EP3072024A1 - System and method to make possible autonomous operation and/or external control of a motor vehicle - Google Patents

System and method to make possible autonomous operation and/or external control of a motor vehicle

Info

Publication number
EP3072024A1
EP3072024A1 EP14864465.1A EP14864465A EP3072024A1 EP 3072024 A1 EP3072024 A1 EP 3072024A1 EP 14864465 A EP14864465 A EP 14864465A EP 3072024 A1 EP3072024 A1 EP 3072024A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
external control
vehicle
autonomous operation
control system
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.)
Ceased
Application number
EP14864465.1A
Other languages
German (de)
French (fr)
Other versions
EP3072024A4 (en
Inventor
Daniel Frylmark
Linus Bredberg
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 EP3072024A1 publication Critical patent/EP3072024A1/en
Publication of EP3072024A4 publication Critical patent/EP3072024A4/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/04—Vehicle stop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/05—Specific applications of the controlled vehicles for soil shifting, building, civil engineering or mining, e.g. excavators

Definitions

  • the present invention concerns a system to make possible autonomous operation and/or external control of a motor vehicle, a method to make possible autonomous operation and/or external control of a motor vehicle, and a motor vehicle comprising such a system.
  • Aids are currently available to facilitate the work of the operator such as adaptive cruise-control systems, emergency braking, carriageway warnings, and similar. These aids, however, require that an operator be present in the motor vehicle who can himself or herself assess the situation and take appropriate action.
  • the operator constitutes a large part of the operating cost of a motor vehicle, also in cases in which the load on the operator is very low. This is the case, for example, in mining applications in which the journeys often consist of loading at one location in order subsequently to drive to a second location and unload.
  • a second example is the transport of passengers between an airplane and an airport terminal. The traffic conditions in these applications are controlled and no pedestrians, cyclists or similar disturbances are present.
  • Mines, for example are in addition located in such a manner that transport and
  • One purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, for which system the costs are kept to a minimum.
  • a further purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, which system is safe for the motor vehicle and safe for objects and people in its surroundings.
  • a further purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, whereby the said system makes possible the use of already existing package solutions for autonomous operation and/or external control.
  • a further purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, whereby the said system limits access to functions that are internal to the vehicle for external users.
  • One purpose of the present invention is to achieve a cost-effective method to make possible autonomous operation and/or external control of a motor vehicle.
  • One purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, which method is safe for the motor vehicle and safe for objects and people in its surroundings.
  • a further purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, whereby this method makes possible the use of already existing package solutions for autonomous operation and/or external control.
  • a further purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, whereby the said method limits access to functions that are internal to the vehicle for external users.
  • a system is provided to make possible autonomous operation and/or external control of a motor vehicle comprising:
  • an external control system arranged to generate a signal comprising at least one control parameter for autonomous operation and/or external control of a motor vehicle
  • control system that is internal to the vehicle comprising a control unit
  • a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control system that is internal to the vehicle, and whereby the said control unit is arranged to determine whether a predetermined condition is prevalent at the said motor vehicle in order to allow initiation of autonomous operation and/or external control, where the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary.
  • the external control system is preferably arranged to generate several signals comprising parameters for autonomous operation and/or external control of the motor vehicle.
  • a system to make possible the external control of a motor vehicle comprising: - an external control system arranged to generate a signal comprising at least one control parameter for the external control of the said motor vehicle,
  • control system that is internal to the vehicle comprising a control unit
  • a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control system that is internal to the vehicle, and whereby the said control unit is arranged to determine whether a predetermined condition is prevalent at the said motor vehicle in order to allow initiation of external control, where the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary.
  • a system to make possible the autonomous operation of a motor vehicle comprising:
  • an external control system arranged to generate a signal comprising at least one control parameter for the autonomous operation of the said motor vehicle
  • control system that is internal to the vehicle comprising a control unit
  • a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control system that is internal to the vehicle, and whereby the said control unit is arranged to determine whether a predetermined condition is prevalent at the said motor vehicle in order to allow initiation of autonomous operation, where the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary.
  • a signal or signals may concern a message or several messages comprising one or several signals.
  • a signal within a message can comprise one or several parameters.
  • the computer interface is arranged in communicative connection with the control unit of the said control system that is internal to the vehicle. The control unit thus receives the signal that is transferred over the computer interface from the external control system to the control system that is internal to the vehicle.
  • the control system that is internal to the vehicle is preferably a part of the motor vehicle in its fundamental design.
  • the motor vehicle is controlled by the control system that is internal to the vehicle.
  • a computer interface at the motor vehicle, which computer interface is in communicative connection with the external control system and the control system that is internal to the vehicle, two-way communication between the external control system and control system that is internal to the vehicle is made possible.
  • the interface is configured for communication between the control system that is internal to the vehicle and the external control system.
  • the interface may constitute a part of the control system that is internal to the vehicle.
  • the use of an external control system that is already commercially available for autonomous operation and/or external control of a motor vehicle, coupled with the motor vehicle, is made possible.
  • the motor vehicle does not need to be provided during manufacture with expensive systems and tools in order to achieve autonomous operation and/or external control: the purchaser of the motor vehicle can on a later occasion connect an existing external control system for autonomous operation and/or external control to the computer interface that has been configured for this purpose and to the control system that is internal to the vehicle.
  • a time-efficient and cost-effective solution is achieved to make possible autonomous operation and/or external control of a motor vehicle.
  • the signal generated by the external control system is received first at the computer interface, the access of the external control system is limited by the control system that is internal to the vehicle.
  • control system that is internal to the vehicle may comprise information and functions that the manufacturer of the vehicle does not wish external users to have access to.
  • the level of abstraction with respect to the external control system can at the same time be raised, in order to simplify the use.
  • the system according to the present invention makes it impossible for the external control system to take over the control of the motor vehicle unless its signals have first passed over the computer interface.
  • the computer interface means also that the influence on the motor vehicle is held at a minimum in the cases in which connection of the external control system is carried out in an erroneous manner.
  • the motor vehicle can thus be controlled either manually by an operator of the motor vehicle, or autonomously or externally through the external control system.
  • the vehicle may be driven autonomously in a first condition and driven under the control of an operator (manually or externally) in a second condition.
  • An operator for example a driver, can thus use the same computer interface as during autonomous operation when the operator desires to control the vehicle externally.
  • the said operator can control the vehicle by means of a control means, where the operator is located external to or by the side of the vehicle, in, for example, a basket or an aerial work platform, or manually through regulators that are arranged in a cabin at the vehicle.
  • the external control system is defined as a control system that is provided and installed by a party other than the manufacturer of the vehicle.
  • the external control system may comprise units that are arranged at the motor vehicle and/or units that are arranged not at the motor vehicle. It is appropriate that the external control system comprise hardware in the form of sensors, navigation systems, cameras and similar to determine the position of the motor vehicle and to detect continuously, for example, object, obstacles, people and animals, in order to obtain an accurate assessment of its surroundings. It is appropriate that the external control system comprise also at least one control unit that receives instructions with respect to the desired operation of the motor vehicle.
  • control unit at the external control system receives instructions at a high level, for example, "Drive from a position A to a position B".
  • the said control unit can further be arranged in communicative connection with external units such as an electronic map database or other similar systems that can contribute
  • the said control unit processes signals the above-mentioned hardware and/or the external units, together with instructions and vehicle parameters, in order to determine an appropriate route for the motor vehicle.
  • the vehicle parameters can be constituted by vehicle weight, vehicle height, acceleration capacity, etc.
  • the said control unit further determines appropriate control parameters for the autonomous operation of the motor vehicle according to the route that has been determined.
  • the control parameters comprise instructions at a low level and can relate to steering angle, appropriate gear of a transmission, braking power, acceleration of the motor vehicle, angular velocity and/or torque at the steering wheel, and similar detailed control parameters.
  • the signal that is generated by the external control system comprises at least one such low-level control parameter.
  • the control unit of the external control system determines control parameters based on a driving operation of the motor vehicle desired by an operator.
  • the term "external control" can be used to denote remote control of a motor vehicle by means of remote control means such as a portable computer, a remote-control unit, joystick or similar means, manipulated by an operator.
  • the external control system may comprise, for example, a computer arranged at the vehicle, and the interface may be constituted by a signal line, whereby an operator can, by means of pressing a button, desire, for example, that the motor vehicle be accelerated, decelerated, undergo a change of gear and/or turned.
  • the control parameters of the signal from the external control system comprise, just as during autonomous operation of the motor vehicle, instructions at a low level and can relate to steering angle, appropriate gear, braking power, acceleration and similar detailed control parameters.
  • a control parameter can be known also as a "request”.
  • the external control system provides a request with respect to, for example, a speed at which the motor vehicle should be driven.
  • the request from the external control system is transferred over the computer interface to the control system that is internal to the vehicle, which processes the request and determines whether the request is to be executed.
  • the signal from the external control system comprises a request that is constituted by a positive or negative speed request, and/or a braking request, and a desired steering angle.
  • the signal from the external control system constitutes a request that is constituted by an acceleration and or deceleration request and a desired steering angle.
  • the signal from the external control system comprises a request that is constituted by an angular velocity and/or a torque at the steering wheel. It is preferable that the external control system generate continuously several signals comprising one or several control parameters or requests.
  • control system that is internal to the vehicle comprise several operating systems arranged in communicative connection with the control unit of the control system that is internal to the vehicle.
  • the said control unit thus transfers signals comprising control parameters to the operating systems that thus control the motor vehicle.
  • the operating systems are constituted by a brake control system for the control of, for example, service brake, secondary brake and parking brake, driving means and/or control means.
  • the term "secondary brake” can be used to denote retarders, exhaust brakes, electrical secondary brakes and similar.
  • the operating systems further constitute an engine control system for the control of the engine of the motor vehicle and its propulsion, together with a change of gear control system for the control of the change of gear of the motor vehicle.
  • the operating systems are thus constituted by systems that through the control unit of the control system that is internal to the vehicle influence, among other things, the speed and direction of the motor vehicle.
  • control unit of the control system that is internal to the vehicle is arranged for communication with the operating systems over a communication bus.
  • the communication bus comprise a CAN bus or other standard for the
  • the said control unit can, by communicating with the operating systems and/or other control units that are internal to the vehicle, determine whether a predetermined condition is prevalent.
  • the predetermined condition at the said motor vehicle may comprise that the parking brake of the motor vehicle has been applied, and/or that the engine of the motor vehicle is switched off, and/or that the gearbox of the motor vehicle is in the neutral condition.
  • certain predetermined conditions may be critical for the initiation of autonomous and/or external driving of the motor vehicle to be allowed, while other predetermined conditions may be non-critical for the determination of whether initiation of autonomous operation and/or external control is to be allowed.
  • a safe system is in this way advantageously achieved in which solely motor vehicles that are appropriate to be driven autonomously and/or externally are driven autonomously and/or externally.
  • a system whereby the said control unit is arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle when the said predetermined condition at the said motor vehicle is not prevalent. This prevents inappropriate motor vehicles from being driven autonomously and/or externally, which means that accidents can be avoided.
  • a system whereby the said control unit is arranged to check at least one vehicle function at the said motor vehicle.
  • the said control unit can, by communicating using signals with the operating systems of the vehicle and/or other control units that are internal to the vehicle, obtain information about the function of the vehicle, i.e. information about whether everything is functioning properly at the vehicle.
  • The, at least one, function of the vehicle may be that a particular sensor, such as a torque sensor, a rate of revolution sensor, or similar, is functioning properly.
  • The, at least one, function of the vehicle may be also that a specific actuator that carries out requests from the external control system is functioning properly.
  • Examples of functions of the vehicle to check may be that the brakes are not overheated, that the gearbox is functioning properly, that the engine does not have reductions in torque, that the tyres are not punctured, and/or that there is sufficient air in the brake system.
  • By checking at least one function of the vehicle of the said motor vehicle it can be determined, before the vehicle has be placed under autonomous operation or is controlled externally, whether the motor vehicle is appropriate to be driven autonomously and/or externally.
  • a safe system is in this way achieved for autonomous operation and/or external control, in which both the vehicle and its surroundings are protected from unsuitable vehicles being driven autonomously and/or externally.
  • a system is provided whereby the said control unit of the control system that is internal to the vehicle is arranged to allow initiation of autonomous operation and/or external control of the said motor vehicle when the said function of the vehicle demonstrates acceptable functionality.
  • a system whereby the said control unit is arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle when the said function of the vehicle does not demonstrate acceptable functionality.
  • the functionality of certain functions of the vehicle may be critical for the vehicle to be allowed to be driven autonomously and/or externally, while other functions of the vehicle may be non-critical for the determination of whether the said vehicle may be driven autonomously and/or externally.
  • a safe system is in this way advantageously achieved in which solely vehicles that are appropriate to be driven autonomously and/or externally are driven autonomously and/or externally.
