CN111954858A - Method and control device for remotely controlling vehicle driving - Google Patents

Method and control device for remotely controlling vehicle driving Download PDF

Info

Publication number
CN111954858A
CN111954858A CN201980025063.3A CN201980025063A CN111954858A CN 111954858 A CN111954858 A CN 111954858A CN 201980025063 A CN201980025063 A CN 201980025063A CN 111954858 A CN111954858 A CN 111954858A
Authority
CN
China
Prior art keywords
vehicle
deceleration
control device
driving
acceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201980025063.3A
Other languages
Chinese (zh)
Other versions
CN111954858B (en
Inventor
L·肯珀斯
M·伦德奎斯特
P·昂格
F·鲁登斯坦
C·赫尔曼松
F·埃里克松
J·约恩松
A·阿布塞尔
J·瓦恩斯特伦
R·弗里贝里
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Publication of CN111954858A publication Critical patent/CN111954858A/en
Application granted granted Critical
Publication of CN111954858B publication Critical patent/CN111954858B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/005—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with signals other than visual, e.g. acoustic, haptic
    • G05D1/221—
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G09B9/048—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles a model being viewed and manoeuvred from a remote point

Abstract

The invention relates to a method performed by a control apparatus (100) for remotely controlling driving of a vehicle (V1). A driving control arrangement (DA) for controlling driving of a vehicle is provided. The driving control arrangement (DA) is remotely located with respect to the vehicle (V1). The driving control arrangement (DA) comprises a Steering Member (SM) for steering the vehicle (V1) by a driver (D) remotely located with respect to the vehicle during driving of the vehicle (V1). The method comprises the following steps: determining a change in vehicle movement; and moving the handling member (SM) based on the thus determined change in the movement of the vehicle. The invention also relates to a control device for remotely controlling the driving of a vehicle. The invention also relates to a vehicle. The invention also relates to a computer program and a computer readable medium.

