; taking action (S3A) by action taking means (180) for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are not fulfilled; and allowing continued drive (S3B) in said current drive operation mode if said certain predetermined requirements for a current drive operation mode are fulfilled.

2. A method according to claim 1 , wherein the step of taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises the step of warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled.

3. A method according to claim 1 or 2, wherein the step of taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises the step of automatically safely stopping said vehicle.

4. A method according to claim 1 or 2, wherein the step of taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises the step of automatically shifting to an allowable drive operation mode by means of mode selection actuator arrangement (1 10) for shifting between drive operation modes.

5. A method according to claim 1 , comprising the steps of: requesting shifting to a certain drive operation mode by means of said mode selection actuator arrangement (1 10) for shifting between drive operation modes; prior to performing shifting to a requested drive operation mode, determining by determining means (120) if certain predetermined requirements are fulfilled; performing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled; and denying said shifting request if said certain predetermined requirements are determined not to be fulfilled.

6. A method according to claim 2, wherein said drive operation modes comprises said manual drive operation mode, said assisted drive operation mode and said autonomous drive operation mode, wherein the step of shifting between manual drive operation mode and autonomous drive operation mode by means of said mode selection actuator arrangement (1 10) is performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement (1 10) is configured such that said shifting always is performed via said assisted drive operation mode.

7. A system (I) for facilitating safely controlling vehicle operation of a vehicle (V), said vehicle operation comprising different drive operation modes, said drive operation modes comprising a manual drive operation mode and an assisted drive operation mode and/or an autonomous drive operation mode, characterized by drive operation mode determination means (170) arranged to determine current drive operation mode; determining means (150) arranged to determine if certain predetermined requirements for said current drive operation mode are fulfilled; action taking means (160) for taking action for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are not fulfilled; said system being arranged to allow continued drive in said current drive operation mode if said certain predetermined requirements for a current drive operation mode are fulfilled.

8. A system according to claim 7, wherein said action taking means (160) for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises warning means (162) for warning the operator of the vehicle of said certain predetermined requirements for a current drive operation mode not being fulfilled.

9. A system according to claim 7 or 8, wherein said action taking means (160) for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises means (164) for automatically safely stopping said vehicle.

10. A system according to claim 7 or 8, wherein said action taking means (160) for preventing unsafe vehicle operation if said certain predetermined requirements for a current drive operation mode are determined not to be fulfilled comprises means (166) for automatically shifting to an allowable drive operation mode by means of mode selection actuator arrangement (1 10) for shifting between drive operation modes.

1 1 . A system according to claim 7, comprising a mode selection actuator arrangement (1 10) arranged for shifting between drive operation modes based on a request for shifting to a certain drive operation mode; determining means (120) arranged to determine if certain predetermined requirements are fulfilled prior to performing shifting to a requested drive operation mode; means (130) for allowing shifting to said requested drive operation mode if said certain predetermined requirements are determined to be fulfilled; and means (140) for denying said shifting request if said certain predetermined requirements are determined not to be fulfilled.

12. A system according to claim 1 1 , wherein said drive operation modes comprises said manual drive operation mode, said assisted drive operation mode and said autonomous drive operation mode, wherein said mode selection actuator arrangement (1 10) is configured such that said shifting is arranged to be performed according to an escalating/deescalating scale of vehicle operation mode functionality in so far that said mode selection actuator arrangement (1 10) is configured such that said shifting always is arranged to be performed via said assisted drive operation mode. 13. A vehicle (V) comprising an arrangement (I) according to any of claims 7-

12.