  • a system whereby the said control unit is arranged to validate the said signal from the said external control system. It is appropriate that the validation comprise the check of at least one pre-determined criterion.
  • the validation comprise the check of at least one pre-determined criterion.
  • the validation comprises, for example, check of the frequency of the signal generated by the external control system, i.e. how often signals from the external control system are transmitted. For example, in the case in which signals are intended to be transmitted every 40 milliseconds but an interruption occurs, the control unit stops the autonomous operation. Furthermore, a checksum generated by the external control system can be checked during the validation.
  • the validation means that the format with which communication takes place over the computer interface must comply with clearly defined criteria in order to be received by the control system that is internal to the vehicle. It is in this way ensured that the manufacturer of the vehicle has control of how the vehicle is controlled and driven, even when an external control system is used for autonomous operation and/or external control.
  • the external control system is an approved and allowed control system for autonomous operation and/or external control of the motor vehicle.
  • the validation comprises the check of at least one pre-determined criterion with respect to the plausibility of the request from the external control system.
  • requests that can damage the vehicle can be avoided.
  • One such example of a request that would be able to damage the vehicle may be a request to select reverse gear when the vehicle is being driven at a certain speed.
  • the control unit stop the signal from the external control system and the autonomous operation and/or external control is interrupted. It is preferable that the control unit generate also a signal for internal control, and transfer the signal for internal control to the operating systems. A robust and safe system is in this way achieved.
  • a system whereby the said control unit is arranged to determine driving properties and/or a configuration of the surroundings, where the said control unit is arranged to adapt the said validation on the basis of the said driving properties that have been determined and/or the configuration of the surroundings that has been determined.
  • the driving properties may be, according to one example, the speed of the vehicle.
  • the configuration of the surroundings may be an electronic representation of the surroundings of the said motor vehicle.
  • the said configuration of the surroundings may include the gradient of the ground, structures, objects, people, animals, etc. According to one example, it may be suitable in certain situations, such as starting when on an uphill section, that a request for braking is made at the same time as a request for acceleration. The same request, i.e.
  • a request for braking at the same as a request for acceleration can be regarded as being harmful to the vehicle when it is made when the vehicle is being driven at a certain speed.
  • the speed of the vehicle may constitute one parameter that influences the said validation.
  • the gradient of the ground may constitute one parameter that influences the said validation.
  • a system is provided whereby the said control unit is arranged to interrupt autonomous operation and/or external control of the said motor vehicle when the said signal from the said external control system does not satisfy during the validation at least one pre-determined criterion.
  • control unit be arranged to prevent, in the event that a criterion is not satisfied, autonomous operation and/or external control of the motor vehicle by stopping the signal from the external control system and in this way not transferring the said signal to the operating systems.
  • control unit be arranged to prevent, in the event that a criterion is not satisfied, autonomous operation and/or external control of the motor vehicle by generating a signal for internal control of the motor vehicle.
  • An internal control of motor vehicle is in this way achieved when the pre- determined criterion is not satisfied.
  • the signal for internal control comprise control parameters that minimise the risk of damage to the motor vehicle and of objects and/or people in its surroundings.
  • the internal control comprises, for example, control parameters that lead to the motor vehicle being braked and/or stopped/parked.
  • the control unit generates a signal for the internal control of the motor vehicle when the interface and/or the control system that is internal to the vehicle does not receive during ongoing autonomous operation and/or external control any signal at all from the external control system.
  • the internal control system can in this way, for example, stop the motor vehicle when the autonomous operation and/or external control has been interrupted for any reason. Both the motor vehicle and objects and/or people in its surroundings are in this way protected.
  • the control unit is arranged to generate, when autonomous operation and/or external control has been prevented and the control unit has generated a signal for internal control, a signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle. It is appropriate that the control unit is further arranged to transfer the signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle from the control system that is internal to the vehicle to the external control system over the interface.
  • the external control system and thus also the operator, in this way receives information that it is not controlling the motor vehicle and the reason that it is not controlling the motor vehicle.
  • a system whereby said control unit is adapted to allow again autonomous operation and/or external control of a motor vehicle after interrupted autonomous operation and/or external control on the basis of a signal received from the said external control system.
  • a system whereby the said control unit is arranged to validate the said signal comprising the request from the said external control system to again be allowed to drive the vehicle at least one of autonomously and externally.
  • the signal from the external control system comprising the request to again be allowed to drive the vehicle autonomously and/or externally comprise information generated by an operator.
  • the validation of the signal with the request to again be allowed to drive the vehicle autonomously and/or externally comprise a check of the authority of the operator. It is appropriate that the authority of the operator and thus the validation of signal be based on the information generated by the operator in the signal. Through the validation of the said signal, it can be ensured that the signal comes from an operator who is allowed to drive the said motor vehicle autonomously and/or externally. A safe method is achieved through the validation of the said signal.
  • the control unit is arranged to check whether the said information generated by the operator satisfies the requirement that the said vehicle may again to taken into use for autonomous operation and/or external control.
  • the information generated by the operator may be a specific code from the said operator. The control unit thus checks whether the signal demonstrates the correct code and allows that autonomous operation and/or external control again be taken into use when the signal demonstrates the right code.
  • the information generated by the operator may be a certain sequence of actions carried out by the said operator.
  • a system in which the control system that is internal to the vehicle is arranged to determine whether the control unit is receiving a signal from an operator regulator at the motor vehicle.
  • the operator regulator at the motor vehicle is preferably constituted by a regulator that can be operated manually by the operator when the operator is located inside the driver's cabin of the motor vehicle.
  • the term “operator” can denote a driver of the motor vehicle. Examples of operator regulators are steering wheel, accelerator pedal, brake pedal, gear change stick, indicators, etc.
  • an operator regulator is constituted by a regulator that indicates when activated that the operator desires to drive the vehicle manually.
  • the control unit receives signals from an operator regulator
  • autonomous operation or external control of the motor vehicle is not allowed, and the signal from the external control system is stopped at the control unit.
  • autonomous operation and/or external control of the motor vehicle is prevented as soon as the indication is given that a person is present inside the motor vehicle and desires to drive the motor vehicle manually.
  • autonomous operation and/or external control is not allowed, manual operation of the motor vehicle is achieved, through the control unit controlling the operating systems in accordance with the signal received from the operator regulator. It is in this way ensured that manual operation of the motor vehicle is always given priority over autonomous operation and/or external control of the motor vehicle.
  • the control unit thus controls the operating systems, for example, on the basis of signals either from the operator regulators (manual operation), or from the external control system (autonomous operation or external control).
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the steps:
  • each signal can comprise one or several control parameters for autonomous operation and/or external control of the motor vehicle.
  • a method is provided to make possible the external control of a motor vehicle comprising the steps:
  • a method is provided to make possible the autonomous operation of a motor vehicle comprising the steps:
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to check at least one function of the vehicle of the said motor vehicle.
  • a method is provided to make possible at least one of the autonomous operation and external control of a motor vehicle comprising the step to allow initiation of at least one of autonomous operation and external control of the said motor vehicle when the said function of the vehicle demonstrates acceptable functionality.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to prevent initiation of autonomous operation and/or external control of the said motor vehicle when the said function of the vehicle does not demonstrate acceptable functionality.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to prevent initiation of autonomous operation and/or external control of the said motor vehicle when the said predetermined condition of the said motor vehicle is not prevalent.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to validate the said signal from the said external control system.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the steps of determining driving properties and/or a configuration of the surroundings, and adapting the said validation on the basis of the said driving properties that have been determined and/or the
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step of interrupting autonomous operation and/or external control of the said motor vehicle when the said signal from the said external control system does not satisfy during the validation a pre-determined criterion.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step of again allowing autonomous operation and/or external control of a motor vehicle after interrupted autonomous operation and/or external control on the basis of a signal received from the said external control system. It is appropriate that the said signal from the external control system comprise a request to again be allowed to drive the motor vehicle autonomously and/or externally.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to validate the said signal from the said external control system comprising a request to again be allowed to drive the motor vehicle autonomously and/or externally, whereby the said signal includes information generated by an operator.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step of determining whether a vehicle operator is authorised on the basis of the said information generated by the operator.
  • a system and a method are provided to make possible autonomous operation and/or external control of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the external control of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the autonomous operation of a motor vehicle.
  • a motor vehicle comprising a system to make possible autonomous operation and/or external control.
  • the motor vehicle may be a lorry, a bus or a car.
  • the said motor vehicle may be any one of a lorry, bus, forestry machine, mining machine, wheel loader or car.
  • the said vehicle may be a hybrid vehicle or an electrical vehicle with an electric motor.
  • a computer program is provided, where the said computer program comprises program code to carry out the method steps according to any one of claims 12-22, when the said computer program is run on a computer.
  • a computer program product comprising a program code to carry out the method steps according to any one of claims 12-22, when the said program code is run on a computer.
  • a computer program is provided, where the said computer program comprises program code to carry out any one of the method steps named in the current application, when the said computer program is run on an electronic control unit.
  • a computer program product is provided comprising a program code stored on a medium that can be read by a computer, in order to carry out any one of the method steps named in the current application, when the said program code is run on an electronic control unit.
  • a computer program product comprising a program code stored on a medium that can be read by a computer, in order to carry out any one of the method steps named in the current application, when the said program code is run on a computer.
  • a computer program product is provided directly stored in an internal memory of a computer, comprising a computer program comprising program code arranged to carry out any one of the method steps named in the current application, when the said computer program is run on an electronic control unit.
  • Figure 1 shows a schematic side view of a vehicle
  • Figure 2 shows schematically a system to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention
  • Figure 3a shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention.
  • Figure 3b shows a flow diagram for a method to make possible autonomous operation and /or external control of a motor vehicle according to one embodiment of the present invention.
  • Figure 3c shows a flow diagram for a method to make possible autonomous operation and /or external control of a motor vehicle according to one embodiment of the present invention.
  • Figure 4 illustrates schematically a computer according to one embodiment of the invention.
  • Figure 1 shows a side view of a motor vehicle 100 comprising a drawing vehicle 1 10 and a trailer 1 12.
  • the motor vehicle 100 comprises further a system 200 to make possible autonomous operation and/or external control of the motor vehicle according to one embodiment of the present invention.
  • the motor vehicle may be a heavy vehicle, such as a lorry, bus, wheel loader, forestry machine, dumper, mining machine, tracked vehicle or tank.
  • the motor vehicle may be a car.
  • the motor vehicle 100 may be, according to one design, a hybrid vehicle.
  • the motor vehicle 100 may be, according to one design, an electrical vehicle with an electric motor.
  • the invention is advantageously applied to vehicles in association with mining.
  • FIG. 2 shows schematically a system 200 to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention.
  • the system 200 comprises an external control system 205, a computer interface 210, and a control system 270 that is internal to the vehicle.
  • the external control system 205 may be manufactured by a third-party supplier and comprises a control system for autonomous operation and/or external control of a motor vehicle.
  • the external control system 205 comprises, according to one embodiment, sensors such as cameras, radar devices, and similar (not shown in the drawing). The said sensors may be located at the motor vehicle 100 and/or external to the motor vehicle 100.
  • the external system 205 comprises, according to one embodiment, at least one control unit (not shown in the drawings). The said control unit processes signals from the relevant sensors.
  • the said control unit can further be arranged in communicative connection with external units such as an electronic map database or other similar systems that can contribute information that can influence autonomous operation and/or external control of the said vehicle.
  • the external control system 205 is arranged to generate continuously a signal S1 , comprising at least one control parameter for autonomous operation and/or the external control of the said motor vehicle 100.
  • the external control system 205 is arranged to generate continuously a signal S1 , comprising at least one control parameter or request at a low level, such as a speed request, braking request, steering angle request or similar.
  • the external control system 205 and the control system 270 that is internal to the vehicle can communicate with each other in that the computer interface is arranged in communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle.
  • the external control system 205 and the computer interface 210 are arranged for communication over a link L205, and the computer interface 210 and the vehicle control system 270 that is internal to the vehicle are arranged for communication over a link L210.
  • the control system 270 that is internal to the vehicle comprises a control unit 220 and operating systems 230, 240, 250.
  • the control unit 220 is arranged in communicative connection with the operating systems 230, 240, 250 over a link L220, and with the computer interface over the link L210.
  • the operating systems 230, 240, 250 are constituted by systems that through the control unit 220 of the control system 270 that is internal to the vehicle influence, among other things, the speed and direction of the motor vehicle 100.
  • the operating systems 230, 240, 250 in this design given as an example, are a system for change of gear 230, a brake-control system 240, and an engine-control system 250.
  • the system for change of gear 230 may include, for example, a control unit for an automatic transmission.
  • the brake-control system 240 may include, for example, a control unit for electrically or hydraulically controlled wheel brakes.
  • the engine-control system 250 may include, for example, engine-control means such as a control unit for the supply of fuel.
  • the external control system 205 is arranged to transmit continuously the signal S1 over the link L205 to the computer interface 210.