Description

Method and control device for remotely controlling vehicle driving
Technical Field
The present invention relates to a method performed by a control apparatus for remotely controlling driving of a vehicle. The invention also relates to a control device for remotely controlling the driving of a vehicle. The invention further relates to a vehicle. The invention further relates to a computer program and a computer-readable medium.
Background
In the near future, the automation of vehicles will increase. If the vehicle is driven autonomously, no driver is required and therefore no driver's seat is required. This means that the space now occupied by the driver can be used for e.g. more goods, more passengers etc. A human driver may be required to drive such vehicles during at least part of a trip before the vehicles (such as trucks and buses) are fully autonomous.
In order to utilize the space available for the absence of a driver in a vehicle, remote control of the vehicle would be required. This remote control may be performed from within a control room or the like. This means that the driver is no longer in the vehicle but is remotely located in such a control room.
However, such remote control of the vehicle needs to be performed safely.
Therefore, it is necessary to facilitate remote control of vehicle driving.
Object of the Invention
It is an object of the present invention to provide a method performed by a control apparatus for remotely controlling driving of a vehicle, which method is advantageous for improving drivability.
Another object of the present invention is to provide a control apparatus for remotely controlling driving of a vehicle, which is advantageous in improving drivability.
It is a further object of the invention to provide a vehicle operatively connected to such a control device.
Disclosure of Invention
These and other objects, which will be apparent from the following description, are achieved by a method, a control device, a vehicle, a computer program and a computer readable medium as set forth in the appended independent claims. Preferred embodiments of the method and the control device are defined in the appended dependent claims.
In particular, the object of the invention is achieved by a method performed by a control device for remotely controlling the driving of a vehicle. A driving control arrangement for controlling the driving of a vehicle is provided. The driving control arrangement is remotely located relative to the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a driver remotely located with respect to the vehicle during driving of the vehicle. The method comprises the following steps: determining a change in vehicle movement; and moving the operating member based on the change in vehicle movement thus determined.
In this way, drivability can be improved, which has a positive effect on the safety of other road users. In this way, the remotely located driver can effectively perceive changes in vehicle movement (i.e., acceleration and deceleration), thereby facilitating improved drivability for the driver. Therefore, the driving experience can be effectively improved in this way. In this way a cost effective solution is obtained. In this way, the bio-kinetic feed-through is minimized. When a person experiences acceleration through a vehicle or simulator, a bio-kinetic feedthrough occurs. The bio-kinetic feedthrough may cause involuntary movement of the limb, resulting in involuntary control input.
According to an embodiment of the method, the step of determining the change in the movement of the vehicle comprises determining one or more of the following items: acceleration and deceleration in the driving direction of the vehicle; turning of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle. In this way, drivability can be improved, which has a positive effect on the safety of other road users.
According to an embodiment of the method, the step of moving the manoeuvring member based on the change in movement of the vehicle thus determined comprises the steps of: in the case where acceleration is determined, the manipulation member is moved away from the driver, and in the case where deceleration is determined, the manipulation member is moved closer to the driver.
According to an embodiment of the method, the step of moving the manoeuvring member based on the change in movement of the vehicle thus determined comprises the steps of: the steering member is laterally moved with the turning, lateral acceleration and deceleration of the vehicle, and/or the yaw rate of the vehicle determined.
According to an embodiment of the method, the step of moving the manoeuvring member based on the change in movement of the vehicle thus determined comprises the steps of: in the case where the vertical acceleration and deceleration of the vehicle is determined, the manipulation member is vertically moved.
According to an embodiment, the method comprises the step of determining a degree of changed acceleration or deceleration of the vehicle movement, wherein the degree of movement of the steering member is based on the degree of changed acceleration or deceleration of the vehicle movement. In this way, the drivability can be further improved, which has a positive effect on the safety of other road users.
Specifically, the object of the present invention is achieved by a control apparatus for remotely controlling the driving of a vehicle. A driving control arrangement for controlling the driving of a vehicle is provided. The driving control arrangement is remotely located relative to the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a driver remotely located with respect to the vehicle during driving of the vehicle. The control device is configured to: determining a change in vehicle movement; and moving the operating member based on the change in vehicle movement thus determined.
According to an embodiment, when determining the change in the movement of the vehicle, the control device is configured to determine one or more of the following items: acceleration and deceleration in the driving direction of the vehicle; turning of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle.
According to an embodiment, when the manipulation member is moved based on the change in the movement of the vehicle thus determined, the control apparatus is configured to move the manipulation member away from the driver in a case where acceleration is determined, and configured to move the manipulation member closer to the driver in a case where deceleration is determined.
According to an embodiment, when the manipulation member is moved based on the change in the movement of the vehicle thus determined, the control apparatus is configured to laterally move the manipulation member with the turning, lateral acceleration and deceleration of the vehicle, and/or the yaw rate of the vehicle determined.
According to an embodiment, when the manipulation member is moved based on the change in the movement of the vehicle thus determined, the control apparatus is configured to vertically move the manipulation member if vertical acceleration and deceleration of the vehicle is determined.
According to an embodiment, the control device is configured to determine a degree of changed acceleration or deceleration of the vehicle movement, wherein the control device is configured to control the degree of movement of the steering member based on the degree of changed acceleration or deceleration of the vehicle movement.
In particular, the object of the invention is achieved by a vehicle that can be operatively connected to a control device as described herein.
In particular, the object of the invention is achieved by a computer program for remotely controlling the driving of a vehicle, comprising program code which, when run on a control device or on another computer connected to the control device, causes the control device to carry out the method as described herein.
In particular, the object of the invention is achieved by a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to perform a method as described herein.
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 numerals refer to like parts throughout the several views, and wherein:
FIG. 1 schematically illustrates a side view of a vehicle according to an embodiment of the invention;
FIG. 2 schematically illustrates a driving control arrangement for remotely controlling a vehicle according to an embodiment of the invention;
fig. 3 schematically illustrates a block diagram of a control apparatus for remotely controlling vehicle driving according to an embodiment of the present invention;
fig. 4 schematically illustrates a flow chart of a method performed by a control apparatus for remotely controlling vehicle driving according to an embodiment of the present invention; and
FIG. 5 schematically illustrates a computer according to an embodiment of the invention.
Detailed Description
Hereinafter, the term "link" refers to a communication link, which may be a physical connector, such as an optoelectronic communication line, or a non-physical connector, such as a wireless connection, e.g. a radio or microwave link.
Herein, the term "remotely controlled vehicle driving" may refer to tele-remote driving.
FIG. 1 schematically illustrates a side view of a vehicle V1, according to an embodiment of the invention.
Vehicle V1 is a remotely controllable vehicle. The vehicle may be a vehicle intended for autonomous driving. Vehicle V1 may be a vehicle that is not intended to have a driver in the vehicle driving the vehicle. Exemplary vehicle V1 is a heavy vehicle in the shape of a truck. The vehicle V1 is traveling on the road R. The vehicle according to the invention may be any suitable vehicle, such as a bus or a car.
The vehicle V1 may be operatively connected to the control device 100 for remotely controlling the driving of the vehicle V1. Vehicle V1 may include or be operatively connected to system I for remotely controlling the driving of vehicle V1. System I may include a control device 100 that remotely controls the driving of vehicle V1.
According to an embodiment, the vehicle V1 is arranged to operate according to method M1 according to fig. 4, performed by a control device for remotely controlling vehicle driving.
Fig. 2 schematically illustrates a driving control arrangement (device) DA for remotely controlling a vehicle V1 according to an embodiment of the invention. The driving control arrangement may also be denoted as a vehicle operation control arrangement.
The driving control arrangement DA is remotely located with respect to the vehicle V1. The driving control arrangement DA may be constituted by or comprised in a control cabin or the like. The driving control arrangement DA comprises a steering member SM for steering the vehicle by a driver D remotely located with respect to the vehicle V1 during driving of the vehicle. The steering member SM according to the invention may be any suitable steering member for remotely steering a vehicle. According to this example, the steering member SM is a steering wheel. The manipulation member SM includes or is operatively connected to a manipulation member moving mechanism M so as to facilitate movement of the manipulation member SM. The manipulation member moving mechanism M may be configured to allow the manipulation member SM to move away from the driver D (as indicated by arrow a 1) and to move toward the driver D (as indicated by arrow a 2). The manipulation member moving mechanism M may be configured to allow the manipulation member SM to move in the vertical direction, as indicated by an arrow a 3. The manipulation member moving mechanism M may be configured to allow the manipulation member to move in a lateral (side) direction, i.e., to laterally tilt the manipulation member SM, as indicated by arrow a 4.
Here, the vehicle V1 is driving on the road R away from the driving control arrangement DA. Thus, driver D is remotely located with respect to vehicle V1, and therefore is not located in the vehicle. The vehicle V1 may be essentially any distance from a remotely located driver D, who is located at the driving control arrangement DA. The driver D remotely steers the vehicle by means of the steering member SM, i.e. here by holding at least one hand on the steering member SM.
The driving control arrangement DA may comprise any relevant additional devices that facilitate the remote driving of the vehicle V1. According to this embodiment, the driving control arrangement DA comprises an accelerator pedal G for accelerating the vehicle V1. According to this embodiment, the driving control arrangement DA comprises a brake pedal B for braking (i.e. decelerating the vehicle V1). According to this embodiment, the driving control arrangement DA comprises a vision device V to provide a remotely located driver D with visual information of the surroundings including the road R on which the vehicle V1 is being driven. Here, the driver D has virtual reality glasses for providing visual information. The visual information may alternatively be provided via a screen or the like.
A control apparatus 100 for remotely controlling driving of a vehicle V1 is provided. The control device 100 may be a control device according to the control device 100 described below with reference to fig. 3. The control device 100 may be comprised in or operatively connected to a driving control arrangement DA. The control device 100 may be operatively connected to a vehicle V1. The control device 100 may be operatively connected to the vehicle V1 via a wireless connection.
The control device 100 is configured to determine a change in the movement of the vehicle.
The vehicle V1 may include a vehicle movement change determination device 110 arranged to determine a change in vehicle movement.
The control apparatus 100 is operatively connected to a vehicle movement change determining device 110.
The vehicle movement change determining means 110 may be identical to the vehicle movement change determining means 110 described below with reference to fig. 3.
According to this embodiment of the invention, the control device 100 is operatively connected to the vehicle movement change determining means 110 via a link. The control apparatus 100 is arranged to receive a signal from the device 110, the signal representing data about a change in movement of the vehicle. The data may include data regarding the degree of acceleration or deceleration.
The control apparatus 100 is configured to move the manipulating member SM based on the change in the movement of the vehicle thus determined.
According to this embodiment of the invention, the control device 100 is operatively connected to the handling member SM via a link via a handling member moving mechanism M. The control device 100 is arranged to send a signal representing data about moving the handling member SM to the handling member moving mechanism M via the link based on the thus determined change in vehicle movement. The data may include data regarding moving the manipulation member away from the driver, data regarding moving the manipulation member closer to the driver, data regarding moving the manipulation member laterally and/or moving the manipulation member vertically. The data may include data regarding the degree of acceleration or deceleration to which the vehicle movement changes.
The control apparatus 100 is configured to control the degree of movement of the manipulating member SM based on the degree of acceleration or deceleration of the vehicle movement change.
Fig. 3 schematically illustrates a block diagram of the control apparatus 100 for remotely controlling driving of a vehicle according to an embodiment of the present invention.
A driving control arrangement for controlling the driving of a vehicle is provided. The driving control arrangement is remotely located relative to the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a driver remotely located with respect to the vehicle during driving of the vehicle. The driving control arrangement may correspond to the driving control arrangement DA described with reference to fig. 2.
The control apparatus 100 for remotely controlling the driving of the vehicle may be included in the system I for remotely controlling the driving of the vehicle.
The control device may be implemented as a separate entity or distributed among two or more physical entities. The control device may comprise one or more computers. Thus, the control device may be implemented or realized by a control device comprising a processor and a memory, the memory comprising instructions which, when executed by the processor, cause the control device to perform the methods disclosed herein.
The control device 100 may comprise one or more electronic control units, processing units, computers, server units or the like for determining the vehicle operation of at least one vehicle. The control device 100 may include a control device such as one or more electronic control units disposed on the vehicle. The control device 100 may comprise one or more electronic control units, processing units, computers, server units, etc. arranged outside the at least one vehicle and operatively connected to the off-board systems of the vehicle to be remotely controlled.
The control device 100 is configured to determine a change in the movement of the vehicle.
The system I may comprise a vehicle movement change determining means 110 arranged to determine a change in vehicle movement.
The control device 100 may comprise or be operatively connected to a vehicle movement change determining means 110.