  • the interface 210 is further arranged to transmit the signal S1 onwards to the control unit 220 over the link L210.
  • the control unit 220 is arranged to process or convert the signal S1 from the external control system 205 such that the processed signal S1 b demonstrates a format that the operating systems 230, 240, 250 at the control system 270 that is internal to the vehicle expect and can interpret.
  • the processed signal S1 b thus comprises the same request or control parameter as the signal S1 from the external control system 205, but demonstrates a different format.
  • the processed signal S1 b is transmit over the link L220 to the said operating systems 230, 240, 250.
  • the said control unit 220 is arranged to, when necessary, modify the said signal S1 from the external control system 205, such that the motor vehicle 100 is not unnecessarily placed into situations that may be harmful to the motor vehicle 100. Modification of the signal S1 from the external control system 205 thus entails that the modified signal S1 m comprise a request or control parameter that differs from the original request or control parameter of the signal S1 from the external control system 205. The said modified signal S1 m is transmitted over the link L220 to the said operating systems 230, 240, 250.
  • the control unit 220 is arranged to communicate with a power supply 280 and an operator regulator 290 at the motor vehicle 100.
  • the said power supply 280 controls functions at the motor vehicle 100, such as tipping of a loading bed, raising a gripper, control of a crane, etc.
  • the operator regulator 290 constitutes a regulator that can be operated manually by the operator when the operator is located inside the motor vehicle 100. Examples of operator regulators 290 are steering wheel, accelerator pedal, brake pedal, gear change stick or paddle, indicators, etc.
  • the control unit 220 is arranged in communicative connection with the power supply 280 over a link L280.
  • the control unit 220 is arranged to transmit over the said link L280 the processed signal S1 b to the said power supply 280, for control of the said power supply 280.
  • the said control unit 220 is further arranged to transmit the said modified signal S1 m over the said link L280 to the said power supply 280.
  • the control unit 220 is further arranged in communicative connection with the operator regulators 290 over a link L290.
  • the operator regulator is arranged to transmit during use a signal S4 to the control unit 220 over the link L290.
  • the signal S4 comprises control
  • the control unit 220 is further arranged to determine whether a predetermined condition is prevalent at the said motor vehicle 1 00 in order to allow initiation of autonomous operation and/or external control. It is appropriate that the predetermined condition at the said motor vehicle 1 00 comprises that the motor vehicle 1 00 is stationary. The predetermined condition at the said motor vehicle 1 00 may comprise also that the parking brake of the motor vehicle has been applied, and/or that the engine of the motor vehicle is switched off, and/or that the gearbox of the motor vehicle is in the neutral condition.
  • the control unit 220 is further arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle 1 00 when the said predetermined condition at the said motor vehicle is not prevalent.
  • the control unit 220 is further arranged to check at least one function of the said motor vehicle 1 00.
  • the control system 270 that is internal to the vehicle is arranged to determine whether a function of the vehicle is functioning at the said motor vehicle 1 00 in order to allow initiation of autonomous operation and/or external control of the motor vehicle 1 00.
  • the pre-determined function of the vehicle concerns, according to one embodiment, requirements that the various operating systems 230, 240, 250 of the vehicle function in the intended manner, such as, for example, the brake system of the vehicle, or alternatively that the vehicle 100 has sufficient lubrication oil to be driven autonomously and/or externally.
  • the control unit 220 is further arranged to allow initiation of autonomous operation and/or external control of the said motor vehicle 100 when the said function of the vehicle demonstrates acceptable functionality.
  • the control unit 220 is further arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle 100 when the function of the vehicle does not demonstrate acceptable functionality.
  • the control unit 220 is further arranged to validate the said signal S1 from the said external control system 205.
  • the control unit 220 is further arranged to determine driving properties and/or a configuration of the surroundings; and to adapt the said validation on the basis of the said driving properties that have been determined and/or the configuration of the surroundings that has been determined.
  • the said control unit 220 is further arranged to interrupt autonomous operation and/or external control of the said motor vehicle when the said signal S1 from the said external control system 205 does not satisfy during the validation a pre-determined criterion.
  • the said control unit 220 is, according to one embodiment, adapted to generate a signal S3 in the event of interrupted autonomous operation or external control of the said motor vehicle 100.
  • the said signal S3 may comprise information that the said autonomous operation or external control of the said motor vehicle 100 has been interrupted, and information about the reason for the interruption of the autonomous operation or external control.
  • the said control unit is adapted to transmit the said signal S3 to the said external control system 205 over the said computer interface 210 over the link L210 and the link L205.
  • the control unit 220 is further adapted to allow again autonomous operation and/or external control of a motor vehicle 100 after interrupted autonomous operation or external control on the basis of a signal S5 received from the said external control system 205. It is appropriate that the said signal S5 comprise a request to again be allowed to drive the motor vehicle 100 autonomously and/or externally.
  • the control unit 220 is further arranged to validate the said signal S5 from the said external control system 205, whereby the said signal S5 includes information generated by an operator.
  • the control unit 220 is further arranged to determine whether a vehicle operator is authorised, on the basis of the said information generated by an operator.
  • Figure 3a shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention.
  • the method comprises the step s301 of transferring over a computer interface 210 a signal S1 from the external control system 205 to a control system 270 that is internal to the vehicle, comprising a control unit 220 and operating systems 230, 240, 250.
  • the computer interface 210 is arranged in communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle. It is appropriate that the transfer between the external control system 205 and the computer interface 210 be carried out over a link L205. It is appropriate that the transfer between the computer interface 210 and the external control system be carried out over a link L210.
  • the step s301 comprises also to determine whether a predetermined condition at the said motor vehicle prevalent, whereby the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary, and to allow initiation of autonomous operation and/or external control of the said motor vehicle when the said predetermined condition at the said motor vehicle is prevalent.
  • the method is terminated after the method step s301 .
  • Figure 3b shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention.
  • the method comprises the step s310 of generating by means of an external control system 205 at least one signal S1 comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle 100.
  • a method step s320 is carried out after the method step s310.
  • the method step s320 comprises transferring over a computer interface 210 the signal S1 from the external control system 205 to a control system 270 that is internal to the vehicle, comprising a control unit 220 and operating systems 230, 240, 250, whereby the computer interface 210 is arranged in
  • a method step s330 is carried out after the method step s320.
  • the method step s330 comprises determining whether a predetermined condition is prevalent at the said motor vehicle 100, whereby the
  • predetermined condition comprises that the motor vehicle 100 is stationary.
  • the said predetermined condition comprises, according to one embodiment, that the parking brake has been applied.
  • the said predetermined condition comprises, according to one embodiment, that the engine of the motor vehicle 100 is switched off and/or that the gearbox of the motor vehicle 100 is in the neutral condition.
  • the said predetermined condition may comprise one or several of the above-mentioned conditions. It is appropriate that the method step s330 be carried out by the control unit 220, which communicates over links with said operating systems 230, 240, 250 and/or other control units that are internal to the vehicle. When the said predetermined condition, comprising at least one condition, is prevalent, method step s340 is carried out.
  • method step s350 is carried out.
  • the method step s330 comprises, according to one embodiment, also the checking by means of the control unit 220 at least one function of the said motor vehicle 100.
  • the said function of the vehicle concerns, according to one embodiment, the brake system of the vehicle.
  • the said function of the vehicle may, according to one embodiment, concern the propulsion system, including the engine and transmission, of the vehicle.
  • the said function of the vehicle concerns, according to one embodiment, the navigation system of the vehicle. It is appropriate that the method step s330 be carried out by the control unit 220, which communicates over links with the operating systems 230, 240, 250 of the motor vehicle 100 or with its propulsion system.
  • method step s340 is carried out.
  • method step s350 is carried out.
  • the method step s340 is carried out solely if it is determined in method step s330 that the said predetermined condition of the vehicle is prevalent and, alternatively, that the said predetermined function of the vehicle demonstrates an acceptable function.
  • the method step s340 comprises the allowance of initiation of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s340 to allow initiation of
  • autonomous operation and/or external control of the motor vehicle 100 comprise that the control unit 220 process and convert the signal S1 from the external control system 205 and transfer the processed signal S1 b to the operating systems 230, 240, 250. It is appropriate that the control unit 220 process the signal S1 from the external control system 205 such that the processed signal S1 b demonstrates a format that the operating systems 230, 240, 250 at the control system 270 that is internal to the vehicle expect and can interpret. It is appropriate that the transfer of the signal S1 b from the control unit 220 and the operating systems 230, 240, 250 be carried out over a link L220. The method is terminated after the method step s340. Alternatively, the method is repeated from the first method step s310.
  • the method step s350 is carried out solely if it is determined in method step s330 that the said predetermined condition of the vehicle is not prevalent and/or that the said predetermined function of the vehicle does not
  • the method step s350 comprises the prevention of initiation of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s350 to prevent initiation of autonomous operation and/or external control of the motor vehicle comprise stopping, by means of the control unit 220, the signal S1 from the external control system 205, and generating, by means of control unit 220, a signal S2 for the internal control of the motor vehicle 100, and transferring the signal S2 for internal control from the control unit 220 to the operating systems 230, 240, 250. It is appropriate that the transfer of the signal S2 for the internal control be carried out over the link L220. It is appropriate that the signal S2 for internal control comprise control parameters to control the motor vehicle 100, such that the motor vehicle 100 stops.
  • the method is terminated after the method step s350. Alternatively, the method is repeated from the first method step s310.
  • Figure 3c shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention.
  • the method comprises the step s310 of generating by means of an external control system 205 at least one signal S1 comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle 100.
  • a method step s320 is carried out after the method step s310.
  • the method step s320 comprises transferring over a computer interface 210 the signal S1 from the external control system 205 to a control system 270 that is internal to the vehicle, comprising a control unit 220 and operating systems 230, 240, 250, whereby the computer interface 210 is arranged in
  • a method step s330 is carried out after the method step s320.
  • the step s330 comprises to determine whether a predetermined condition at the said motor vehicle is prevalent.
  • the said predetermined condition comprises that the motor vehicle 100 is stationary.
  • the predetermined condition may comprise also that the parking brake of the motor vehicle 100 has been applied, and/or that the engine of the motor vehicle 100 is switched off, and/or that the gearbox of the motor vehicle 100 is in the neutral condition.
  • the said predetermined condition may comprise one or several of the above- mentioned conditions. It is appropriate that the method step s330 be carried out by the control unit 220, which communicates over links with the said predetermined operating systems 230, 240, 250 or with propulsion means. When the said predetermined condition, comprising at least one condition, is prevalent, method step s340 is carried out.
  • the method step s330 comprises, according to one embodiment, the checking by means of the control unit 220 at least one function of the said motor vehicle 100.
  • the said function of the vehicle concerns, according to one embodiment, the brake system of the vehicle.
  • the said function of the vehicle may, according to one embodiment, concern the propulsion system of the vehicle, including, for example, the engine and transmission.
  • the said function of the vehicle concerns, according to one embodiment, the navigation system of the vehicle. It is appropriate that the method step s330 be carried out by the control unit 220, which communicates over links with the operating systems 230, 240, 250 of the motor vehicle 1 00 or with its propulsion system.
  • method step s340 is carried out.
  • the method step s340 is carried out solely if it is determined in method step s330 that the said predetermined condition of the vehicle is prevalent and that the said predetermined function of the vehicle demonstrates an acceptable function.
  • the method step s340 comprises the allowance of initiation of autonomous operation and/or external control of the motor vehicle 1 00. It is appropriate that the method step s340 to allow initiation of autonomous operation and/or external control of the motor vehicle 1 00 comprise that the control unit 220 process and convert the signal S1 from the external control system 205 and transfer the processed signal S1 b to the operating systems 230, 240, 250. It is appropriate that the transfer of the signal S1 b from the control unit 220 and the operating systems 230, 240, 250 be carried out over a link L220.
  • the method step s360 is carried out if during autonomous operation and/or external control of the said motor vehicle something occurs that causes the autonomous operation or external control to be interrupted.
  • autonomous operation and/or external control of the motor vehicle is interrupted when a signal S1 from the said external control system 205 does not satisfy during the validation of the signal S1 a pre-determined criterion.
  • autonomous operation and/or external control of motor vehicle 1 00 is interrupted when the motor vehicle 1 00 runs out of fuel or when a component in the motor vehicle has ceased to function.
  • the said signal S1 is validated from the said external control system 205.
  • the said validation is adapted on the basis of driving properties that have been determined and/or a
  • a signal S2 from the control unit 220 of the motor vehicle 1 00 is generated, whereby the said signal S2 comprises control parameters for internal control, which minimises the risk of damage to the motor vehicle of objects and/or people in its surroundings.
  • the internal control comprises, for example, control parameters that lead to the motor vehicle 1 00 being braked and/or, stopped / parked.
  • the said operator transmits a signal S5 to the said motor vehicle 1 00, comprising a request to again be allowed to drive the motor vehicle 1 00 autonomously and/or externally.