The vehicle movement change determining means 110 arranged to determine a change in vehicle movement may be arranged to determine acceleration and deceleration in the direction of vehicle travel (i.e. in the longitudinal direction). The vehicle movement change determining means 110 arranged to determine a change in vehicle movement may be arranged to determine acceleration and deceleration in the vertical direction. The vehicle movement change determining means 110 arranged to determine a change in vehicle movement may be arranged to determine acceleration and deceleration during driving of a curve. The vehicle movement change determining means 110 arranged to determine a change in vehicle movement may be arranged to determine acceleration and deceleration of the vehicle in a lateral direction. The vehicle movement change determining means 110 arranged to determine a change in vehicle movement may be arranged to determine a yaw rate of the vehicle.
The vehicle movement change determination means 110 arranged to determine a change in vehicle movement may comprise any suitable sensor or sensors for detecting a change in vehicle movement. Such sensors may include one or more accelerometers, one or more yaw rate sensors, one or more speedometers, and the like. Such sensors may include a global navigation satellite system GNSS (e.g., global positioning system GPS) for continuously determining the position of the vehicle along the roadway on which it is traveling.
The control apparatus 100 is configured to determine acceleration and deceleration in the driving direction of the vehicle.
According to an embodiment, the vehicle movement change determining means 110 comprises longitudinal acceleration and deceleration determining means 112 for determining acceleration and deceleration in the driving direction of the vehicle.
The control apparatus 100 is configured to determine turning of the vehicle.
According to an embodiment, the vehicle movement change determining means 110 comprises vehicle turning determining means 114 for determining the turning motion of the vehicle.
The control apparatus 100 is configured to determine vertical acceleration and deceleration of the vehicle.
According to an embodiment, the vehicle movement change determining means 110 comprises vertical acceleration and deceleration determining means 116 for determining acceleration and deceleration in the vertical direction.
The control apparatus 100 is configured to determine lateral acceleration and deceleration of the vehicle.
According to an embodiment, the vehicle movement change determining means 110 comprises lateral acceleration and deceleration determining means 118 for determining acceleration and deceleration of the vehicle in a lateral direction.
The control apparatus 100 is configured to determine a yaw rate of the vehicle.
According to an embodiment, the vehicle movement change determining means 110 comprises yaw rate determining means 119 for determining the yaw rate of the vehicle.
The control apparatus 100 is configured to move the manipulation member based on the change in the vehicle movement thus determined.
According to an embodiment, when determining the change in the movement of the vehicle, the control device 100 is configured to determine one or more of the following items: acceleration and deceleration in the driving direction of the vehicle; turning of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
According to the embodiment, when the manipulation member is moved based on the change in the movement of the vehicle thus determined, the control apparatus 100 is configured to move the manipulation member away from the driver if acceleration is determined, and configured to move the manipulation member closer to the driver if deceleration is determined.
According to the embodiment, when the manipulation member is moved based on the change in the movement of the vehicle thus determined, the control apparatus 100 is configured to laterally move the manipulation member if the turning, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined.
According to the embodiment, when the manipulation member is moved based on the change in the movement of the vehicle thus determined, the control apparatus 100 is configured to vertically move the manipulation member if vertical acceleration and deceleration is determined.
The control apparatus 100 is configured to determine the degree of acceleration or deceleration of the vehicle movement change.
The system I may comprise acceleration and deceleration degree determination means 110a arranged to determine a degree of acceleration or deceleration of the vehicle movement change. The acceleration and deceleration degree determining means 110a may be included in the vehicle movement change determining means 110.
The control device 100 may comprise or be operatively connected to acceleration and deceleration degree determination means 110 a.
According to an embodiment, the longitudinal acceleration and deceleration determination means 112 is arranged to determine the degree of acceleration or deceleration in the driving direction of the vehicle.
According to an embodiment, the turn determining means 114 is arranged to determine the degree of acceleration or deceleration of the vehicle when driving in a curve.
According to an embodiment, the vertical acceleration and deceleration determining means 116 is arranged to determine the degree of acceleration or deceleration in the vertical direction.
According to an embodiment, the lateral acceleration and deceleration determining means 118 is arranged to determine the degree of acceleration or deceleration of the vehicle in the lateral direction.
According to an embodiment, the yaw rate determination means 119 is arranged to determine the degree of acceleration or deceleration of the vehicle yaw rate.
The control apparatus 100 is configured to control the degree of movement of the manipulation member based on the degree of acceleration or deceleration of the vehicle movement change. For example, a higher acceleration in the driving direction of the vehicle will cause the steering member to move a greater extent away from the driver.
According to an embodiment of the invention, the control device 100 is operatively connected to the vehicle movement change determining means 110 via a link 10. According to an embodiment of the invention, the control apparatus 100 is arranged to receive a signal from the device 110 via the link 10 representing data about a vehicle movement change. The data may include data regarding the degree of acceleration or deceleration.
According to an embodiment of the invention, the control device 100 is operatively connected to the longitudinal acceleration and deceleration determination means 112 via a link 12. According to an embodiment of the invention, the control device 100 is arranged to receive signals representing data about longitudinal acceleration and deceleration from the means 112 via the link 12. The data may include data regarding the degree of acceleration or deceleration in the driving direction of the vehicle.
According to an embodiment of the invention, the control device 100 is operatively connected to the vehicle turn determining means 114 via the link 14. According to an embodiment of the invention, the control device 100 is arranged to receive signals representing data about the turning motion of the vehicle from the means 114 via the link 14. The data may include data regarding the degree of acceleration or deceleration of the vehicle while driving in a curve.
According to an embodiment of the invention, the control device 100 is operatively connected to a vertical acceleration and deceleration determination means 116 via a link 16. According to an embodiment of the invention, the control apparatus 100 is arranged to receive signals from the device 116 via the link 16 representing data about the vertical acceleration and deceleration of the vehicle. The data may include data regarding the degree of acceleration or deceleration in the vertical direction.
According to an embodiment of the invention, the control device 100 is operatively connected to the lateral acceleration and deceleration determination means 118 via a link 18. According to an embodiment of the invention, the control device 100 is arranged to receive signals from the means 118 via the link 18 representing data about lateral acceleration and deceleration of the vehicle. The data may include data regarding the degree of acceleration or deceleration of the vehicle in the lateral direction.
According to an embodiment of the invention, the control device 100 is operatively connected to the yaw rate determination means 119 via a link 19. According to an embodiment of the invention, the control device 100 is arranged to receive signals from the means 119 via the link 19 representing data about lateral acceleration and deceleration of the vehicle. The data may include data regarding the degree of acceleration or deceleration of the vehicle yaw rate.
According to an embodiment of the invention, the control device 100 is operatively connected to a manoeuvring member SM of the driving control arrangement via a link L. According to an embodiment of the invention, the control device 100 is arranged to send a signal representing data about moving the handling member to the handling member SM via the link L based on the change in movement of the vehicle thus determined. The data may include data regarding moving the manipulation member away from the driver, data regarding moving the manipulation member closer to the driver, data regarding moving the manipulation member laterally and/or moving the manipulation member vertically.
According to an embodiment, the control device 100 for remotely controlling vehicle driving is adapted to perform a method M1 described below with reference to fig. 4.
Fig. 4 schematically illustrates a flowchart of a method M1 performed by a control apparatus for remotely controlling vehicle driving according to an embodiment of the present invention.
A driving control arrangement for controlling the driving of a vehicle is provided. The driving control arrangement is remotely located with respect to the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a driver remotely located with respect to the vehicle during driving of the vehicle.
According to an embodiment, a method for remotely controlling vehicle driving includes step S1. In this step, a change in vehicle movement is determined. The method is configured to be performed by a control device, such as the control device 100 described with reference to fig. 3. According to an embodiment, the change in vehicle movement is arranged to be determined by means of the vehicle movement change determining means 110 described with reference to fig. 3.
According to an embodiment of the method, the step of determining the change in the movement of the vehicle comprises determining one or more of the following items: acceleration and deceleration in the driving direction of the vehicle; turning of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
According to an embodiment, the method comprises step S2. In this step, the manipulation member is moved based on the change in the movement of the vehicle thus determined.
According to an embodiment of the method, the step of moving the manoeuvring member based on the change in movement of the vehicle thus determined comprises the steps of: if acceleration is determined, the steering member is moved away from the driver, and if deceleration is determined, the steering member is moved closer to the driver.
According to an embodiment of the method, the step of moving the manoeuvring member based on the change in movement of the vehicle thus determined comprises the steps of: the steering member is moved laterally if the turning, lateral acceleration and deceleration, and/or yaw rate of the vehicle are determined.
According to an embodiment of the method, the step of moving the manoeuvring member based on the change in movement of the vehicle thus determined comprises the steps of: if vertical acceleration and deceleration are determined, the manipulation member is vertically moved.
According to an embodiment of the method, the degree of movement of the steering member is based on the degree of acceleration or deceleration to which the vehicle movement changes.
According to an embodiment, the method M1 performed by the control device for remotely controlling vehicle driving is adapted to be performed by the system I described above with reference to fig. 3.
Referring to fig. 5, a diagram of a computer 500/apparatus 500 is shown. According to an embodiment, the control device 100 described with reference to fig. 3 may comprise the apparatus 500. The apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory 550. The non-volatile memory 520 has a first memory portion 530 in which computer programs, such as an operating system, for controlling the functions of the apparatus 500 are stored. In addition, the device 500 includes a bus controller, a serial communication port, an I/O device, an A/D converter, a time-date input and transmission unit, an event counter, and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.
A computer program P is provided comprising routines for remotely controlling the driving of a vehicle. A driving control arrangement for controlling the driving of a vehicle is provided. The driving control arrangement is remotely located with respect to the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a driver remotely located with respect to the vehicle during driving of the vehicle.
The program P includes a routine for determining a change in the movement of the vehicle. The program P includes a routine for moving the manipulation member based on the change in the vehicle movement thus determined.
The routines for determining changes in vehicle movement include routines for determining one or more of the following: acceleration and deceleration in the driving direction of the vehicle; turning of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
The routine for moving the steering member based on the change in vehicle movement thus determined includes a routine for moving the steering member away from the driver if acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
The routines for moving the steering member based on the change in vehicle movement thus determined include routines for moving the steering member laterally if turning, lateral acceleration and deceleration, and/or yaw rate of the vehicle are determined.
The routine for moving the manipulation member based on the change in the movement of the vehicle thus determined includes a routine for vertically moving the manipulation member if vertical acceleration and deceleration is determined.
The program P may include a routine for determining the degree of acceleration or deceleration of the vehicle movement change, the degree of movement of the manipulation member being based on the degree of acceleration or deceleration of the vehicle movement change.
The computer program P may be stored in an executable manner or in a compressed state in a separate memory 560 and/or in the read/write memory 550.
When it is stated that the data processing device 510 performs a certain function, it is to be understood that the data processing device 510 executes a certain part of the program stored in the separate memory 560 or a certain part of the program stored in the read/write memory 550.
The data processing device 510 may communicate with a data communication port 599 by means of a data bus 515. The non-volatile memory 520 is adapted for communication with the data processing device 510 via a data bus 512. The separate memory 560 is adapted for communication with the data processing device 510 via a data bus 511. The read/write memory 550 is adapted for communication with the data processing device 510 via a data bus 514. For example, a link connected to the control unit 100 may be connected to the data communication port 599.
When data is received on the data port 599, the data is temporarily stored in the second memory portion 540. When the received input data has been temporarily stored, the data processing device 510 is arranged to perform the execution of the code in the above-described manner.
The apparatus 500 may use the signals received on the data port 599 to determine changes in vehicle movement. The apparatus 500 may use the signals received on the data port 599 to move the steering member based on the change in vehicle movement thus determined.
The signals for determining a change in vehicle movement may comprise signals for determining one or more of the following items: acceleration and deceleration in the driving direction of the vehicle; turning of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
The signal for moving the steering member based on the change in vehicle movement thus determined may comprise a signal for moving the steering member away from the driver if acceleration is determined and closer to the driver if deceleration is determined.
The signal for moving the steering member based on the change in vehicle movement thus determined may comprise a signal for moving the steering member laterally if a turn, lateral acceleration and deceleration and/or yaw rate of the vehicle is determined.
The signal for moving the manipulation member based on the change in vehicle movement thus determined may include a signal for vertically moving the manipulation member if vertical acceleration and deceleration is determined.
The apparatus 500 may use the signals received on the data port 599 to determine the efficiency of the desired vehicle operation based on one or more of the recorded parameters stored thereby.
The apparatus 500 may perform parts of the methods described herein by means of the data processing device 510 running a program stored in a separate memory 560 or read/write memory 550. When the apparatus 500 runs the program, it performs portions of the methods described herein.
The foregoing description of the preferred embodiments of the invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form 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, to thereby enable others skilled in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (15)