  • the said signal S5 is to contain information generated by an operator.
  • predetermined requirements for the said information generated by an operator have been set.
  • the said requirements for the said information generated by an operator may comprise that the operator has carried out control commands according to a predetermined sequence.
  • the said requirements for the information generated by an operator may be constituted by a requirement that a code that is intended for the current occasion is to be included in the information generated by an operator. According to one embodiment, the said
  • requirements for the said information generated by an operator may comprise control commands carried out according to a sequence that has been determined in real time by the control unit 220.
  • the method step s370 is carried out when the said predetermined requirements are satisfied.
  • the method step s380 is carried out when the said predetermined requirements are not satisfied.
  • the method step s370 is carried out solely when a predetermined requirement for the information generated by an operator that it is comprised in a signal S5 transmitted from the external control system 205 over a link L205 is satisfied.
  • the method step s370 comprises the allowance again of autonomous operation and/or external control of the motor vehicle 100.
  • the method step s370 to allow again autonomous operation and/or external control of the motor vehicle 100 comprise that the control unit 220 process and convert the signal S1 from the external control system 205 and transfer the processed signal S1 b to the operating systems 230, 240, 250. It is appropriate that the transfer of the signal S1 b from the control unit 220 to the operating systems 230, 240, 250 be carried out over a link L220.
  • the method is terminated after the method step s370. Alternatively, the method is repeated from the first method step s310.
  • the method step s380 is carried out solely if it is determined in method step s360 that the said requirement for the said information generated by an operator is not satisfied.
  • the method step s360 comprises the prevention of the allowance of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s380 to prevent autonomous operation and/or external control of the motor vehicle 100 comprise to stop, by means of the control unit 220, the signal S1 from the external control system 205.
  • the method is terminated after the method step s380. Alternatively, the method is repeated from the first method step s310.
  • FIG 4 shows a drawing of a design of an arrangement 400.
  • the external control system 205 and/or the control unit 220 that have been described with reference to Figure 2 may, in one design, comprise the arrangement 400.
  • the arrangement 400 comprises a non-transient memory 420, a data processing unit 410 and a read/write memory 450.
  • the non-transient memory 420 has a first section of memory 430 in which a computer program, such as an operating system, is stored in order to control the function of the arrangement 400.
  • the arrangement 400 comprises a bus controller, a serial communication port, I/O means, an A/D converter, a unit for the input and transfer of time and date, an event counter and an interrupt controller (not shown in the drawing).
  • the non-transient memory 420 has also a second section of memory 440.
  • a computer program P which may comprise routines for autonomous operation and/or external control of a motor vehicle 1 00, is provided at the arrangement 400.
  • the computer program P may comprise routines to generate a signal S1 comprising a control parameter for autonomous operation and/or external control of the said motor vehicle 1 00, and routines to transmit and receive the signal S1 over a computer interface 21 0.
  • the computer program P may comprise routines to validate the signal S1 .
  • the computer program may comprise routines to check at least one function of the said motor vehicle 1 00.
  • the computer program P may comprise routines to allow initiation of autonomous operation and/or external control of the said motor vehicle 220 when the function of the vehicle demonstrates acceptable functionality.
  • the computer program P may comprise routines to prevent initiation of
  • the computer program P may comprise routines to determine whether a predetermined condition at the said motor vehicle 1 00 is prevalent.
  • the computer program P may comprise routines to allow initiation of autonomous operation and/or external control of the said motor vehicle 220 when the predetermined condition at the said motor vehicle 1 00 is prevalent.
  • the computer program P may comprise routines to prevent initiation of
  • the computer program P may comprise routines to validate the signal S1 from the said external control system 205.
  • the computer program P may comprise routines to determine driving properties and/or a configuration of the surroundings, and to adapt the said validation on the basis of said driving properties that have been determined and/or the configuration of the
  • the computer program P may comprise routines to interrupt autonomous operation and/or external control of the said motor vehicle 100 when the said signal S1 from the said external control system 205 does not satisfy a pre-determined criterion.
  • the computer program P may comprise routines to allow again autonomous operation and/or external control of a motor vehicle 100 after interrupted autonomous operation and/or external control on the basis of a signal S5 received from the said external control system 205.
  • the computer program P may comprise routines to validate the said signal S5 from the said external control system 205, whereby the said signal S5 includes information generated by an operator.
  • the computer program P may comprise routines to determine whether a vehicle operator is authorised, on the basis of the said information generated by an operator.
  • the computer program P may be stored in an executable form or in a compressed form in at least one of a memory 460 and a read/write memory 450.
  • the data processing unit 410 carries out a certain function, it is to be understood that the data processing unit 410 carries out a certain part of the program that is stored in the memory 460, or a certain part of the program that is stored in the read/write memory 450.
  • the data processing arrangement 410 can communicate with a data port 499 over a data bus 415.
  • the non-transient memory 420 is intended for
  • the separate memory 460 is intended to communicate with the data processing unit 410 over a data bus 41 1 .
  • the read/write memory 450 is arranged to communicate with the data processing unit 410 over a data bus 414.
  • the links L205, L210, L220, L280, and L290, for example, can be connected to the data port 499 (see Figure 2).
  • signals received at the data port 499 comprise parameters for autonomous operation and/or external control of the motor vehicle 100.
  • signals received at the data port 499 comprise parameters for the internal control of the motor vehicle 100.
  • signals received at the data port 499 comprise information from an operator regulator 290. According to one design, signals received at the data port 499 comprise information from a power supply 280. According to one design, signals received at the data port 499 comprise information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100.
  • the signals that have been received at the data port 499 can be used by the arrangement 400 to determine whether the said motor vehicle 100 is to be allowed to be driven autonomously and/or externally, or to be prevented from being driven autonomously and/or externally.
  • Parts of the methods described here may be carried out by the arrangement 400 with the aid of the data processing unit 410, which runs the program stored in the memory 460 or in the read/write memory 450.
  • the arrangement 400 runs the program, the method described here is executed.

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Abstract

The invention concerns a system (200) to make possible autonomous operation and/or the external control of a motor vehicle, comprising an external control system (205) arranged to generate a signal (S1 ) comprising at least one control parameter for the control of the said motor vehicle, and a control system (270) that is internal to the vehicle, comprising a control unit (220). At the system (200), a computer interface (210) is arranged in communicative connection with the external control system (205) and the control system (270) that is internal to the vehicle, whereby the computer interface (210) is arranged to transfer the signal (S1 ) from the external control system (205) to the control system (270) that is internal to the vehicle. The said control unit (220) is arranged to determine whether a predetermined condition is prevalent at the said motor vehicle (100) in order to allow the initiation of autonomous operation and/or external control, where the predetermined condition at the said motor vehicle (100) comprises that the motor vehicle (100) is stationary. The invention concerns also a method to make possible autonomous operation and/or external control of a motor vehicle, and a motor vehicle (100, 1 10) comprising such a system (200).

Description

System and method to make possible autonomous operation and/or external control of a motor vehicle
TECHNICAL AREA
The present invention concerns a system to make possible autonomous operation and/or external control of a motor vehicle, a method to make possible autonomous operation and/or external control of a motor vehicle, and a motor vehicle comprising such a system.
BACKGROUND AND PRIOR ART
To drive a motor vehicle places high demands on the operator since there are many complex predictable and unpredictable situations that must be
considered. Aids are currently available to facilitate the work of the operator such as adaptive cruise-control systems, emergency braking, carriageway warnings, and similar. These aids, however, require that an operator be present in the motor vehicle who can himself or herself assess the situation and take appropriate action.
The operator constitutes a large part of the operating cost of a motor vehicle, also in cases in which the load on the operator is very low. This is the case, for example, in mining applications in which the journeys often consist of loading at one location in order subsequently to drive to a second location and unload. A second example is the transport of passengers between an airplane and an airport terminal. The traffic conditions in these applications are controlled and no pedestrians, cyclists or similar disturbances are present. Mines, for example, are in addition located in such a manner that transport and
infrastructure are required for the personnel. This generates large costs. In order to minimise the costs, it is therefore desirable in certain types of operation to fully automate the driving of the motor vehicles. In order to, in a safe manner, drive a motor vehicle autonomously, in other words without an operator or driver controlling the motor vehicle while present at the vehicle, there is required an accurate assessment of the surroundings of the motor vehicle. This can be achieved through the use of sensors with high precision and advanced information processing, and communication between the various control units of the motor vehicle. It is time-consuming and expensive to develop and implement such a solution for the autonomous operation or remote control of a motor vehicle. Various methods and systems have been suggested in the prior art technology in order to achieve autonomous operation. In document US 2012/0239238 A1 , for example, there is revealed how an industrial vehicle is autonomously guided along a defined pathway through the use of a guidance and navigation system. The guidance and navigation system creates and transmits a command with respect to the speed over a communication network to a processor module. The processor module transmits the command onwards to the control unit of the industrial vehicle, which in turn controls the drive system based on the said command. The pathway may be defined by a cable under the floor, tape, or other references on the floor, which the guidance and navigation system detects. While it is true that this system achieves
autonomous operation of the industrial vehicle, it requires a pathway that has been defined in advance along which the industrial vehicle is to be driven, and an internal guidance and navigation system. Despite the prior art solutions in the field, there is still a need to further develop a cost-effective system and a method for the autonomous operation of a motor vehicle. In this respect, cost-effectiveness is specified in terms of development costs and operating costs.
SUMMARY OF THE INVENTION One purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, for which system the costs are kept to a minimum. A further purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, which system is safe for the motor vehicle and safe for objects and people in its surroundings. A further purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, whereby the said system makes possible the use of already existing package solutions for autonomous operation and/or external control. A further purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, whereby the said system limits access to functions that are internal to the vehicle for external users. One purpose of the present invention is to achieve a cost-effective method to make possible autonomous operation and/or external control of a motor vehicle.
One purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, which method is safe for the motor vehicle and safe for objects and people in its surroundings.
A further purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, whereby this method makes possible the use of already existing package solutions for autonomous operation and/or external control. A further purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, whereby the said method limits access to functions that are internal to the vehicle for external users.
The purposes described above are achieved by a system according to claim 1 and through a method according to claim 12. According to one aspect of the present invention, a system is provided to make possible autonomous operation and/or external control of a motor vehicle comprising:
- an external control system arranged to generate a signal comprising at least one control parameter for autonomous operation and/or external control of a motor vehicle,
- a control system that is internal to the vehicle comprising a control unit, and
- a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control system that is internal to the vehicle, and whereby the said control unit is arranged to determine whether a predetermined condition is prevalent at the said motor vehicle in order to allow initiation of autonomous operation and/or external control, where the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary.
The external control system is preferably arranged to generate several signals comprising parameters for autonomous operation and/or external control of the motor vehicle.
According to one aspect of the present invention, a system is provided to make possible the external control of a motor vehicle comprising: - an external control system arranged to generate a signal comprising at least one control parameter for the external control of the said motor vehicle,
- a control system that is internal to the vehicle comprising a control unit, and
- a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control system that is internal to the vehicle, and whereby the said control unit is arranged to determine whether a predetermined condition is prevalent at the said motor vehicle in order to allow initiation of external control, where the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary.
According to one aspect of the present invention, a system is provided to make possible the autonomous operation of a motor vehicle comprising:
- an external control system arranged to generate a signal comprising at least one control parameter for the autonomous operation of the said motor vehicle,
- a control system that is internal to the vehicle comprising a control unit, and
- a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control system that is internal to the vehicle, and whereby the said control unit is arranged to determine whether a predetermined condition is prevalent at the said motor vehicle in order to allow initiation of autonomous operation, where the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary.
It is preferable that the control system that is internal to the vehicle comprise several control units. In this respect, a signal or signals may concern a message or several messages comprising one or several signals. A signal within a message can comprise one or several parameters. According to one aspect of the present invention, the computer interface is arranged in communicative connection with the control unit of the said control system that is internal to the vehicle. The control unit thus receives the signal that is transferred over the computer interface from the external control system to the control system that is internal to the vehicle.
The control system that is internal to the vehicle is preferably a part of the motor vehicle in its fundamental design. When the motor vehicle is being driven with an operator or driver present, the motor vehicle is controlled by the control system that is internal to the vehicle. By arranging a computer interface at the motor vehicle, which computer interface is in communicative connection with the external control system and the control system that is internal to the vehicle, two-way communication between the external control system and control system that is internal to the vehicle is made possible. Thus, the interface is configured for communication between the control system that is internal to the vehicle and the external control system. The interface may constitute a part of the control system that is internal to the vehicle. In this way, the use of an external control system that is already commercially available for autonomous operation and/or external control of a motor vehicle, coupled with the motor vehicle, is made possible. Thus, the motor vehicle does not need to be provided during manufacture with expensive systems and tools in order to achieve autonomous operation and/or external control: the purchaser of the motor vehicle can on a later occasion connect an existing external control system for autonomous operation and/or external control to the computer interface that has been configured for this purpose and to the control system that is internal to the vehicle. In this way, a time-efficient and cost-effective solution is achieved to make possible autonomous operation and/or external control of a motor vehicle. Through the fact that the signal generated by the external control system is received first at the computer interface, the access of the external control system is limited by the control system that is internal to the vehicle. This is particularly advantageous since the control system that is internal to the vehicle may comprise information and functions that the manufacturer of the vehicle does not wish external users to have access to. The level of abstraction with respect to the external control system can at the same time be raised, in order to simplify the use. In the same way, the system according to the present invention makes it impossible for the external control system to take over the control of the motor vehicle unless its signals have first passed over the computer interface. The computer interface means also that the influence on the motor vehicle is held at a minimum in the cases in which connection of the external control system is carried out in an erroneous manner.
The motor vehicle can thus be controlled either manually by an operator of the motor vehicle, or autonomously or externally through the external control system. The vehicle may be driven autonomously in a first condition and driven under the control of an operator (manually or externally) in a second condition. An operator, for example a driver, can thus use the same computer interface as during autonomous operation when the operator desires to control the vehicle externally. Thus, the said operator can control the vehicle by means of a control means, where the operator is located external to or by the side of the vehicle, in, for example, a basket or an aerial work platform, or manually through regulators that are arranged in a cabin at the vehicle.
The external control system is defined as a control system that is provided and installed by a party other than the manufacturer of the vehicle. The external control system may comprise units that are arranged at the motor vehicle and/or units that are arranged not at the motor vehicle. It is appropriate that the external control system comprise hardware in the form of sensors, navigation systems, cameras and similar to determine the position of the motor vehicle and to detect continuously, for example, object, obstacles, people and animals, in order to obtain an accurate assessment of its surroundings. It is appropriate that the external control system comprise also at least one control unit that receives instructions with respect to the desired operation of the motor vehicle.
During autonomous operation of the motor vehicle, the control unit at the external control system receives instructions at a high level, for example, "Drive from a position A to a position B". The said control unit can further be arranged in communicative connection with external units such as an electronic map database or other similar systems that can contribute
information that can influence the autonomous operation of the said motor vehicle. The said control unit processes signals the above-mentioned hardware and/or the external units, together with instructions and vehicle parameters, in order to determine an appropriate route for the motor vehicle. The vehicle parameters can be constituted by vehicle weight, vehicle height, acceleration capacity, etc. The said control unit further determines appropriate control parameters for the autonomous operation of the motor vehicle according to the route that has been determined. The control parameters comprise instructions at a low level and can relate to steering angle, appropriate gear of a transmission, braking power, acceleration of the motor vehicle, angular velocity and/or torque at the steering wheel, and similar detailed control parameters. The signal that is generated by the external control system comprises at least one such low-level control parameter.
During external control of the motor vehicle, the control unit of the external control system determines control parameters based on a driving operation of the motor vehicle desired by an operator. The term "external control" can be used to denote remote control of a motor vehicle by means of remote control means such as a portable computer, a remote-control unit, joystick or similar means, manipulated by an operator. The external control system may comprise, for example, a computer arranged at the vehicle, and the interface may be constituted by a signal line, whereby an operator can, by means of pressing a button, desire, for example, that the motor vehicle be accelerated, decelerated, undergo a change of gear and/or turned. The control parameters of the signal from the external control system comprise, just as during autonomous operation of the motor vehicle, instructions at a low level and can relate to steering angle, appropriate gear, braking power, acceleration and similar detailed control parameters.
A control parameter can be known also as a "request". Thus, the external control system provides a request with respect to, for example, a speed at which the motor vehicle should be driven. The request from the external control system is transferred over the computer interface to the control system that is internal to the vehicle, which processes the request and determines whether the request is to be executed. According to one embodiment, the signal from the external control system comprises a request that is constituted by a positive or negative speed request, and/or a braking request, and a desired steering angle. Alternatively, the signal from the external control system constitutes a request that is constituted by an acceleration and or deceleration request and a desired steering angle. Alternatively, the signal from the external control system comprises a request that is constituted by an angular velocity and/or a torque at the steering wheel. It is preferable that the external control system generate continuously several signals comprising one or several control parameters or requests.
It is preferable that the control system that is internal to the vehicle comprise several operating systems arranged in communicative connection with the control unit of the control system that is internal to the vehicle. The said control unit thus transfers signals comprising control parameters to the operating systems that thus control the motor vehicle. It is appropriate that the operating systems are constituted by a brake control system for the control of, for example, service brake, secondary brake and parking brake, driving means and/or control means. The term "secondary brake" can be used to denote retarders, exhaust brakes, electrical secondary brakes and similar. It is appropriate that the operating systems further constitute an engine control system for the control of the engine of the motor vehicle and its propulsion, together with a change of gear control system for the control of the change of gear of the motor vehicle. The operating systems are thus constituted by systems that through the control unit of the control system that is internal to the vehicle influence, among other things, the speed and direction of the motor vehicle.
According to one aspect of the present invention, the control unit of the control system that is internal to the vehicle is arranged for communication with the operating systems over a communication bus. It is appropriate that the communication bus comprise a CAN bus or other standard for the
transmission of data.
By checking whether a predetermined condition is prevalent at the motor vehicle and by allowing the initiation of autonomous operation and/or external control of the said motor vehicle only when the said predetermined condition is prevalent, a safe and robust system for autonomous and/or external driving of a vehicle is achieved. The said control unit can, by communicating with the operating systems and/or other control units that are internal to the vehicle, determine whether a predetermined condition is prevalent.
According to one embodiment, the predetermined condition at the said motor vehicle may comprise that the parking brake of the motor vehicle has been applied, and/or that the engine of the motor vehicle is switched off, and/or that the gearbox of the motor vehicle is in the neutral condition.
According to one embodiment, certain predetermined conditions may be critical for the initiation of autonomous and/or external driving of the motor vehicle to be allowed, while other predetermined conditions may be non-critical for the determination of whether initiation of autonomous operation and/or external control is to be allowed. A safe system is in this way advantageously achieved in which solely motor vehicles that are appropriate to be driven autonomously and/or externally are driven autonomously and/or externally.
According to one embodiment of the present invention, a system is provided whereby the said control unit is arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle when the said predetermined condition at the said motor vehicle is not prevalent. This prevents inappropriate motor vehicles from being driven autonomously and/or externally, which means that accidents can be avoided.
According to one embodiment of the present invention, a system is provided whereby the said control unit is arranged to check at least one vehicle function at the said motor vehicle. The said control unit can, by communicating using signals with the operating systems of the vehicle and/or other control units that are internal to the vehicle, obtain information about the function of the vehicle, i.e. information about whether everything is functioning properly at the vehicle. The, at least one, function of the vehicle may be that a particular sensor, such as a torque sensor, a rate of revolution sensor, or similar, is functioning properly. The, at least one, function of the vehicle may be also that a specific actuator that carries out requests from the external control system is functioning properly. Examples of functions of the vehicle to check may be that the brakes are not overheated, that the gearbox is functioning properly, that the engine does not have reductions in torque, that the tyres are not punctured, and/or that there is sufficient air in the brake system. By checking at least one function of the vehicle of the said motor vehicle it can be determined, before the vehicle has be placed under autonomous operation or is controlled externally, whether the motor vehicle is appropriate to be driven autonomously and/or externally. A safe system is in this way achieved for autonomous operation and/or external control, in which both the vehicle and its surroundings are protected from unsuitable vehicles being driven autonomously and/or externally. According to one embodiment of the present invention, a system is provided whereby the said control unit of the control system that is internal to the vehicle is arranged to allow initiation of autonomous operation and/or external control of the said motor vehicle when the said function of the vehicle demonstrates acceptable functionality.
By carrying out a check of the said function of the vehicle before the vehicle is allowed to be driven autonomously and/or externally, and by allowing the initiation of autonomous operation and/or external control of the said vehicle only when the said function of the vehicle demonstrates an acceptable function, safe driving of the vehicle is achieved, when the motor vehicle and its surroundings are protected from a motor vehicle being driven autonomously and/or externally without, for example, functioning brakes.
According to one embodiment of the present invention, a system is provided whereby the said control unit is arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle when the said function of the vehicle does not demonstrate acceptable functionality.
According to one embodiment, the functionality of certain functions of the vehicle may be critical for the vehicle to be allowed to be driven autonomously and/or externally, while other functions of the vehicle may be non-critical for the determination of whether the said vehicle may be driven autonomously and/or externally. A safe system is in this way advantageously achieved in which solely vehicles that are appropriate to be driven autonomously and/or externally are driven autonomously and/or externally.
According to one embodiment of the present invention, a system is provided whereby the said control unit is arranged to validate the said signal from the said external control system. It is appropriate that the validation comprise the check of at least one pre-determined criterion. Through the control unit of the control system that is internal to the vehicle validating the incoming signal from the external control system, a check is achieved before the said signal is transferred to the operating systems and thus controls the motor vehicle. It can in this way be ensured that no unreasonable or damaging signals, or signals that the control unit cannot interpret, control the motor vehicle. This is particularly important since the signal from the external control system comprises control parameters at a low level. The validation preferably comprises the check of pre-determined criteria with respect to the format of signals of the external control system. The validation comprises, for example, check of the frequency of the signal generated by the external control system, i.e. how often signals from the external control system are transmitted. For example, in the case in which signals are intended to be transmitted every 40 milliseconds but an interruption occurs, the control unit stops the autonomous operation. Furthermore, a checksum generated by the external control system can be checked during the validation. The validation means that the format with which communication takes place over the computer interface must comply with clearly defined criteria in order to be received by the control system that is internal to the vehicle. It is in this way ensured that the manufacturer of the vehicle has control of how the vehicle is controlled and driven, even when an external control system is used for autonomous operation and/or external control.
Furthermore, it is ensured that the external control system is an approved and allowed control system for autonomous operation and/or external control of the motor vehicle.
According to one embodiment, the validation comprises the check of at least one pre-determined criterion with respect to the plausibility of the request from the external control system. By checking the plausibility of the said signal, requests that can damage the vehicle can be avoided. One such example of a request that would be able to damage the vehicle may be a request to select reverse gear when the vehicle is being driven at a certain speed. When the validation shows that the signal from the external control system does not satisfy the, at least one, pre-determined criterion, or is considered to be harmful for the vehicle, it is appropriate that the control unit stop the signal from the external control system and the autonomous operation and/or external control is interrupted. It is preferable that the control unit generate also a signal for internal control, and transfer the signal for internal control to the operating systems. A robust and safe system is in this way achieved.
According to one embodiment of the present invention, a system is provided whereby the said control unit is arranged to determine driving properties and/or a configuration of the surroundings, where the said control unit is arranged to adapt the said validation on the basis of the said driving properties that have been determined and/or the configuration of the surroundings that has been determined.
By determining driving properties and/or the configuration of the surroundings and basing the said validation on these parameters, the suitability of the external control signals that control the autonomous operation and/or external control can be determined from case to case. The driving properties may be, according to one example, the speed of the vehicle. The configuration of the surroundings may be an electronic representation of the surroundings of the said motor vehicle. The said configuration of the surroundings may include the gradient of the ground, structures, objects, people, animals, etc. According to one example, it may be suitable in certain situations, such as starting when on an uphill section, that a request for braking is made at the same time as a request for acceleration. The same request, i.e. a request for braking at the same as a request for acceleration, can be regarded as being harmful to the vehicle when it is made when the vehicle is being driven at a certain speed. By the use of driving properties and/or the configuration of the surroundings as a basis to validate the said signal, a robust, flexible and user- friendly system is obtained. According to one example, the speed of the vehicle may constitute one parameter that influences the said validation.
According to one example, the gradient of the ground may constitute one parameter that influences the said validation. According to one embodiment of the present invention, a system is provided whereby the said control unit is arranged to interrupt autonomous operation and/or external control of the said motor vehicle when the said signal from the said external control system does not satisfy during the validation at least one pre-determined criterion.
It is preferable that the control unit be arranged to prevent, in the event that a criterion is not satisfied, autonomous operation and/or external control of the motor vehicle by stopping the signal from the external control system and in this way not transferring the said signal to the operating systems.
It is appropriate that the control unit be arranged to prevent, in the event that a criterion is not satisfied, autonomous operation and/or external control of the motor vehicle by generating a signal for internal control of the motor vehicle. An internal control of motor vehicle is in this way achieved when the pre- determined criterion is not satisfied. It is preferable that the signal for internal control comprise control parameters that minimise the risk of damage to the motor vehicle and of objects and/or people in its surroundings. The internal control comprises, for example, control parameters that lead to the motor vehicle being braked and/or stopped/parked.