1. A method performed by a control apparatus (100) for remotely controlling driving of a vehicle (V1), wherein a driving control arrangement (DA) for controlling driving of the vehicle (V1) is provided, the driving control arrangement (DA) being remotely located with respect to the vehicle (V1), the driving control arrangement (DA) comprising a maneuvering member (SM) for maneuvering the vehicle by a driver (D) remotely located with respect to the vehicle during driving of the vehicle (V1), the method comprising the steps of:
-determining (S1) a change in vehicle movement; and
-moving (S2) the manoeuvring member based on the change in vehicle movement thus determined.
2. The method of claim 1, wherein determining the change in vehicle movement comprises determining one or more of: acceleration and deceleration in a driving direction of the vehicle; turning of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle (V1).
3. Method according to claim 2, wherein the step of moving the handling member (SM) based on the thus determined change in vehicle movement comprises the steps of: -moving the manoeuvring member (SM) away from the driver in case acceleration is determined, and-moving the manoeuvring member closer to the driver in case deceleration is determined.
4. A method according to claim 2 or 3, wherein the step of moving the handling member (SM) based on the thus determined change in vehicle movement comprises the steps of: -laterally moving the manoeuvring member (SM) in case the turning, lateral acceleration and deceleration of the vehicle and/or the yaw rate of the vehicle is determined.
5. Method according to any one of claims 2-4, wherein the step of moving the manoeuvring member (SM) based on the change in vehicle movement thus determined comprises the steps of: -vertically moving the manoeuvring member (SM) in case vertical acceleration and deceleration of the vehicle is determined.
6. Method according to any one of claims 1-5, comprising a step of determining a degree of changed acceleration or deceleration of the vehicle movement, wherein the degree of movement of the manoeuvring member (SM) is based on the degree of changed acceleration or deceleration of the vehicle movement.
7. A control device (100) for remotely controlling driving of a vehicle (V1), wherein a driving control arrangement (DA) for controlling driving of the vehicle is provided, the driving control arrangement (DA) being remotely located with respect to the vehicle (V1), the driving control arrangement (DA) comprising a Steering Member (SM) for steering the vehicle by a driver (D) remotely located with respect to the vehicle during driving of the vehicle, the control device (100) being configured to:
-determining a change in vehicle movement; and
-moving the handling member (SM) based on the thus determined change in vehicle movement.
8. The control device according to claim 7, wherein, when determining a change in vehicle movement, the control device (100) is configured to determine one or more of the following items: acceleration and deceleration in a driving direction of the vehicle; turning of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle.
9. The control device according to claim 8, wherein when moving the manipulation member (SM) based on the change in vehicle movement thus determined, the control device (100) is configured to move the manipulation member (SM) away from the driver (D) if acceleration is determined, and configured to move the manipulation member (SM) closer to the driver if deceleration is determined.
10. The control device according to claim 8 or 9, wherein, when moving the manoeuvring member (SM) based on the change in vehicle movement thus determined, the control device (100) is configured to move the manoeuvring member (SM) laterally in case a turning, lateral acceleration and deceleration of the vehicle and/or a yaw rate of the vehicle is determined.
11. The control device according to any one of claims 8-10, wherein, when moving the handling member (SM) based on the thus determined change in vehicle movement, the control device (100) is configured to vertically move the handling member (SM) if vertical acceleration and deceleration of the vehicle is determined.
12. The control device according to any one of claims 7-11, the control device (100) being configured to determine a changed degree of acceleration or deceleration of the vehicle movement, the control device being configured to control the degree of movement of the manoeuvring member (SM) based on the changed degree of acceleration or deceleration of the vehicle movement.
13. A vehicle (1) operatively connectable to a control device (100) according to any one of claims 7-12.
14. A computer program (P) for remotely controlling the driving of a vehicle, the computer program (P) comprising program code which, when run on a control device (100) or another computer (500) connected to the control device (100), causes the control device to carry out the steps of claims 1-6.
15. A computer-readable medium comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1-6.
CN201980025063.3A 2018-04-17 2019-04-15 Method and control device for remotely controlling driving of vehicle Active CN111954858B (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE1850437A SE542679C2 (en) 2018-04-17 2018-04-17 Method and a control device for remotely controlling driving of a vehicle
SE1850437-3 2018-04-17
PCT/SE2019/050345 WO2019203716A1 (en) 2018-04-17 2019-04-15 Method and a control device for remotely controlling driving of a vehicle

Publications (2)

Publication Number Publication Date
CN111954858A true CN111954858A (en) 2020-11-17
CN111954858B CN111954858B (en) 2024-04-12

Family

ID=68239905

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980025063.3A Active CN111954858B (en) 2018-04-17 2019-04-15 Method and control device for remotely controlling driving of vehicle

Country Status (4)

Country Link
CN (1) CN111954858B (en)
DE (1) DE112019002036T5 (en)
SE (1) SE542679C2 (en)
WO (1) WO2019203716A1 (en)

Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6108031A (en) * 1997-05-08 2000-08-22 Kaman Sciences Corporation Virtual reality teleoperated remote control vehicle
CN101163615A (en) * 2005-07-07 2008-04-16 丰田自动车株式会社 Remote operation system, remote operation apparatus and service center
CN102224529A (en) * 2008-11-21 2011-10-19 斯堪尼亚商用车有限公司 Braking anticipation ability determining system
CN102346473A (en) * 2011-09-05 2012-02-08 北京航空航天大学 Remote vehicle driving control device
WO2014024047A2 (en) * 2012-06-04 2014-02-13 Sony Computer Entertainment Inc. Flat joystick controller
CN103879403A (en) * 2011-03-16 2014-06-25 丰田自动车株式会社 Remote vehicle operating device
CN103970084A (en) * 2013-01-24 2014-08-06 福特全球技术公司 Instruction-activated remote control system for motor vehicles
CN104203704A (en) * 2012-03-29 2014-12-10 斯堪尼亚商用车有限公司 Method and system for assessment of driver behaviour during driving of vehicles
CN104828064A (en) * 2014-02-07 2015-08-12 通用汽车环球科技运作有限责任公司 Drive mode moderator for a vehicle
WO2015155557A2 (en) * 2014-04-10 2015-10-15 Muszka Mihály Remote controlled simulator system by computer acting experience with devices moving on external site
CN205769271U (en) * 2016-07-18 2016-12-07 赵曰强 Remote control and automobile
KR101747375B1 (en) * 2016-09-12 2017-06-15 아이피랩 주식회사 Apparatus and method for vehicle remote controlling and remote driving system
CN106950998A (en) * 2017-05-11 2017-07-14 高域（北京）智能科技研究院有限公司 Aerial landscape real-time display system and method
WO2017125788A1 (en) * 2016-01-22 2017-07-27 Devathi Srinivas S Systems and methods for enabling remotely autonomous transport in real world vehicles on road
US20170267254A1 (en) * 2014-11-25 2017-09-21 Nokia Technologies Oy Apparatuses, Methods and Computer Programs for Providing Vehicle Feedback
CN107428375A (en) * 2015-04-15 2017-12-01 斯堪尼亚商用车有限公司 A kind of system for being used to make the wheel steering of motor vehicles
CN107672586A (en) * 2017-09-30 2018-02-09 中北智杰科技（北京）有限公司 A kind of electric automobile intelligent car-backing accessory system and method