According to one aspect of the present invention, the control unit generates a signal for the internal control of the motor vehicle when the interface and/or the control system that is internal to the vehicle does not receive during ongoing autonomous operation and/or external control any signal at all from the external control system. The internal control system can in this way, for example, stop the motor vehicle when the autonomous operation and/or external control has been interrupted for any reason. Both the motor vehicle and objects and/or people in its surroundings are in this way protected.
According to one aspect of the present invention, the control unit is arranged to generate, when autonomous operation and/or external control has been prevented and the control unit has generated a signal for internal control, a signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle. It is appropriate that the control unit is further arranged to transfer the signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle from the control system that is internal to the vehicle to the external control system over the interface. The external control system, and thus also the operator, in this way receives information that it is not controlling the motor vehicle and the reason that it is not controlling the motor vehicle.
According to one embodiment of the present invention, a system is provided whereby said control unit is adapted to allow again autonomous operation and/or external control of a motor vehicle after interrupted autonomous operation and/or external control on the basis of a signal received from the said external control system.
When the autonomous operation and/or the external control has been interrupted, it is possible for an operator to transmit again a signal through the external control system, where the said signal contains a request to again be allowed to drive the vehicle autonomously and/or externally. It in not in this case required that an operator physically move to the said vehicle in order to again activate the autonomous operation and/or the external control, which creates a user-friendly and time-efficient system. According to one embodiment of the present invention, a system is provided whereby the said control unit is arranged to validate the said signal comprising the request from the said external control system to again be allowed to drive the vehicle at least one of autonomously and externally.
It is appropriate that the signal from the external control system comprising the request to again be allowed to drive the vehicle autonomously and/or externally comprise information generated by an operator. It is preferable that the validation of the signal with the request to again be allowed to drive the vehicle autonomously and/or externally comprise a check of the authority of the operator. It is appropriate that the authority of the operator and thus the validation of signal be based on the information generated by the operator in the signal. Through the validation of the said signal, it can be ensured that the signal comes from an operator who is allowed to drive the said motor vehicle autonomously and/or externally. A safe method is achieved through the validation of the said signal.
The control unit is arranged to check whether the said information generated by the operator satisfies the requirement that the said vehicle may again to taken into use for autonomous operation and/or external control. According to one embodiment, the information generated by the operator may be a specific code from the said operator. The control unit thus checks whether the signal demonstrates the correct code and allows that autonomous operation and/or external control again be taken into use when the signal demonstrates the right code. According to one embodiment, the information generated by the operator may be a certain sequence of actions carried out by the said operator.
The term "operator" can denote one or several people. Alternatively, the term "operator" can denote a company or a customer of the vehicle manufacturer. According to one embodiment of the present invention, a system is provided in which the control system that is internal to the vehicle is arranged to determine whether the control unit is receiving a signal from an operator regulator at the motor vehicle. The operator regulator at the motor vehicle is preferably constituted by a regulator that can be operated manually by the operator when the operator is located inside the driver's cabin of the motor vehicle. The term "operator" can denote a driver of the motor vehicle. Examples of operator regulators are steering wheel, accelerator pedal, brake pedal, gear change stick, indicators, etc. According to one embodiment, an operator regulator is constituted by a regulator that indicates when activated that the operator desires to drive the vehicle manually. In the cases in which the control unit receives signals from an operator regulator, autonomous operation or external control of the motor vehicle is not allowed, and the signal from the external control system is stopped at the control unit. By preventing the transfer of signals from the external control system to the operating systems when the control unit receives a signal from an operator regulator, autonomous operation and/or external control of the motor vehicle is prevented as soon as the indication is given that a person is present inside the motor vehicle and desires to drive the motor vehicle manually. When autonomous operation and/or external control is not allowed, manual operation of the motor vehicle is achieved, through the control unit controlling the operating systems in accordance with the signal received from the operator regulator. It is in this way ensured that manual operation of the motor vehicle is always given priority over autonomous operation and/or external control of the motor vehicle.
The control unit thus controls the operating systems, for example, on the basis of signals either from the operator regulators (manual operation), or from the external control system (autonomous operation or external control).
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the steps:
- to generate a signal comprising at least one control parameter for
autonomous operation and/or external control of a motor vehicle by means of an external control system; - to transfer over a computer interface the signal from the external control system to a control system that is internal to the vehicle, comprising a control unit and operating systems, whereby the computer interface is arranged in communicative connection with the external control system and the control system that is internal to the vehicle;
- to determine whether a predetermined condition is prevalent at the said motor vehicle, whereby the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary; and
- to allow the initiation of autonomous operation of the said motor vehicle when the said predetermined condition at the said motor vehicle is prevalent.
It is appropriate that the external control system generate continuously several signals, whereby each signal can comprise one or several control parameters for autonomous operation and/or external control of the motor vehicle.
According to one aspect of the present invention, a method is provided to make possible the external control of a motor vehicle comprising the steps:
- to generate a signal comprising at least one control parameter for the external control of the said motor vehicle by means of an external control system ;
- to transfer over a computer interface the signal from the external control system to a control system that is internal to the vehicle, comprising a control unit and operating systems, whereby the computer interface is arranged in communicative connection with the external control system and the control system that is internal to the vehicle;
- to determine whether a predetermined condition is prevalent at the said motor vehicle, whereby the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary; and
- to allow the initiation of autonomous operation of the said motor vehicle when the said predetermined condition at the said motor vehicle is prevalent. According to one aspect of the present invention, a method is provided to make possible the autonomous operation of a motor vehicle comprising the steps:
- to generate a signal comprising at least one control parameter for the autonomous operation of the said motor vehicle by means of an external control system; and
- to transfer over a computer interface the signal from the external control system to a control system that is internal to the vehicle, comprising a control unit and operating systems, whereby the computer interface is arranged in communicative connection with the external control system and the control system that is internal to the vehicle;
- to determine whether a predetermined condition is prevalent at the said motor vehicle, whereby the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary; and
- to allow the initiation of autonomous operation of the said motor vehicle when the said predetermined condition at the said motor vehicle is prevalent.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to check at least one function of the vehicle of the said motor vehicle.
According to one aspect of the present invention, a method is provided to make possible at least one of the autonomous operation and external control of a motor vehicle comprising the step to allow initiation of at least one of autonomous operation and external control of the said motor vehicle when the said function of the vehicle demonstrates acceptable functionality.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to prevent initiation of autonomous operation and/or external control of the said motor vehicle when the said function of the vehicle does not demonstrate acceptable functionality.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to prevent initiation of autonomous operation and/or external control of the said motor vehicle when the said predetermined condition of the said motor vehicle is not prevalent. According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to validate the said signal from the said external control system. According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the steps of determining driving properties and/or a configuration of the surroundings, and adapting the said validation on the basis of the said driving properties that have been determined and/or the
configuration of the surroundings that has been determined.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step of interrupting autonomous operation and/or external control of the said motor vehicle when the said signal from the said external control system does not satisfy during the validation a pre-determined criterion.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step of again allowing autonomous operation and/or external control of a motor vehicle after interrupted autonomous operation and/or external control on the basis of a signal received from the said external control system. It is appropriate that the said signal from the external control system comprise a request to again be allowed to drive the motor vehicle autonomously and/or externally.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step to validate the said signal from the said external control system comprising a request to again be allowed to drive the motor vehicle autonomously and/or externally, whereby the said signal includes information generated by an operator.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step of determining whether a vehicle operator is authorised on the basis of the said information generated by the operator.
According to one aspect of the present invention, a system and a method are provided to make possible autonomous operation and/or external control of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the external control of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the autonomous operation of a motor vehicle.
The purposes described above are achieved also with a motor vehicle comprising a system to make possible autonomous operation and/or external control. The motor vehicle may be a lorry, a bus or a car. The said motor vehicle may be any one of a lorry, bus, forestry machine, mining machine, wheel loader or car. The said vehicle may be a hybrid vehicle or an electrical vehicle with an electric motor. According to one aspect of the invention, a computer program is provided, where the said computer program comprises program code to carry out the method steps according to any one of claims 12-22, when the said computer program is run on a computer.
According to one aspect of the invention, a computer program product is provided, comprising a program code to carry out the method steps according to any one of claims 12-22, when the said program code is run on a computer. According to one aspect of the invention, a computer program is provided, where the said computer program comprises program code to carry out any one of the method steps named in the current application, when the said computer program is run on an electronic control unit. According to one aspect of the present invention, a computer program product is provided comprising a program code stored on a medium that can be read by a computer, in order to carry out any one of the method steps named in the current application, when the said program code is run on an electronic control unit.
According to one aspect of the present invention, a computer program product is provided comprising a program code stored on a medium that can be read by a computer, in order to carry out any one of the method steps named in the current application, when the said program code is run on a computer.
According to one aspect of the present invention, a computer program product is provided directly stored in an internal memory of a computer, comprising a computer program comprising program code arranged to carry out any one of the method steps named in the current application, when the said computer program is run on an electronic control unit. Further purposes, advantages and new distinctive features of the present invention will be made clear for one skilled in the arts by the following details, as also during execution of the invention. While the invention is described below, it should be obvious that the invention is not limited to the specific details described. Those skilled in the arts will recognise further applications, modifications and executions within other fields, which lie within the scope of the invention.
BRIEF DESCRIPTION OF DRAWINGS
Preferred embodiments of the invention will be described as examples below with reference to attached drawings, of which: Figure 1 shows a schematic side view of a vehicle,
Figure 2 shows schematically a system to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention,
Figure 3a shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention. Figure 3b shows a flow diagram for a method to make possible autonomous operation and /or external control of a motor vehicle according to one embodiment of the present invention.
Figure 3c shows a flow diagram for a method to make possible autonomous operation and /or external control of a motor vehicle according to one embodiment of the present invention. Figure 4 illustrates schematically a computer according to one embodiment of the invention.
DETAILED DESCRIPTION OF THE INVENTION
Figure 1 shows a side view of a motor vehicle 100 comprising a drawing vehicle 1 10 and a trailer 1 12. The motor vehicle 100 comprises further a system 200 to make possible autonomous operation and/or external control of the motor vehicle according to one embodiment of the present invention. The motor vehicle may be a heavy vehicle, such as a lorry, bus, wheel loader, forestry machine, dumper, mining machine, tracked vehicle or tank.
Alternatively, the motor vehicle may be a car. The motor vehicle 100 may be, according to one design, a hybrid vehicle. The motor vehicle 100 may be, according to one design, an electrical vehicle with an electric motor. The invention is advantageously applied to vehicles in association with mining.
Figure 2 shows schematically a system 200 to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention. The system 200 comprises an external control system 205, a computer interface 210, and a control system 270 that is internal to the vehicle. The external control system 205 may be manufactured by a third-party supplier and comprises a control system for autonomous operation and/or external control of a motor vehicle. The external control system 205 comprises, according to one embodiment, sensors such as cameras, radar devices, and similar (not shown in the drawing). The said sensors may be located at the motor vehicle 100 and/or external to the motor vehicle 100. The external system 205 comprises, according to one embodiment, at least one control unit (not shown in the drawings). The said control unit processes signals from the relevant sensors. The said control unit can further be arranged in communicative connection with external units such as an electronic map database or other similar systems that can contribute information that can influence autonomous operation and/or external control of the said vehicle. The external control system 205 is arranged to generate continuously a signal S1 , comprising at least one control parameter for autonomous operation and/or the external control of the said motor vehicle 100. The external control system 205 is arranged to generate continuously a signal S1 , comprising at least one control parameter or request at a low level, such as a speed request, braking request, steering angle request or similar. The external control system 205 and the control system 270 that is internal to the vehicle can communicate with each other in that the computer interface is arranged in communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle. The external control system 205 and the computer interface 210 are arranged for communication over a link L205, and the computer interface 210 and the vehicle control system 270 that is internal to the vehicle are arranged for communication over a link L210. The control system 270 that is internal to the vehicle comprises a control unit 220 and operating systems 230, 240, 250. The control unit 220 is arranged in communicative connection with the operating systems 230, 240, 250 over a link L220, and with the computer interface over the link L210. It is appropriate that the operating systems 230, 240, 250 are constituted by systems that through the control unit 220 of the control system 270 that is internal to the vehicle influence, among other things, the speed and direction of the motor vehicle 100. The operating systems 230, 240, 250 in this design given as an example, are a system for change of gear 230, a brake-control system 240, and an engine-control system 250. The system for change of gear 230 may include, for example, a control unit for an automatic transmission. The brake-control system 240 may include, for example, a control unit for electrically or hydraulically controlled wheel brakes. The engine-control system 250 may include, for example, engine-control means such as a control unit for the supply of fuel. The external control system 205 is arranged to transmit continuously the signal S1 over the link L205 to the computer interface 210. The interface 210 is further arranged to transmit the signal S1 onwards to the control unit 220 over the link L210.
The control unit 220 is arranged to process or convert the signal S1 from the external control system 205 such that the processed signal S1 b demonstrates a format that the operating systems 230, 240, 250 at the control system 270 that is internal to the vehicle expect and can interpret. The processed signal S1 b thus comprises the same request or control parameter as the signal S1 from the external control system 205, but demonstrates a different format. The processed signal S1 b is transmit over the link L220 to the said operating systems 230, 240, 250.
The said control unit 220 is arranged to, when necessary, modify the said signal S1 from the external control system 205, such that the motor vehicle 100 is not unnecessarily placed into situations that may be harmful to the motor vehicle 100. Modification of the signal S1 from the external control system 205 thus entails that the modified signal S1 m comprise a request or control parameter that differs from the original request or control parameter of the signal S1 from the external control system 205. The said modified signal S1 m is transmitted over the link L220 to the said operating systems 230, 240, 250.
The control unit 220 is arranged to communicate with a power supply 280 and an operator regulator 290 at the motor vehicle 100. The said power supply 280 controls functions at the motor vehicle 100, such as tipping of a loading bed, raising a gripper, control of a crane, etc. The operator regulator 290 constitutes a regulator that can be operated manually by the operator when the operator is located inside the motor vehicle 100. Examples of operator regulators 290 are steering wheel, accelerator pedal, brake pedal, gear change stick or paddle, indicators, etc. The control unit 220 is arranged in communicative connection with the power supply 280 over a link L280. The control unit 220 is arranged to transmit over the said link L280 the processed signal S1 b to the said power supply 280, for control of the said power supply 280. The said control unit 220 is further arranged to transmit the said modified signal S1 m over the said link L280 to the said power supply 280. The control unit 220 is further arranged in communicative connection with the operator regulators 290 over a link L290. The operator regulator is arranged to transmit during use a signal S4 to the control unit 220 over the link L290. The signal S4 comprises control
parameters that correspond to the wishes of the operator with respect to operation of the motor vehicle 1 00. The control unit 220 is further arranged to determine whether a predetermined condition is prevalent at the said motor vehicle 1 00 in order to allow initiation of autonomous operation and/or external control. It is appropriate that the predetermined condition at the said motor vehicle 1 00 comprises that the motor vehicle 1 00 is stationary. The predetermined condition at the said motor vehicle 1 00 may comprise also that the parking brake of the motor vehicle has been applied, and/or that the engine of the motor vehicle is switched off, and/or that the gearbox of the motor vehicle is in the neutral condition.
The control unit 220 is further arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle 1 00 when the said predetermined condition at the said motor vehicle is not prevalent.
The control unit 220 is further arranged to check at least one function of the said motor vehicle 1 00.
The control system 270 that is internal to the vehicle is arranged to determine whether a function of the vehicle is functioning at the said motor vehicle 1 00 in order to allow initiation of autonomous operation and/or external control of the motor vehicle 1 00. The pre-determined function of the vehicle concerns, according to one embodiment, requirements that the various operating systems 230, 240, 250 of the vehicle function in the intended manner, such as, for example, the brake system of the vehicle, or alternatively that the vehicle 100 has sufficient lubrication oil to be driven autonomously and/or externally.
The control unit 220 is further arranged to allow initiation of autonomous operation and/or external control of the said motor vehicle 100 when the said function of the vehicle demonstrates acceptable functionality.
The control unit 220 is further arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle 100 when the function of the vehicle does not demonstrate acceptable functionality.
The control unit 220 is further arranged to validate the said signal S1 from the said external control system 205. The control unit 220 is further arranged to determine driving properties and/or a configuration of the surroundings; and to adapt the said validation on the basis of the said driving properties that have been determined and/or the configuration of the surroundings that has been determined. The said control unit 220 is further arranged to interrupt autonomous operation and/or external control of the said motor vehicle when the said signal S1 from the said external control system 205 does not satisfy during the validation a pre-determined criterion. The said control unit 220 is, according to one embodiment, adapted to generate a signal S3 in the event of interrupted autonomous operation or external control of the said motor vehicle 100. The said signal S3 may comprise information that the said autonomous operation or external control of the said motor vehicle 100 has been interrupted, and information about the reason for the interruption of the autonomous operation or external control. The said control unit is adapted to transmit the said signal S3 to the said external control system 205 over the said computer interface 210 over the link L210 and the link L205.
The control unit 220 is further adapted to allow again autonomous operation and/or external control of a motor vehicle 100 after interrupted autonomous operation or external control on the basis of a signal S5 received from the said external control system 205. It is appropriate that the said signal S5 comprise a request to again be allowed to drive the motor vehicle 100 autonomously and/or externally.
The control unit 220 is further arranged to validate the said signal S5 from the said external control system 205, whereby the said signal S5 includes information generated by an operator. The control unit 220 is further arranged to determine whether a vehicle operator is authorised, on the basis of the said information generated by an operator.
Figure 3a shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention. The method comprises the step s301 of transferring over a computer interface 210 a signal S1 from the external control system 205 to a control system 270 that is internal to the vehicle, comprising a control unit 220 and operating systems 230, 240, 250. The computer interface 210 is arranged in communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle. It is appropriate that the transfer between the external control system 205 and the computer interface 210 be carried out over a link L205. It is appropriate that the transfer between the computer interface 210 and the external control system be carried out over a link L210. The step s301 comprises also to determine whether a predetermined condition at the said motor vehicle prevalent, whereby the predetermined condition at the said motor vehicle comprises that the motor vehicle is stationary, and to allow initiation of autonomous operation and/or external control of the said motor vehicle when the said predetermined condition at the said motor vehicle is prevalent. The method is terminated after the method step s301 .
Figure 3b shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention. The method comprises the step s310 of generating by means of an external control system 205 at least one signal S1 comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle 100. A method step s320 is carried out after the method step s310.
The method step s320 comprises transferring over a computer interface 210 the signal S1 from the external control system 205 to a control system 270 that is internal to the vehicle, comprising a control unit 220 and operating systems 230, 240, 250, whereby the computer interface 210 is arranged in
communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle. It is appropriate that the transfer between the external control system 205 and the computer interface 210 be carried out over a link L205. It is appropriate that the transfer between the computer interface 210 and the control system that is internal to the vehicle be carried out over a link L210. A method step s330 is carried out after the method step s320.
The method step s330 comprises determining whether a predetermined condition is prevalent at the said motor vehicle 100, whereby the
predetermined condition comprises that the motor vehicle 100 is stationary. The said predetermined condition comprises, according to one embodiment, that the parking brake has been applied. The said predetermined condition, comprises, according to one embodiment, that the engine of the motor vehicle 100 is switched off and/or that the gearbox of the motor vehicle 100 is in the neutral condition. The said predetermined condition may comprise one or several of the above-mentioned conditions. It is appropriate that the method step s330 be carried out by the control unit 220, which communicates over links with said operating systems 230, 240, 250 and/or other control units that are internal to the vehicle. When the said predetermined condition, comprising at least one condition, is prevalent, method step s340 is carried out. When the said predetermined condition, comprising at least one condition, is not prevalent, method step s350 is carried out. The method step s330 comprises, according to one embodiment, also the checking by means of the control unit 220 at least one function of the said motor vehicle 100. The said function of the vehicle concerns, according to one embodiment, the brake system of the vehicle. The said function of the vehicle may, according to one embodiment, concern the propulsion system, including the engine and transmission, of the vehicle. The said function of the vehicle concerns, according to one embodiment, the navigation system of the vehicle. It is appropriate that the method step s330 be carried out by the control unit 220, which communicates over links with the operating systems 230, 240, 250 of the motor vehicle 100 or with its propulsion system. When the said function of the vehicle demonstrates an acceptable function, method step s340 is carried out. When the said function of the vehicle does not demonstrate an acceptable function, method step s350 is carried out.
The method step s340 is carried out solely if it is determined in method step s330 that the said predetermined condition of the vehicle is prevalent and, alternatively, that the said predetermined function of the vehicle demonstrates an acceptable function. The method step s340 comprises the allowance of initiation of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s340 to allow initiation of
autonomous operation and/or external control of the motor vehicle 100 comprise that the control unit 220 process and convert the signal S1 from the external control system 205 and transfer the processed signal S1 b to the operating systems 230, 240, 250. It is appropriate that the control unit 220 process the signal S1 from the external control system 205 such that the processed signal S1 b demonstrates a format that the operating systems 230, 240, 250 at the control system 270 that is internal to the vehicle expect and can interpret. It is appropriate that the transfer of the signal S1 b from the control unit 220 and the operating systems 230, 240, 250 be carried out over a link L220. The method is terminated after the method step s340. Alternatively, the method is repeated from the first method step s310.
The method step s350 is carried out solely if it is determined in method step s330 that the said predetermined condition of the vehicle is not prevalent and/or that the said predetermined function of the vehicle does not
demonstrate an acceptable function.. The method step s350 comprises the prevention of initiation of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s350 to prevent initiation of autonomous operation and/or external control of the motor vehicle comprise stopping, by means of the control unit 220, the signal S1 from the external control system 205, and generating, by means of control unit 220, a signal S2 for the internal control of the motor vehicle 100, and transferring the signal S2 for internal control from the control unit 220 to the operating systems 230, 240, 250. It is appropriate that the transfer of the signal S2 for the internal control be carried out over the link L220. It is appropriate that the signal S2 for internal control comprise control parameters to control the motor vehicle 100, such that the motor vehicle 100 stops. The method is terminated after the method step s350. Alternatively, the method is repeated from the first method step s310.
Figure 3c shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention. The method comprises the step s310 of generating by means of an external control system 205 at least one signal S1 comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle 100. A method step s320 is carried out after the method step s310. The method step s320 comprises transferring over a computer interface 210 the signal S1 from the external control system 205 to a control system 270 that is internal to the vehicle, comprising a control unit 220 and operating systems 230, 240, 250, whereby the computer interface 210 is arranged in
communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle. It is appropriate that the transfer between the external control system 205 and the computer interface 210 be carried out over a link L205. It is appropriate that the transfer between the computer interface 210 and the control system that is internal to the vehicle be carried out over a link L210. A method step s330 is carried out after the method step s320.
The step s330 comprises to determine whether a predetermined condition at the said motor vehicle is prevalent. The said predetermined condition comprises that the motor vehicle 100 is stationary. The predetermined condition may comprise also that the parking brake of the motor vehicle 100 has been applied, and/or that the engine of the motor vehicle 100 is switched off, and/or that the gearbox of the motor vehicle 100 is in the neutral condition. The said predetermined condition may comprise one or several of the above- mentioned conditions. It is appropriate that the method step s330 be carried out by the control unit 220, which communicates over links with the said predetermined operating systems 230, 240, 250 or with propulsion means. When the said predetermined condition, comprising at least one condition, is prevalent, method step s340 is carried out. The method step s330 comprises, according to one embodiment, the checking by means of the control unit 220 at least one function of the said motor vehicle 100. The said function of the vehicle concerns, according to one embodiment, the brake system of the vehicle. The said function of the vehicle may, according to one embodiment, concern the propulsion system of the vehicle, including, for example, the engine and transmission. The said function of the vehicle concerns, according to one embodiment, the navigation system of the vehicle. It is appropriate that the method step s330 be carried out by the control unit 220, which communicates over links with the operating systems 230, 240, 250 of the motor vehicle 1 00 or with its propulsion system. When the said function of the vehicle demonstrates an acceptable function, method step s340 is carried out.
The method step s340 is carried out solely if it is determined in method step s330 that the said predetermined condition of the vehicle is prevalent and that the said predetermined function of the vehicle demonstrates an acceptable function. The method step s340 comprises the allowance of initiation of autonomous operation and/or external control of the motor vehicle 1 00. It is appropriate that the method step s340 to allow initiation of autonomous operation and/or external control of the motor vehicle 1 00 comprise that the control unit 220 process and convert the signal S1 from the external control system 205 and transfer the processed signal S1 b to the operating systems 230, 240, 250. It is appropriate that the transfer of the signal S1 b from the control unit 220 and the operating systems 230, 240, 250 be carried out over a link L220.
The method step s360 is carried out if during autonomous operation and/or external control of the said motor vehicle something occurs that causes the autonomous operation or external control to be interrupted. According to one example, autonomous operation and/or external control of the motor vehicle is interrupted when a signal S1 from the said external control system 205 does not satisfy during the validation of the signal S1 a pre-determined criterion. According to one example, autonomous operation and/or external control of motor vehicle 1 00 is interrupted when the motor vehicle 1 00 runs out of fuel or when a component in the motor vehicle has ceased to function. According to one embodiment, the said signal S1 is validated from the said external control system 205. According to one embodiment, the said validation is adapted on the basis of driving properties that have been determined and/or a
configuration of the surroundings at the motor vehicle 1 00. When the said validation is not satisfied, or has not given the desired result, autonomous operation and/or the external control is interrupted. In the event of interruption of autonomous operation and/or external control of the said motor vehicle 1 00, it is preferable that a signal S2 from the control unit 220 of the motor vehicle 1 00 is generated, whereby the said signal S2 comprises control parameters for internal control, which minimises the risk of damage to the motor vehicle of objects and/or people in its surroundings. The internal control comprises, for example, control parameters that lead to the motor vehicle 1 00 being braked and/or, stopped / parked. In order for an operator to be allowed again to drive the vehicle 1 00 autonomously and/or externally after at least one of
autonomous operation and external control of the said motor vehicle 1 00 has been interrupted, it is required, according to one embodiment, that the said operator transmit a signal S5 to the said motor vehicle 1 00, comprising a request to again be allowed to drive the motor vehicle 1 00 autonomously and/or externally. According to one embodiment, the said signal S5 is to contain information generated by an operator. According to one embodiment, predetermined requirements for the said information generated by an operator have been set. According to one embodiment, the said requirements for the said information generated by an operator may comprise that the operator has carried out control commands according to a predetermined sequence.
According to one embodiment, the said requirements for the information generated by an operator may be constituted by a requirement that a code that is intended for the current occasion is to be included in the information generated by an operator. According to one embodiment, the said
requirements for the said information generated by an operator may comprise control commands carried out according to a sequence that has been determined in real time by the control unit 220. The method step s370 is carried out when the said predetermined requirements are satisfied. The method step s380 is carried out when the said predetermined requirements are not satisfied.
The method step s370 is carried out solely when a predetermined requirement for the information generated by an operator that it is comprised in a signal S5 transmitted from the external control system 205 over a link L205 is satisfied. The method step s370 comprises the allowance again of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s370 to allow again autonomous operation and/or external control of the motor vehicle 100 comprise that the control unit 220 process and convert the signal S1 from the external control system 205 and transfer the processed signal S1 b to the operating systems 230, 240, 250. It is appropriate that the transfer of the signal S1 b from the control unit 220 to the operating systems 230, 240, 250 be carried out over a link L220. The method is terminated after the method step s370. Alternatively, the method is repeated from the first method step s310.
The method step s380 is carried out solely if it is determined in method step s360 that the said requirement for the said information generated by an operator is not satisfied. The method step s360 comprises the prevention of the allowance of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s380 to prevent autonomous operation and/or external control of the motor vehicle 100 comprise to stop, by means of the control unit 220, the signal S1 from the external control system 205. The method is terminated after the method step s380. Alternatively, the method is repeated from the first method step s310.
Figure 4 shows a drawing of a design of an arrangement 400. The external control system 205 and/or the control unit 220 that have been described with reference to Figure 2 may, in one design, comprise the arrangement 400. The arrangement 400 comprises a non-transient memory 420, a data processing unit 410 and a read/write memory 450. The non-transient memory 420 has a first section of memory 430 in which a computer program, such as an operating system, is stored in order to control the function of the arrangement 400. Furthermore, the arrangement 400 comprises a bus controller, a serial communication port, I/O means, an A/D converter, a unit for the input and transfer of time and date, an event counter and an interrupt controller (not shown in the drawing). The non-transient memory 420 has also a second section of memory 440.
A computer program P, which may comprise routines for autonomous operation and/or external control of a motor vehicle 1 00, is provided at the arrangement 400.
The computer program P may comprise routines to generate a signal S1 comprising a control parameter for autonomous operation and/or external control of the said motor vehicle 1 00, and routines to transmit and receive the signal S1 over a computer interface 21 0. The computer program P may comprise routines to validate the signal S1 . The computer program may comprise routines to check at least one function of the said motor vehicle 1 00. The computer program P may comprise routines to allow initiation of autonomous operation and/or external control of the said motor vehicle 220 when the function of the vehicle demonstrates acceptable functionality. The computer program P may comprise routines to prevent initiation of
autonomous operation and/or external control of the said motor vehicle 220 when the function of the vehicle does not demonstrate acceptable functionality. The computer program P may comprise routines to determine whether a predetermined condition at the said motor vehicle 1 00 is prevalent. The computer program P may comprise routines to allow initiation of autonomous operation and/or external control of the said motor vehicle 220 when the predetermined condition at the said motor vehicle 1 00 is prevalent. The computer program P may comprise routines to prevent initiation of
autonomous operation and/or external control of the said motor vehicle 220 when the predetermined condition at the said motor vehicle 1 00 is not prevalent. The computer program P may comprise routines to validate the signal S1 from the said external control system 205. The computer program P may comprise routines to determine driving properties and/or a configuration of the surroundings, and to adapt the said validation on the basis of said driving properties that have been determined and/or the configuration of the
surroundings that has been determined. The computer program P may comprise routines to interrupt autonomous operation and/or external control of the said motor vehicle 100 when the said signal S1 from the said external control system 205 does not satisfy a pre-determined criterion. The computer program P may comprise routines to allow again autonomous operation and/or external control of a motor vehicle 100 after interrupted autonomous operation and/or external control on the basis of a signal S5 received from the said external control system 205. The computer program P may comprise routines to validate the said signal S5 from the said external control system 205, whereby the said signal S5 includes information generated by an operator. The computer program P may comprise routines to determine whether a vehicle operator is authorised, on the basis of the said information generated by an operator. The computer program P may be stored in an executable form or in a compressed form in at least one of a memory 460 and a read/write memory 450.
When it is described that the data processing unit 410 carries out a certain function, it is to be understood that the data processing unit 410 carries out a certain part of the program that is stored in the memory 460, or a certain part of the program that is stored in the read/write memory 450.
The data processing arrangement 410 can communicate with a data port 499 over a data bus 415. The non-transient memory 420 is intended for
communication with the data processing unit 410 over a data bus 412. The separate memory 460 is intended to communicate with the data processing unit 410 over a data bus 41 1 . The read/write memory 450 is arranged to communicate with the data processing unit 410 over a data bus 414. The links L205, L210, L220, L280, and L290, for example, can be connected to the data port 499 (see Figure 2).
When data is received at the data port 499 it is temporarily stored in the second section of memory 440. When the data that has been received has been temporarily stored, the data processing unit 410 is prepared for the execution of code in a manner that has been described above.
According to one design, signals received at the data port 499 comprise parameters for autonomous operation and/or external control of the motor vehicle 100. According to one design, signals received at the data port 499 comprise parameters for the internal control of the motor vehicle 100.
According to one design, signals received at the data port 499 comprise information from an operator regulator 290. According to one design, signals received at the data port 499 comprise information from a power supply 280. According to one design, signals received at the data port 499 comprise information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100.
The signals that have been received at the data port 499 can be used by the arrangement 400 to determine whether the said motor vehicle 100 is to be allowed to be driven autonomously and/or externally, or to be prevented from being driven autonomously and/or externally.
Parts of the methods described here may be carried out by the arrangement 400 with the aid of the data processing unit 410, which runs the program stored in the memory 460 or in the read/write memory 450. When the arrangement 400 runs the program, the method described here is executed. The previous description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description of the invention. It is not intended to be exhaustive or to limit the invention to the variants that have been described. Many modifications and variations will be obvious for one skilled in the arts. The embodiments were selected and described in order to best explain the principles of the invention and its practical applications, and thus to make it possible for those skilled in the arts to understand the invention for various embodiments and with the various modifications that are appropriate for the intended use.

Claims

1 . A system to make possible autonomous operation and/or external control of a motor vehicle comprising:
- an external control system (205) arranged to generate a signal (S1 ) comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle; and
- a control system (270) that is internal to the vehicle comprising a control unit (220),
characterised by:
- a computer interface (210) arranged in communicative connection with the said external control system (205) and the said control system (270) that is internal to the vehicle, whereby the said computer interface (210) is arranged to transfer the said signal (S1 ) from the said external control system (205) to the said control system (270) that is internal to the vehicle, and whereby the said control unit (220) is arranged to determine whether a predetermined condition is prevalent at the said motor vehicle (100) in order to allow the initiation of autonomous operation and/or external control, where the predetermined condition at the said motor vehicle (100) comprises that the motor vehicle (100) is stationary.
2. The system according to claim 1 , whereby the said control unit (220) is arranged to check at least one function of the said motor vehicle (100).
3. The system according to claim 2, whereby the said control unit (220) is arranged to allow initiation of autonomous operation and/or external control of the said motor vehicle (100) when the said function of the vehicle
demonstrates acceptable functionality.
4. The system according to any one of claim 2 and claim 3, whereby the said control unit (220) is arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle (100) when the said function of the motor vehicle does not demonstrate acceptable functionality.
5. A system according to any one of the preceding claims, whereby the said control unit (220) is arranged to prevent initiation of autonomous operation and/or external control of the said motor vehicle (100) when the said predetermined condition at the said motor vehicle (100) is not prevalent.
6. The system according to any one of claims 1 -5, whereby the said control unit (220) is arranged to validate the said signal (S1 ) from the said external control system (205).
7. The system according to claim 6, whereby the said control unit (220) is arranged to determine driving properties and/or a configuration of the surroundings, where the said control unit (220) is arranged to adapt the said validation on the basis of said driving properties that have been determined and/or the configuration of the surroundings that has been determined.
8. The system according to any one of claims 6-7, whereby the said control unit (220) is arranged to interrupt autonomous operation and/or external control of the said motor vehicle (100) when the said signal (S1 ) from the said external control system (205) does not satisfy during the validation at least one pre-determined criterion.
9. The system according to any one of claims 1 -8, whereby the said control unit (220) is adapted to allow again autonomous operation and/or external control of a motor vehicle (100) after interrupted autonomous operation and/or external control on the basis of a signal (S5) received from the said external control system (205).
10. The system according to claim 9, whereby the said control unit (220) is adapted to validate the said signal (S5) from the said external control system (205), whereby the said signal (S5) includes information generated by an operator.
1 1 . The system according to claim 10, whereby the said control unit (220) is adapted to determine whether a vehicle operator is authorised, on the basis of the said information generated by an operator.
12. A method to make possible autonomous operation and/or external control of a motor vehicle (100) comprising the step:
- to generate a signal (S1 ) comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle by means of an external control system (205),
characterised by the steps:
- to transfer over a computer interface (210) the said signal (S1 ) from the said external control system (205) to a control system (270) that is internal to the vehicle, whereby the said control system (270) that is internal to the vehicle comprises a control unit (220);
- to determine whether a predetermined condition is prevalent at the said motor vehicle (100), whereby the predetermined condition at the said motor vehicle (100) comprises that the motor vehicle (100) is stationary; and
- to allow initiation of autonomous operation and/or external control of the said motor vehicle (100) when the predetermined condition at the said motor vehicle (100) is prevalent.
13. The method according to claim 12, comprising the step:
- to check at least one function of the said motor vehicle (100).
14. The method according to claim 13, comprising the step:
- to allow initiation of autonomous operation and/or external control of the said motor vehicle (100) when the said function of the vehicle demonstrates acceptable functionality.
15. The method according to claim 13, comprising the step:
- to prevent initiation of autonomous operation and/or external control of the said motor vehicle (100) when the said function of the vehicle does not demonstrate acceptable functionality.
16. The method according to any one of claims 12-15, comprising the step:
- to prevent the initiation of autonomous operation of the said motor vehicle (100) when the said predetermined condition at the said motor vehicle is not prevalent.
17. The method according to any one of claims 12-16, comprising the step:
- to validate the said signal (S1 ) from the said external control system (205).
18. The method according to claim 17, comprising the steps:
- to determine driving properties and/or a configuration of the surroundings; and
- to adapt the said validation on the basis of driving properties that have been determined and/or the configuration of the surroundings that has been determined.
19. The method according to any one of claims 17-18, comprising the step:
- to interrupt autonomous operation and/or external control of the said motor vehicle (100) when the said signal (S1 ) from the said external control system (205) does not satisfy during the validation a pre-determined criterion.
20. The method according to any one of claims 12-19, comprising the step:
- to allow again autonomous operation and/or external control of a motor vehicle (100) after interrupted autonomous operation and/or external control on the basis of a signal (S5) received from the said external control system (205).
21 . The method according to claim 20, comprising the step: - to validate the said signal (S5) from the said external control system (205), whereby the said signal (S5) includes information generated by an operator.
22. The method according to claim 21 , comprising the step:
- to determine whether a vehicle operator is authorised on the basis of the said information generated by an operator.
23. A motor vehicle (100) comprising a system according to any one of claims 1 -1 1 .
24. The motor vehicle (100) according to claim 23, whereby the motor vehicle (100) is any one of a lorry, bus, forestry machine, mining machine, wheel loader or car.
25. A computer program (P), where the said computer program (P) comprises program code to carry out the method steps according to claims 12-22, when the said computer program (P) is run on a computer (205; 220).
26. A computer program product comprising a program code to carry out the method steps according to any one of claims 12-22, when the said program code is run on a computer (205; 220).
EP14864465.1A 2013-11-21 2014-11-19 System and method to make possible autonomous operation and/or external control of a motor vehicle Ceased EP3072024A4 (en)

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EP3072024A4 (en) 2017-08-02
SE1451385A1 (en) 2015-05-22
WO2015076732A1 (en) 2015-05-28

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