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10133270B2 (en) * 2017-03-28 2018-11-20 Toyota Research Institute, Inc. Electronic control units, vehicles, and methods for switching vehicle control from an autonomous driving mode
CN207389114U (en) * 2017-08-15 2018-05-22 天津艾洛克通讯设备科技有限公司 A kind of multi-functional unmanned remote controlled motor platform

Patent Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6108031A (en) * 1997-05-08 2000-08-22 Kaman Sciences Corporation Virtual reality teleoperated remote control vehicle
CN101163615A (en) * 2005-07-07 2008-04-16 丰田自动车株式会社 Remote operation system, remote operation apparatus and service center
CN102224529A (en) * 2008-11-21 2011-10-19 斯堪尼亚商用车有限公司 Braking anticipation ability determining system
CN103879403A (en) * 2011-03-16 2014-06-25 丰田自动车株式会社 Remote vehicle operating device
CN102346473A (en) * 2011-09-05 2012-02-08 北京航空航天大学 Remote vehicle driving control device
CN104203704A (en) * 2012-03-29 2014-12-10 斯堪尼亚商用车有限公司 Method and system for assessment of driver behaviour during driving of vehicles
CN104395862A (en) * 2012-06-04 2015-03-04 索尼电脑娱乐公司 Flat joystick controller
WO2014024047A2 (en) * 2012-06-04 2014-02-13 Sony Computer Entertainment Inc. Flat joystick controller
CN103970084A (en) * 2013-01-24 2014-08-06 福特全球技术公司 Instruction-activated remote control system for motor vehicles
CN104828064A (en) * 2014-02-07 2015-08-12 通用汽车环球科技运作有限责任公司 Drive mode moderator for a vehicle
WO2015155557A2 (en) * 2014-04-10 2015-10-15 Muszka Mihály Remote controlled simulator system by computer acting experience with devices moving on external site
US20170267254A1 (en) * 2014-11-25 2017-09-21 Nokia Technologies Oy Apparatuses, Methods and Computer Programs for Providing Vehicle Feedback
CN107428375A (en) * 2015-04-15 2017-12-01 斯堪尼亚商用车有限公司 A kind of system for being used to make the wheel steering of motor vehicles
WO2017125788A1 (en) * 2016-01-22 2017-07-27 Devathi Srinivas S Systems and methods for enabling remotely autonomous transport in real world vehicles on road
CN205769271U (en) * 2016-07-18 2016-12-07 赵曰强 Remote control and automobile
KR101747375B1 (en) * 2016-09-12 2017-06-15 아이피랩 주식회사 Apparatus and method for vehicle remote controlling and remote driving system
CN106950998A (en) * 2017-05-11 2017-07-14 高域（北京）智能科技研究院有限公司 Aerial landscape real-time display system and method
CN107672586A (en) * 2017-09-30 2018-02-09 中北智杰科技（北京）有限公司 A kind of electric automobile intelligent car-backing accessory system and method

Also Published As

Publication number Publication date
DE112019002036T5 (en) 2021-03-04
SE1850437A1 (en) 2019-10-18
SE542679C2 (en) 2020-06-23
CN111954858B (en) 2024-04-12
WO2019203716A1 (en) 2019-10-24

Similar Documents

Publication Publication Date Title
CN109715453B (en) Method and apparatus for controlling motion of vehicle and vehicle motion control system
US10451730B2 (en) Lane change assistant
CN106696927B (en) Control method and device for automatic emergency braking of vehicle and vehicle
EP3415389A1 (en) Automatic driving system
US10640109B2 (en) Travel control device for vehicle
CN113692372B (en) Exception handling for autonomous vehicles
CN111433099B (en) Early object detection for unprotected turns
CN114475594B (en) Apparatus and method for controlling movement of vehicle and vehicle
US10843722B2 (en) Systems and methods for controlling an input device of an autonomous vehicle
JP6267275B2 (en) Method and apparatus for controlling a vehicle having automatic driving control capability
CN109421740A (en) Method and apparatus for monitoring autonomous vehicle
US20190126926A1 (en) Steering speed control
JP6867483B2 (en) Vehicle control unit
US10933886B2 (en) Hierarchical messaging system
US10513273B1 (en) Driver transition assistance for transitioning to manual control for vehicles with autonomous driving modes
WO2021090610A1 (en) Vehicle control device
EP3145772A1 (en) Method and system for the adaptation of the speed of a vehicle when taking a curve
CN104554214A (en) System and method for controlling running of electric vehicles according to states of traffic lights
CN111954858B (en) Method and control device for remotely controlling driving of vehicle
CN115551755A (en) Arbitrating friction braking and regenerative braking for autonomous vehicles
EP3145766B1 (en) Method and system for the adaptation of the driving of a vehicle on a roadway in association with taking a curve
CN116279571A (en) Driving state judging method and automatic driving system
EP4244692A1 (en) Optimization of performance in automotive autonomous driving of recurrent low speed manoeuvres in digital road maps-free areas
US20240109546A1 (en) Information processing device, vehicle, information processing system, information processing method, and non-temporary storage medium
CN111032454A (en) Method/device for improving braking performance of wheeled vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant