SE1351409A1 - Procedure and emergency stop system for a motor vehicle - Google Patents

Procedure and emergency stop system for a motor vehicle Download PDF

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Publication number
SE1351409A1
SE1351409A1 SE1351409A SE1351409A SE1351409A1 SE 1351409 A1 SE1351409 A1 SE 1351409A1 SE 1351409 A SE1351409 A SE 1351409A SE 1351409 A SE1351409 A SE 1351409A SE 1351409 A1 SE1351409 A1 SE 1351409A1
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Sweden
Prior art keywords
vehicle
passenger
stop process
node
controlling
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SE1351409A
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Swedish (sv)
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SE537704C2 (en
Inventor
André Claesson
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Scania Cv Ab
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Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1351409A priority Critical patent/SE537704C2/en
Priority to DE112014005045.8T priority patent/DE112014005045T5/en
Priority to PCT/SE2014/051402 priority patent/WO2015080655A1/en
Publication of SE1351409A1 publication Critical patent/SE1351409A1/en
Publication of SE537704C2 publication Critical patent/SE537704C2/en

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Classifications

    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/14—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated upon collapse of driver
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0818—Inactivity or incapacity of driver
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/01—Occupants other than the driver
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/049—Number of occupants
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/227—Position in the vehicle
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

SAMMANDRAG Uppfinningen hanfor sig till ett forfarande for nodstopp for ett nnotorfordon innefattande stegen att: faststalla (Si) formaga hos foraren att kontrollerat framfora fordonet, samt, vid faststalld oformaga, aktivera (S2) ett fordonsstyrt nodstopp av fordonet. Forfarandet innefattar vidare steget att automatiskt styra (S3) fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nOdstoppsfOrlopp fOr sakerstallande av en saker inbronnsning av fordonet. Foreliggande uppfinning hanfor sig ocksa till ett system for nOdstopp for ett motorfordon. Foreliggande uppfinning hanfor sig ocksa till ett motorfordon. Foreliggande uppfinning hanfOr sig ocksa till ett datorprogram och en datorprogramprodukt. SUMMARY The invention relates to a node stop method for an engine vehicle comprising the steps of: determining (Si) shaping the driver to drive the vehicle in a controlled manner, and, in the event of a determined failure, activating (S2) a vehicle controlled node stop of the vehicle. The method further comprises the step of automatically controlling (S3) the deceleration of the vehicle and the carriageway during the deceleration according to a vehicle-adapted Emergency Stop Procedure for securing a thing in service of the vehicle. The present invention also relates to an emergency stop system for a motor vehicle. The present invention also relates to a motor vehicle. The present invention also relates to a computer program and a computer program product.

Description

1 FORFARANDE OCH SYSTEM FOR NODSTOPP FOR ETT MOTORFORDON TEKNISKT OMRADE Uppfinningen hanfor sig till ett f6rfarande for nodstopp for ett motorfordon enligt ingressen till patentkrav 1. Uppfinningen hanfor sig ocksa till ett system for nodstopp for ett motorfordon. Uppfinningen hanfor sig ocksa till ett motorfordon. Uppfinningen hanfor sig dessutom till ett datorprogram och en datorprogrann prod u kt. TECHNICAL FIELD The invention relates to a method of emergency stop for a motor vehicle according to the preamble of claim 1. The invention also relates to a system for emergency stop for a motor vehicle. The invention also relates to a motor vehicle. The invention also relates to a computer program and a computer software product.

BAKGRUND Det sker en del allvarliga olyckor i trafiken da fOrare ej langre har fOrnnagan att kontrollerat framf6ra fordonet, exempelvis om f6raren rakar ut for nagon form av sjukdomsfall och exempelvis svim mar. BACKGROUND There are some serious accidents in traffic as drivers no longer have the intention to check the driving of the vehicle, for example if the driver shaves for some form of illness and, for example, fainting.

Det är kant att automatiskt stoppa fordon da foraren ej langre har fornnagan att kontrollerat framfOra fordonet. US20080252466 beskriver metoder och system som aktiveras da en f6rare plotsligt inte langre har formagan att framfora fordonet. Nodljus kan sattas pa, signaltutan kan ljuda och fordonet kan stoppas. Till hjalp finns bland annat kameror och radar. It is possible to stop a vehicle automatically as the driver no longer has the ability to control the driving of the vehicle. US20080252466 describes methods and systems that are activated when a driver suddenly no longer has the ability to drive the vehicle. Emergency lights can be switched on, the horn can sound and the vehicle can be stopped. To help, there are, among other things, cameras and radar.

DE102011109618 beskriver en metod for att automatiskt kunna stoppa ett fordon da -Waren inte langre sjalv är kapabel till det. Navigationssystem kan anvandas som hjalpmedel for detta. DE102011109618 describes a method for being able to automatically stop a vehicle when -The product is no longer capable of it itself. Navigation systems can be used as an aid for this.

SYFTE MED UPPFINNINGEN Ett syfte med foreliggande uppfinning är att astadkomma ett f6rfarande och system fOr nOdstopp som mOjliggOr fOrbattrad sakerhet. 2 SAMMANFATTNING AV UPPFINNINGEN Detta och andra syften, vilka framgar av nedanstaende beskrivning, astadkommes medelst ett forfarande och ett system samt motorfordon, datorprogrann och datorprogrannprodukt av inledningsvis angivet slag och som vidare uppvisar sardragen angivna i den kannetecknande delen av bifogade sjalvstandiga patentkrav. Foredragna utforingsformer av forfarandet och systemet är definierade i bifogade osjalvstandiga patentkrav. OBJECT OF THE INVENTION An object of the present invention is to provide a method and system for emergency stopping which enables improved safety. SUMMARY OF THE INVENTION This and other objects, which will be apparent from the following description, are accomplished by a method and system, as well as a motor vehicle, computer program and computer program product of the kind initially indicated and further having the features set forth in the dependent part of the appended independent claims. Preferred embodiments of the method and system are defined in the appended dependent claims.

Enligt uppfinningen uppnas syftena nned ett forfarande for nodstopp for ett motorfordon innefattande stegen att: faststalla formaga hos foraren att kontrollerat framfora fordonet, samt, vid faststalld oformaga, aktivera ett fordonsstyrt nodstopp av fordonet, vidare innefattande steget att automatiskt styra fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsforlopp f6r sakerstallande av en saker inbromsning av fordonet. Genom att salunda sakert inbromsa fordonet forbattras sakerheten bade for omgivning och eventuella passagerare sasom staende passagerare hos fordonet. Genom att salunda sakert inbromsa fordonet forbattras sakerheten i det att det harvid undviks att fordonet, exempelvis en tankbil, tippar. According to the invention, the objects are achieved under a node stop method for a motor vehicle comprising the steps of: determining the shape of the driver to drive the vehicle in a controlled manner, and, in the event of a fixed abutment, activating a vehicle controlled node stop, further comprising the step of automatically controlling the vehicle deceleration and lane during deceleration according to a vehicle-adapted node-stop process for the correcting of a things braking of the vehicle. By thus slowly braking the vehicle, safety is improved both for the environment and any passengers as well as standing passengers in the vehicle. By decelerating the vehicle safely, the safety is improved in that it avoids the vehicle, for example a tanker, tipping over.

Enligt en utforingsform av forfarandet inbegriper steget att styra nodstopps- fOrloppet hansynstagande till ett passagerarperspektiv inbegripande hansynstagande till passagerarsakerhetsmassiga overvaganden. Harigenom forbattras passagerarsakerheten. According to one embodiment of the procedure, the step of guiding the node stop process involves taking his view to a passenger perspective including taking his view to passenger safety surveillance. This improves passenger safety.

Enligt en utforingsform innefattar forfarandet vidare steget att faststalla 25 radande passagerarfOrdelning och passagerarbelagenhet i fordonet som underlag for styrning av nodstoppsforloppet. Genom att ta hansyn till passagerarfordelning sasom var i fordonet, exempelvis en buss, passagerarna befinner sig, samt passagerarbelagenhet sasom huruvida en passagerare star, sitter, sitter i rullstol, ligger i bamvagn eller motsvarande 3 mojliggOrs automatisk anpassning av framforandet av fordonet under nodstoppsforloppet till passagerarbelagenhet vilket okar sakerheten och aven komforten fOr passagerarna. According to one embodiment, the method further comprises the step of determining radiating passenger distribution and passenger occupancy in the vehicle as a basis for controlling the node stop process. By taking into account the passenger distribution as was in the vehicle, for example a bus, the passengers are, and passenger occupancy such as whether a passenger stands, sits, sits in a wheelchair, lies in a pram or the equivalent of 3 possible automatic adjustment of the vehicle's driving during the node stop process to the passenger cover which increases safety and also comfort for passengers.

Enligt en utforingsform innefattar forfarandet vidare steget att bedoma 5 forvantad passagerarfordelning och passagerarbelagenhet i fordonet utifran en modell for uppforande hos en viss passagerarpopulation som underlag for styrning av nodstoppsfOrloppet. Harigenom mojliggors anpassning av framforandet av fordonet under nodstoppsforloppet till passagerarfordelning och passagerarbelagenhet vilket Okar sakerheten och aven komforten fOr passagerarna. According to one embodiment, the method further comprises the step of assessing the expected passenger distribution and passenger occupancy in the vehicle based on a model for behavior of a certain passenger population as a basis for controlling the node stop process. This makes it possible to adapt the driving of the vehicle during the node stop process to passenger distribution and passenger occupancy, which increases safety and also comfort for passengers.

Enligt en utfOringsform innefattar forfarandet steget att styra nOdstoppsforloppet baserat erforderliga riktningsforandringar och hastighetsfOrandringar under hansynstagande till passagerarsakerhetsmassiga Overvaganden. Harigenom kan fordonets framforande optimeras beaktande passagerarforekomst, varvid, i fallet dar det inte finns nagra passagerare eller endast sittande passagerare, beaktandet av passagerarsakerhet och komfort inte behover vara lika prioriterat, varvid fordonet i det fallet kan framf6ras enligt ett annat nodstoppsforlopp dar exempelvis, i tidssparande syfte, hastighet kan vara hogre och retardation och insvangning kraftigare utan att passagerarsakerhet eller komfort aventyras. According to one embodiment, the method comprises the step of controlling the emergency stop process based on required changes of direction and speed changes while taking into account passenger safety considerations. In this way, the driving of the vehicle can be optimized taking into account the occurrence of passengers, whereby, in the case where there are no passengers or only seated passengers, the consideration of passenger safety and comfort need not be equally prioritized, in which case the vehicle can be driven according to another emergency stop. purpose, speed can be higher and deceleration and recoil more powerful without compromising passenger safety or comfort.

Enligt en utforingsform av forfarandet inbegriper steget att automatiskt styra fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsforlopp hansynstagande till omvarldsfaktorer. Genom att hansyn tages till omvarldsfaktorer sasom hinder, andra trafikanter sasom andra fordon, gangtrafikanter etc., samt hur terrangen ser ut utmed fordonets fardvag sasom vagracken, eventuella stup/slanter och dylikt forbattras sakerheten ytterligare. According to one embodiment of the method, the step of automatically controlling the deceleration and lane of the vehicle during the deceleration according to a vehicle-adapted node stop process involves taking into account environmental factors. By taking into account environmental factors such as obstacles, other road users such as other vehicles, pedestrians, etc., as well as what the terrain looks like along the vehicle's carriageway such as the car wreck, any precipices / the like and the like, safety is further improved.

Enligt uppfinningen uppnas syftena med ett system f6r n6dstopp f6r ett motorfordon innefattande medel for att faststalla formaga hos -Waren att 4 kontrollerat framfora fordonet, samt medel for att, vid faststalld ofOrmaga, aktivera ett fordonsstyrt nodstopp av fordonet, innefattande medel for att automatiskt styra fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsforlopp for sakerstallande av en saker inbronnsning av fordonet. According to the invention, the objects are achieved with an emergency stop system for a motor vehicle comprising means for determining the shape of the goods to control the vehicle in a controlled manner, and means for activating a vehicle-controlled emergency stop of the vehicle, when means of determining position, including means for automatically steering the vehicle. deceleration and voyage during deceleration according to a vehicle-adapted node-stop process for securing a material refueling of the vehicle.

Enligt en utforingsform av systemet inbegriper medlet for att styra nOdstoppsfOrloppet hansynstagande till ett passagerarperspektiv inbegripande hansynstagande till passagerarsakerhetsmassiga overvaganden. According to one embodiment of the system, the means for guiding the emergency stop process includes his consideration of a passenger perspective including his consideration of passenger safety considerations.

Enligt en utfOringsform innefattar systemet medel for att faststalla radande passagerarfordelning och passagerarbelagenhet i fordonet som underlag for styrning av nOdstoppsforloppet. According to one embodiment, the system comprises means for determining radiating passenger distribution and passenger occupancy in the vehicle as a basis for controlling the emergency stop process.

Enligt en utforingsform innefattar systemet vidare medel for att bedorna forvantad passagerarfordelning och passagerarbelagenhet i fordonet utifran en modell for uppforande hos en viss passagerarpopulation som underlag for styrning av nOdstoppsforloppet. According to one embodiment, the system further comprises means for improving the expected passenger distribution and passenger occupancy in the vehicle based on a model for behavior of a certain passenger population as a basis for controlling the emergency stop process.

Enligt en utforingsform innefattar systemet medel for att styra nodstoppsforloppet baserat erforderliga riktningsforandringar och hastighetsforandringar under hansynstagande till passagerarsakerhetsmassiga Overvaganden. According to one embodiment, the system comprises means for controlling the node stop process based on required changes of direction and speed changes while taking into account passenger safety considerations.

Enligt en utforingsform av systemet inbegriper medlet for att automatiskt styra fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsforlopp medel f6r hansynstagande till omvarldsfaktorer. According to one embodiment of the system, the means for automatically controlling the deceleration of the vehicle and the carriageway during the deceleration according to a vehicle-adapted node-stop process include means for taking into account environmental factors.

Utforingsformerna f6r systemet uppvisar motsvarande fordelar som 25 motsvarande utfOringsformer for forfarandet namnda ovan. The embodiments of the system have similar advantages as corresponding embodiments of the method mentioned above.

FIGURBESKRIVNING Foreliggande uppfinning kommer att forstas battre med hanvisning till foljande detaljerade beskrivning last tillsammans med de bifogade ritningarna, dar lika hanvisningsbeteckningar hanfor sig till lika delar 5 genonngaende i de manga vyerna, och i vilka: Fig. 1 schematiskt illustrerar ett motorfordon enligt en utforingsform av foreliggande uppfinning; Fig. 2 schematiskt illustrerar ett system for nodstopp for ett motorfordon enligt en utforingsfornn av foreliggande uppfinning; Fig. 3 schematiskt illustrerar ett blockschema av ett forfarande for nodstopp for ett motorfordon enligt en utforingsform av foreliggande uppfinning; och Fig. 4 schematiskt illustrerar en dator enligt en utforingsform av foreliggande uppfinning. 15 BESKRIVNING AV UTFORINGSFORMER Hari hanfor sig termen "lank" till en kommunikationslank som kan vara en fysisk ledning, sasom en opto-elektronisk kommunikationsledning, eller en icke-fysisk ledning, sasom en tradlOs anslutning, till exempel en radio- eller mikrovagslank. DESCRIPTION OF THE DRAWINGS The present invention will be better understood by reference to the following detailed description of the drawings taken in conjunction with the accompanying drawings, in which like reference numerals appear in equal parts throughout the many views, and in which: Fig. 1 schematically illustrates a motor vehicle according to an embodiment of present invention; Fig. 2 schematically illustrates a node stop system for a motor vehicle according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a node stop method for a motor vehicle according to an embodiment of the present invention; and Fig. 4 schematically illustrates a computer according to an embodiment of the present invention. DESCRIPTION OF EMBODIMENTS The term "lank" refers to a communication link which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a wireless connection, for example a radio or microwave line.

Hari hanfor sig termen "nodstopp" till det moment vid vilket ett fordon, exempelvis en buss, vid faststalld oformaga hos f6raren att kontrollerat framfOra fordonet, stannat Iran en huvudsakligen normal fard i ett fardfOrlopp och retarderat till stillastaende. If the term "node stop" refers to the moment at which a vehicle, for example a bus, in the event of a determined inability of the driver to control the driving of the vehicle, Iran has stopped a substantially normal journey in a course of travel and retarded to a standstill.

Hari hanfOr sig termen "nOdstoppsforlopp" till fOrloppet under vilket ett fordon, exempelvis en buss, vid faststalld oformaga hos f6raren att kontrollerat framfOra fordonet stannar fran huvudsakligen normal lard i ett fardfOrlopp och 6 automatiskt styr fordonets retardation och fardvag under retardationen for saker inbromsning av fordonet till det att fordonet natt en stillastaende position. The term "emergency stop course" refers to the course during which a vehicle, for example a bus, at a determined inability of the driver to control the driving of the vehicle stops from mainly normal lard in a course and 6 automatically controls the vehicle's deceleration and vehicle vehicle deceleration during deceleration. to the point that the vehicle is in a stationary position at night.

Hari hanfor sig termen "medel for framforande av fordonet" till enheter hos 5 fordonet som erfordras for att framfora fordonet vid ett nodstoppsfOrlopp samt ett fardforlopp och inbegriper fordonets drivlina, fordonsratt eller motsvarande organ kir att svanga fordonet vid framfOrande av detsamma, samt bronnsorgan for att retardera fordonet. It refers to the term "means of driving the vehicle" to units of the vehicle required to drive the vehicle at a node stop course and a driving course and includes the vehicle's driveline, vehicle steering wheel or equivalent means for swinging the vehicle when driving the same, and well means for driving the same. decelerate the vehicle.

Hari hanfor sig termen "fardforlopp" till fOrloppet innan ett nodstoppsfiirlopp under vilket ett fordon, exempelvis en buss, framfors under normal fard pa ett kOrfalt utmed fordonets fardvag. In this context, the term "travel course" refers to the course before an emergency stop cycle during which a vehicle, for example a bus, is driven during normal travel on a lane along the vehicle's route.

Fig. 1 illustrerar schematiskt ett motorfordon 1 enligt en utforingsform av fOreliggande uppfinning. Det exemplifierade fordonet 1 utgors av ett tungt fordon i form av en buss. Fordonet kan alternativt utgoras av vilket som heist lampligt fordon sasom en lastbil eller ett ekipage med dragfordon och slap, till exempel en tankbil. Fordonet innefattar ett system I for nodstopp for ett motorfordon enligt fOreliggande uppfinning. Fig. 1 schematically illustrates a motor vehicle 1 according to an embodiment of the present invention. The exemplary vehicle 1 consists of a heavy vehicle in the form of a bus. The vehicle can alternatively consist of any suitable vehicle such as a truck or a crew with a towing vehicle and slack, for example a tanker. The vehicle comprises a node stop system I for a motor vehicle according to the present invention.

Fig. 2 illustrerar schematiskt ett blockschenna av ett system I fOr nodstopp for ett motorfordon enligt en utfOringsform av fOreliggande uppfinning. Fig. 2 schematically illustrates a block diagram of a node stop system for a motor vehicle according to an embodiment of the present invention.

Systemet I innefattar en elektronisk styrenhet 100. System I comprises an electronic control unit 100.

Systennet I innefattar medel 200 for att faststalla fornnaga hos -Waren att kontrollerat framfora fordonet. The system I comprises means 200 for determining the front of the -Ware to drive the vehicle in a controlled manner.

Medlet 200 for att faststalla formaga hos foraren att kontrollerat framfora fordonet inbegriper vilka som heist lampliga sensororgan for att faststalla fornnagan hos foraren att frannfora fordonet. Medlet 200 inbegriper enligt en variant sensororgan 210 for att avlasa forarens ansikte, ogonrorelse etc., vilka sensororgan 210 enligt en variant inbegriper kameraorgan. Medlet 200 inbegriper enligt en variant sensororgan 220 for att avkanna puls och/eller 7 hjartfrekvens, vilka sensororgan 220 enligt en variant är anordnade pa fordonsratten. The means 200 for determining the shape of the driver to drive the vehicle in a controlled manner includes any sensor means for determining the front shape of the driver for driving the vehicle. The means 200 according to a variant comprise sensor means 210 for reading the driver's face, disturbance, etc., which sensor means 210 according to a variant include camera means. The means 200 according to a variant comprise sensor means 220 for sensing pulse and / or heart rate, which sensor means 220 according to a variant are arranged on the vehicle steering wheel.

Systemet I innefattar medel 100, 180, 300 for att automatiskt styra fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsfOrlopp for sakerstallande av en saker inbromsning av fordonet. System I comprises means 100, 180, 300 for automatically controlling the deceleration of the vehicle and the carriageway during the deceleration according to a vehicle-adapted node-stop process for stalling a certain deceleration of the vehicle.

Systemet I innefattar medel 100, 110, 120 for att, vid faststalld oformaga, aktivera det fordonsanpassade och harvid fordonsstyrda nodstoppsfOrloppet for sakerstallande av en saker inbromsning av fordonet. System I comprises means 100, 110, 120 for activating the vehicle-adapted and in-vehicle-controlled node-stop process, in the event of a fixed abutment, for correcting a certain deceleration of the vehicle.

Medlet 100, 110, 120 f6r att, vid faststalld oformaga, aktivera det fordonsstyrda nodstoppsforloppet inbegriper ett aktiveringsorgan 110 for aktivering av nodstoppsforloppet. The means 100, 110, 120 for activating the vehicle-controlled node stop process in the event of a fixed abdomen include an activating means 110 for activating the node stop process.

Medlet 100, 110, 120 att, vid faststalld oformaga, aktivera det fordonsstyrda nodstoppsforloppet inbegriper enligt en utforingsform medel 100, 110 for att automatiskt aktivera det fordonsstyrda nodstoppsforloppet. Medlet 100, 1 for att automatiskt aktivera det fordonsstyrda nodstoppsforloppet innefattar enligt en utforingsform den elektroniska styrenheten 100, varvid den elektroniska styrenheten 100 är anordnad att, vid faststalld oformaga hos foraren att kontrollerat framfora fordonet, via aktiveringsorganet 110 eller direkt aktivera det fordonsstyrda nOdstoppsfOrloppet. The means 100, 110, 120 for activating the vehicle-controlled node stop process in the event of a fixed malformation include, according to one embodiment, means 100, 110 for automatically activating the vehicle-controlled node stop process. The means 100, 1 for automatically activating the vehicle-controlled node stop process comprises according to one embodiment the electronic control unit 100, wherein the electronic control unit 100 is arranged to, in the event of determined inability of the driver to control the vehicle, via the activating means 110 or directly activate the vehicle-controlled emergency stop stop.

Medlet 100, 110, 120 for att, vid faststalld oformaga hos foraren att kontrollerat framfora fordonet, aktivera det fordonsstyrda nOdstoppsfOrloppet inbegriper enligt en utforingsform medel 120 for att manuellt aktivera det fordonsstyrda nOdstoppsfOrloppet. Medlet 120 fOr att manuellt aktivera det fordonsstyrda nodstoppsforloppet inbegriper enligt en utforingsform ett 25 manOvreringsorgan 120. ManOvreringsorganet 120 kan utgOras av vilket som heist lampligt nnanovreringsorgan for aktivering av nodstoppsforloppet sasom en knappenhet, spakenhet eller motsvarande, anordnat pa lampligt stalle sa att passagerare har atkomst till manovreringsorganet 120 for aktivering av nodstoppsforloppet vid faststalld oformaga hos foraren att kontrollerat 8 framfora fordonet. En passagerare skall foljaktligen endast kunna aktivera nodstoppsforloppet (la det är faststallt att f6raren ej har formagan att kontrollerat framfOra fordonet, dvs. manOvreringsorganet 120 är ej aktiverbart om oformaga ej faststallts sa att passagerare ej skall kunna missbruka funktionen. Enligt en variant finns aven medel 120 i form av manOvrerings- organ for att manuellt aktivera det fordonsstyrda nodstoppsforloppet anordnat i anslutning till forarplatsen och atkomligt for foraren sa att foraren vid oformaga att framf6ra fordonet kan aktivera det fordonsstyrda nodstoppsforloppet via manovreringsorganet 120. Enligt en variant är manovreringsorganet 120 endast manovrerbart f6r namnda aktivering vid faststalld oformaga hos foraren att kontrollerat framfora fordonet. The means 100, 110, 120 for activating the vehicle-controlled emergency stop course in the event of a determined inability of the driver to control the vehicle in a controlled manner include means 120 for manually activating the vehicle-controlled emergency stop course according to one embodiment. The means 120 for manually activating the vehicle-controlled node stop process comprises, according to one embodiment, an actuating means 120. The actuating means 120 can be constituted by any suitable actuating means for activating the node stop process such as a button unit, lever unit or the like, arranged on a means of access. the actuating means 120 for activating the node stop process at a determined inability of the driver to control the vehicle in a controlled manner. Consequently, a passenger should only be able to activate the node stop process (it is established that the driver does not have the ability to control the driving of the vehicle, ie the actuator 120 is not activatable if the inability is not determined so that passengers should not be able to abuse the function. in the form of actuating means for manually activating the vehicle-controlled node stop arrangement arranged in connection with the driver's seat and accessible to the driver so that the driver, in the event of failure to drive the vehicle, can activate the vehicle-controlled node stop process via the actuator 120. in the event of a determined inability of the driver to drive the vehicle in a controlled manner.

Systemet innefattar medel 130 for bestamning av fardvag. Medlet for bestamning av fardvag är anordnat att tillhandahalla forutbestamda karaktaristika hos och i anslutning till vagbanan utmed fordonets fardvag, samt fordonets position utmed fordonets fardvag. The system includes means 130 for determining the speedometer. The means for determining the carriageway is arranged to provide predetermined characteristics of and in connection with the carriageway along the vehicle's carriageway, as well as the position of the vehicle along the vehicle's carriageway.

Medlet 130 f6r bestamning av fardvag inbegriper enligt en variant en kartinformationsenhet 132 innefattande kartdata inbegripande namnda karaktaristika hos och i anslutning till vagbanan sasom lampliga nodstoppsstallen. Namnda karaktaristika hos och i anslutning till vagbanan kan aven inbegripa vagkorsningar, trafikljus, kurvor, topografi, eventuell avfart/utfart for hansynstagande till sakerhetsmassiga overvaganden vid hanteringen av nodstopp. The means 130 for determining the speedway according to a variant comprises a map information unit 132 comprising map data including said characteristics of and in connection with the roadway as suitable node stop stalls. The said characteristics of and in connection with the lane can also include lane intersections, traffic lights, curves, topography, any exit / exit for male inspection for safety-related observations when handling node stops.

Medlet 130 for bestamning av fardvag inbegriper vidare medel 134 for bestamning av fordonets position i form av ett geografiskt lagesbestamnings- system, dvs. GPS for att identifiera fordonets position infor, under och efter ett nodstoppsforlopp. The vehicle 130 for determining the speedometer further comprises means 134 for determining the position of the vehicle in the form of a geographical layer determination system, i.e. GPS to identify the vehicle's position before, during and after a node stop process.

Medlet 130 for bestamning av fardvag kan utnyttjas vid faststallning av oformaga hos f6raren att framf6ra fordonet f6r att salunda ta reda pa fordonets position vid aktivering av det fordonsstyrda nodstoppsforloppet, dar 9 medlet 200 kir att faststalla ofOrmaga enligt en variant innefattar medlet 130 for bestamning av fardvag. The means 130 for determining the vehicle can be used in determining the inability of the driver to drive the vehicle to thus find out the position of the vehicle when activating the vehicle-controlled node stop process, where the means 200 for determining the force according to a variant comprises the means 130 for determining the vehicle .

Systemet I innefattar medel 140, 150 for att faststalla radande passagerarfordelning och passagerarbelagenhet i fordonet som underlag for styrning av nodstoppsfOrloppet. System I comprises means 140, 150 for determining radiating passenger distribution and passenger occupancy in the vehicle as a basis for controlling the node stop process.

Systemet I innefattar medel 140 for att faststalla passagerarfordelning i fordonet som underlag for styrning av nodstoppsforloppet. Medlet 140 for att faststalla passagerarfordelning innefattar sensorer for att faststalla var i fordonet, exempelvis en buss, passagerarna befinner sig, samt antalet passagerare. System I comprises means 140 for determining passenger distribution in the vehicle as a basis for controlling the node stop process. The means 140 for determining passenger distribution comprises sensors for determining where in the vehicle, for example a bus, the passengers are, and the number of passengers.

Medlet 140 for att faststalla passagerarfordelning innefattar enligt en variant sensororgan 142 for att avkanna var i fordonet en passagerare star, sitter, sitter i rullstol, ligger i bamvagn eller motsvarande, vilka sensororgan kan inbegripa trycksensorer. The means 140 for determining passenger distribution comprises, according to a variant, sensor means 142 for sensing where in the vehicle a passenger is standing, sitting, sitting in a wheelchair, lying in a pram or the like, which sensor means may include pressure sensors.

Medlet 140 for att faststalla passagerarfordelning innefattar enligt en variant medel 142 for att faststalla passagerarpopulation, dvs. antal passagerare i fordonet. The means 140 for determining passenger distribution comprises according to a variant means 142 for determining passenger population, i.e. number of passengers in the vehicle.

Medlet 142 for att faststalla passagerarpopulation inbegriper enligt en variant pa-/avstigningssensor for att faststalla antal passagerare som stiger pa och 20 av fordonet. The means 142 for determining passenger population according to a variant includes on / off sensor for determining the number of passengers boarding on and off the vehicle.

Medlet 142 for att faststalla passagerarpopulation inbegriper enligt en variant biljettregistreringssensor for att registrera passagerare som stiger pa fordonet. The means 142 for determining passenger population according to a variant includes a ticket registration sensor for registering passengers boarding the vehicle.

Systemet I innefattar medel 150 for att faststalla radande 25 passagerarbelagenhet i fordonet som underlag for styrning av nodstoppsforloppet. Medlet 150 for att faststalla passagerarbelagenhet i fordonet kan inbegripa vilka som heist lampliga avkanningsorgan. System I comprises means 150 for determining radiating passenger occupancy in the vehicle as a basis for controlling the node stop process. The means 150 for determining passenger occupancy in the vehicle may include any suitable sensing means.

Medlet 150 fOr att faststalla passagerarbelagenhet i fordonet inbegriper enligt en variant sensororgan 152 fOr att avkanna huruvida en passagerare star, sitter, sitter i rullstol, ligger i barnvagn eller motsvarande, vilka sensororgan kan inbegripa trycksensorer. The means 150 for determining passenger occupancy in the vehicle according to a variant comprises sensor means 152 for detecting whether a passenger is standing, sitting, sitting in a wheelchair, lying in a pram or the like, which sensor means may include pressure sensors.

Medlet 150 fOr att faststalla passagerarbelagenhet i fordonet inbegriper enligt en variant sensororgan 154 f6r att avkanna eventuell rOrelse hos passagerare, exempelvis passagerare som faller omkull pa grund av hur fordonet framf6rs. Sensororgan f6r att avkanna eventuell rorelse hos passagerare kan inbegripa kameror sasom stereokameror, laserskanners eller motsvarande. Information Than en eller flera av namnda typer av sensororgan ger en faktisk bild av var varje passagerare befinner sig i fordonet, deras langd/huvudets hojd over golvet, sittande/staende/rullstol och dess orientering, barnvagn och dess orientering och sa vidare. The means 150 for determining passenger occupancy in the vehicle includes, according to a variant, sensor means 154 for detecting any movement of passengers, for example passengers who fall over due to how the vehicle is driven. Sensor means for sensing any movement of passengers may include cameras such as stereo cameras, laser scanners or the like. Information Than one or more of the mentioned types of sensor means gives an actual picture of where each passenger is in the vehicle, their height / head height above the floor, sitting / standing / wheelchair and its orientation, pram and its orientation and so on.

Systemet I innefattar medel 160 for att faststalla forvantad passagerar15 fordelning och passagerarbelagenhet i fordonet utifran en modell for uppf6rande hos en viss passagerarpopulation som underlag f6r styrning av nodstoppsforloppet. System I comprises means 160 for determining related passenger distribution and passenger occupancy in the vehicle based on a model for behavior of a certain passenger population as a basis for controlling the node stop process.

Modellen inbegriper enligt en variant indata fran biljettregistreringssensor for att registrera passagerare som stiger pa fordonet. According to a variant, the model includes input data from the ticket registration sensor for registering passengers boarding the vehicle.

Modellen inbegriper enligt en variant indata fran pa-/avstigningssensor for att faststalla antal passagerare som stiger pa och av fordonet. According to a variant, the model includes input data from the boarding / alighting sensor to determine the number of passengers boarding and disembarking the vehicle.

Modellen inbegriper enligt en variant information om antal sittplatser och staplatser och kulturella vanor och är konfigurerad att berakna trolig fordelning av passagerarna i fordonsutrynnmet. According to a variant, the model includes information on the number of seats and staples and cultural habits and is configured to calculate the probable distribution of the passengers in the vehicle space.

Systemet I innefattar medel 170 for att faststalla fordonshastighet. Namnda medel 170 for att faststalla fordonshastighet inbegriper enligt en variant hastighetsmatarorgan. 11 Medlet 100, 180, 300 for att styra nodstoppsforloppet inbegriper medel 180 for att styra nodstoppsforloppet under hansynstagande till ett passagerarperspektiv inbegripande hansynstagande till passagerarsakerhetsmassiga overvaganden. Sakerhetsmassiga overvaganden inbegriper exempelvis ett mjukt nOdstopp sa att eventuella staende passagerare inte riskerar att ramla och skada sig och sa att eventuella sittande men ej baltade passagerare inte riskerar att skada sig, samt att passagerare om mojligt aven far en komfortmassig upplevelse under nodstoppsforloppet. System I includes means 170 for determining vehicle speed. Said means 170 for determining vehicle speed according to a variant comprises speed feeder means. The means 100, 180, 300 for controlling the node stop process include means 180 for controlling the node stop process during male inspection to a passenger perspective including male inspection for passenger safety surveillance. Safety considerations include, for example, a soft emergency stop so that any standing passengers do not risk falling and injuring themselves and said that any seated but unbalanced passengers do not risk being injured, and that passengers if possible also have a comfortable experience during the emergency stop.

Medlet 180 fOr att styra nOdstoppsfOrloppet inbegriper enligt en utfOringsform medel 181 for att styra vaxel hos drivlina hos fordonet inbegripande nedvaxling och avaktivering av vaxel under retardation av fordonet samt i forekommande fall aktivering av semineutral fun ktion hos drivlinan. The means 180 for controlling the emergency stop process according to one embodiment comprises means 181 for controlling the gear of the driveline of the vehicle including downshifting and deactivation of the gear during deceleration of the vehicle and, where applicable, activation of the semineutral function of the driveline.

Medlet 180 fOr att styra nOdstoppsfOrloppet inbegriper enligt en utfOringsform medel 182 f6r att aktivera parkeringsbroms och/eller motsvarande komfort/hallplatsbroms hos fordonet. The means 180 for controlling the emergency stop process according to one embodiment comprises means 182 for activating the parking brake and / or the corresponding comfort / parking space brake of the vehicle.

Medlet 180 f6r att styra nodstoppsforloppet inbegriper enligt en utf6ringsform medel 183 fOr att lagga pa drivmoment fOr framdrivning av fordonet under nodstoppsforloppet. The means 180 for controlling the node stop process according to one embodiment comprises means 183 for applying drive torque for propulsion of the vehicle during the node stop process.

Medlet 180 fOr att styra nOdstoppsfOrloppet inbegriper enligt en utfOringsform medel 184 for hansynstagande till omvarldsfaktorer. Omvarldsfaktorer kan inbegripa hinder, andra trafikanter sasom andra fordon, gangtrafikanter etc., samt hur terrangen ser ut utmed fordonets fardvag sasom vagracken, eventuella stup/slanter och dylikt. Medlet 184 for hansynstagande till omvarldsfaktorer inbegriper enligt en variant medel f6r att -1610 en saker bana utmed fordonets fardvag till en plats dar fordonet sakert kan stannas och sakert evakueras, dar banan beror pa omvarldsfaktorer sasom omradet framfor fordonet, t.ex. ett framforvarande fordon och/eller andra hinder. Medlet 184 for hansynstagande till omvarldsfaktorer inbegriper enligt en variant kanneraorgan. Medlet 184 for hansynstagande till omvarldsfaktorer 12 inbegriper enligt en variant medel for bestamning av fardvag inbegripande tillhandahallande av forutbestamda karaktaristika hos och i anslutning till vagbanan utmed fordonets fardvag, samt fordonets position utmed fordonets fardvag. Medlet for bestamning av fardvag inbegriper enligt en variant medlet 130 for bestamning av fardvag. The means 180 for controlling the emergency stop process, according to one embodiment, includes means 184 for taking into account external factors. Environmental factors can include obstacles, other road users such as other vehicles, pedestrians, etc., as well as what the terrain looks like along the vehicle's carriageway, such as the carriageway, possible precipices / slants and the like. The means 184 for taking into account environmental factors, according to a variant, includes means for -1610 a things path along the vehicle's carriageway to a place where the vehicle can be safely stopped and safely evacuated, where the path depends on environmental factors such as the area in front of the vehicle, e.g. a vehicle in front and / or other obstacles. The means 184 for male consideration of external factors according to a variant includes canning means. The means 184 for taking into account environmental factors 12 includes, according to a variant, means for determining the carriageway including providing predetermined characteristics at and in connection with the carriageway along the vehicle's carriageway, and the vehicle's position along the vehicle's carriageway. The means for determining the speedometer according to a variant includes the means 130 for determining the speedometer.

Medlet 180 for att styra nodstoppsforloppet inbegriper medel 185 for att svanga fordonet, dvs. styra fordonet sa att det vid behov svanger, exempelvis svanger av korfaltet for att stanna vid en saker plats. The means 180 for controlling the node stop process includes means 185 for oscillating the vehicle, i.e. steering the vehicle said that if necessary it conceives, for example conceives of the coral to stop at a things place.

Medlet for att styra nodstoppsfOrloppet innefattas enligt en variant av den elektroniska styrenheten 100. The means for controlling the node stop process is included according to a variant of the electronic control unit 100.

Systemet I innefattar medel 190 for att avsluta det salunda aktiverade nodstoppsforloppet och overga till ett stopplage i vilket fordonet star still. System I comprises means 190 for terminating the thus activated node stop process and handing over to a stop position in which the vehicle is stationary.

Medlet 190 f6r att avsluta det salunda aktiverade nodstoppsforloppet inbegriper enligt en utforingsfornn medel 192 for att faststalla hastighet, sasom fordonets hastighetsmatare, varvid nodstoppsforloppet faststalls som avslutat da hastigheten är noll. The means 190 for terminating the thus activated node stop process according to an embodiment comprises means 192 for determining speed, such as the speed feeder of the vehicle, the node stop process being determined as terminated when the speed is zero.

Medlet 190 f6r att avsluta det salunda aktiverade nodstoppsforloppet inbegriper enligt en utforingsform medel 194 for att faststalla att fordonet befinner sig vid saker positionen for nOdstoppet. Medlet for att faststalla att fordonet befinner sig vid saker position for nodstoppet inbegriper enligt en variant kameraorgan. Medlet for att faststalla att fordonet befinner sig vid saker position for det aktuella nodstoppet inbegriper enligt en variant namnda medel 130 fOr bestamning av fardvag inbegripande kartinformationsenhet och geografiskt lagesbestamningssystem sasom GPS. 25 Medlet 190 for att avsluta det salunda aktiverade nodstoppsfOrloppet inbegriper enligt en variant medel 196 for att faststalla att en eller flera dorrar hos fordonet oppnats, sasom dOrrar has en buss for att evakuera passagerare. 13 Medlet 190 for all avsluta det salunda aktiverade nodstoppsforloppet kan inbegripa kombinationer av faststallande av hastighet, faststallande att fordonet befinner sig vid saker position fOr det nOdstoppet och/eller faststallande av d6rr6ppning. 5 Systemet innefattar vidare medel 300 fOr framforande av fordonet. Medlet 300 for framforande av fordonet innefattar fordonets drivlina saint fordonets ratt eller motsvarande rnanOverorgan for att svanga fordonet vid framforande av fordonet, saint bromsorgan for att retardera fordonet. The means 190 for terminating the thus activated emergency stop process comprises, according to one embodiment, means 194 for determining that the vehicle is at the position of the emergency stop. The means for determining that the vehicle is at things position for the node stop includes according to a variant camera means. The means for determining that the vehicle is at things position for the current node stop according to a variant comprises the means 130 for determining the speedway including map information unit and geographical location determination system such as GPS. The means 190 for terminating the thus activated node stop process, according to a variant, includes means 196 for determining that one or more doors of the vehicle have been obtained, such as doors having a bus for evacuating passengers. The means 190 for all terminating the thus activated emergency stop process may include combinations of determining speed, determining that the vehicle is at things position for that emergency stop and / or determining door opening. The system further comprises means 300 for driving the vehicle. The means 300 for driving the vehicle comprises the vehicle's driveline saint of the vehicle's steering wheel or equivalent means for oscillating the vehicle when driving the vehicle, saint braking means for decelerating the vehicle.

Den elektroniska styrenheten 100 är signalansluten till medlet 200 for att faststalla formaga hos f6raren att kontrollerat framf6ra fordonet via en lank 20. Den elektroniska styrenheten 100 är via lanken 20 anordnad att mottaga en signal Than medlet 200 for att faststalla formaga hos -Waren att kontrollerat framfOra fordonet representerande data fOr fOrarfOrmaga att framfora fordonet. The electronic control unit 100 is signal connected to the means 200 for determining the shape of the driver to control the vehicle in a controlled manner via a link 20. The electronic control unit 100 is arranged via the link 20 to receive a signal Than the means 200 for determining the shape of the goods to be controlled in a controlled manner. vehicle representative data for the driver's ability to drive the vehicle.

Den elektroniska styrenheten 100 är signalansluten till aktiveringsorganet 110 for att, vid faststalld oformaga hos -Waren att kontrollerat framfora fordonet, aktivera ett fordonsstyrt nOdstoppsfOrlopp under vilket fordonet styrs automatiskt via en lank 11. Den elektroniska styrenheten 100 är via lanken 11 anordnad att sanda en signal till aktiveringsorganet 110 for att aktivera ett fordonsstyrt nodstoppsforlopp representerande aktiveringsdata for aktivering for styrning av nodstoppsforlopp genom aktivering av medlet 300 for framforande av fordonet i ett fordonsstyrt nodstoppsforlopp. The electronic control unit 100 is signal-connected to the actuating means 110 for actuating a vehicle-controlled emergency stop course during determined determination of the goods in front of the vehicle, during which the vehicle is controlled automatically via a line 11. The electronic control unit 100 is arranged via the line 11 to transmit a signal to the actuating means 110 for activating a vehicle-controlled emergency stop sequence representing activation data for activating emergency stop-stop progression by activating the means 300 for driving the vehicle in a vehicle-controlled node-stop sequence.

Aktiveringsorganet 110 for att, vid faststalld oformaga hos foraren att kontrollerat framfora fordonet, aktivera ett fordonsstyrt nodstoppsforlopp är signalanslutet till medlet 300 for framforande av fordonet via en lank 11a. The actuating means 110 for activating a vehicle-controlled node stop process in the event of a determined inability of the driver to drive the vehicle in a controlled manner is signaled to the means 300 for driving the vehicle via a link 11a.

Aktiveringsorganet 110 f6r att aktivera ett fordonsstyrt nodstoppsforlopp är via Ian ken 11a anordnad att sanda en signal till medlet 300 for framforande av fordonet representerande aktiveringsdata f6r aktivering f6r styrning av 14 drivlinan och styrning av fordonsratt for svangning av fordonet under nodstoppsforloppet och styrning av bromsorgan f6r retardation. The activating means 110 for activating a vehicle-controlled node stop process is arranged via the line 11a to send a signal to the means 300 for driving the vehicle representing activation data for activating to control the driveline and controlling the steering wheel for oscillating the vehicle during the node stop control process. .

Den elektroniska styrenheten 100 är signalansluten till manovreringsorganet 120 for att, vid faststalld oformaga hos foraren att kontrollerat framfora fordonet, manuellt aktivera det fordonsstyrda nodstoppsforloppet via en lank 12. Den elektroniska styrenheten 100 är via lanken 12 anordnad att mottaga en signal fran manOvreringsorganet 120 fOr att manuellt aktivera det fordonsstyrda nodstoppsforloppet representerande aktiveringsdata for manuell aktivering, varvid den elektroniska styrenheten 100 är anordnad att sanda en signal till aktiveringsorganet 110 for aktivering av nodstopps- forloppet. The electronic control unit 100 is signal-connected to the actuator 120 so that, when the driver is determined to control the vehicle in a controlled manner, the vehicle-controlled node stop process is manually activated via a line 12. The electronic control unit 100 is arranged via the line 12 to receive a signal from the actuator 120 to manually activating the vehicle-controlled node stop process representing activation data for manual activation, the electronic control unit 100 being arranged to send a signal to the activating means 110 for activating the node stop process.

Den elektroniska styrenheten 100 är signalansluten till medlet 130 for bestamning av fardvag via en lank 13. Den elektroniska styrenheten 100 är via lanken 13 anordnad att mottaga en signal fran medlet 130 for bestamning 15 av fardvag representerande fardvagsdata inbegripande kartdata och positionsdata. The electronic control unit 100 is signal connected to the means 130 for determining the speedway via a lane 13. The electronic control unit 100 is arranged via the line 13 to receive a signal from the means 130 for determining the speedway representing the speedway data including map data and position data.

Den elektroniska styrenheten 100 är signalansluten till medlet 140 fOr att faststalla passagerarfordelning via en lank 40. Den elektroniska styrenheten 100 är via lanken 40 anordnad att mottaga en signal fran medlet 140 for att 20 faststalla passagerarfordelning representerande data for passagerarfordelning inbegripande orientering hos passagerare sasom passagerare som star, sitter, sitter i rullstol, ligger i barnvagn eller motsvarande, rorelse hos passagerare, passagerarpopulation. The electronic control unit 100 is signal connected to the means 140 for determining passenger distribution via a line 40. The electronic control unit 100 is arranged via the line 40 to receive a signal from the means 140 for determining passenger distribution representing data for passenger distribution including orientation of passengers as passengers. star, sitting, sitting in a wheelchair, lying in a pram or equivalent, movement of passengers, passenger population.

Den elektroniska styrenheten 100 är signalansluten till medlet 150 for att faststalla passagerarbelagenhet via en lank 15. Den elektroniska styrenheten 100 är via lanken 15 anordnad att mottaga en signal fran medlet 150 for att faststalla passagerarbelagenhet representerande data for passagerarbelagenhet inbegripande orientering hos passagerare sasom passagerare som star, sitter, sitter i rullstol, ligger i barnvagn eller motsvarande, rorelse hos passagerare. The electronic control unit 100 is signal connected to the means 150 for determining passenger occupancy via a lane 15. The electronic control unit 100 is arranged via the lane 15 to receive a signal from the means 150 for determining passenger occupancy representing data for passenger occupancy including orientation of passengers as passengers , sitting, sitting in a wheelchair, lying in a pram or equivalent, movement of passengers.

Den elektroniska styrenheten 100 är signalansluten till medlet 160 for att faststalla forvantad passagerarfordelning och passagerarbelagenhet i 5 fordonet utifran en modell for uppforande hos en viss passagerarpopulation via en lank 16. Den elektroniska styrenheten 100 är via lanken 16 anordnad att mottaga en signal fran medlet 160 fOr att faststalla fOrvantad passagerarfordelning och passagerarbelagenhet i fordonet utifran en modell fOr uppfOrande hos en viss passagerarpopulation representerande 10 modelleringsdata for forvantad passagerarfordelning och passagerarbelagenhet i fordonet. The electronic control unit 100 is signal connected to the means 160 for determining the expected passenger distribution and passenger occupancy in the vehicle based on a model for behaving in a certain passenger population via a lane 16. The electronic control unit 100 is arranged via the lane 16 to receive a signal from the means 160 for to determine the expected passenger distribution and passenger occupancy in the vehicle based on a model for the behavior of a particular passenger population representing modeling data for the expected passenger distribution and passenger occupancy in the vehicle.

Den elektroniska styrenheten 100 ar signalansluten till medlet 170 for att faststalla fordonshastighet via en lank 17. Den elektroniska styrenheten 100 är via lanken 17 anordnad att mottaga en signal fran medlet 170 for att faststalla fordonshastighet representerande hastighetsdata for fordonets hastighet. The electronic control unit 100 is signal connected to the means 170 for determining the vehicle speed via a line 17. The electronic control unit 100 is arranged via the line 17 to receive a signal from the means 170 for determining the vehicle speed representing speed data for the vehicle speed.

Den elektroniska styrenheten 100 är signalansluten till medlet 180 fOr att styra nodstoppsforloppet under hansynstagande till ett passagerarperspektiv inbegripande hansynstagande till passagerarsakerhetsmassiga over- vaganden via en lank 18. Den elektroniska styrenheten 100 är via lanken 18 anordnad att mottaga en signal tan medlet 180 representerande n6dstoppsstyrdata dar styrningen inbegriper att styra vaxel hos drivlina hos fordonet inbegripande nedvaxling och avaktivering av vaxel under retardation av fordonet och/eller att aktivera parkeringsbroms och/eller motsvarande komfortJhallplatsbroms hos fordonet och/eller att lagga pa drivmoment for retarderande franndrivning av fordonet under nodstoppsforloppet och/eller att folja en bana utmed fordonets avsedda fardvag till saker plats dar fordonet kan stannas och/eller att svanga fordonet. 16 Den elektroniska styrenheten 100 är signalansluten till medlet 300 for framforande av fordonet via en lank 30. Den elektroniska styrenheten 100 är via lanken 30 anordnad att sanda en signal till medlet 300 fOr framfOrande av fordonet representerande nodstoppsstyrdata dar styrningen inbegriper styrning av nOdstoppsfOrloppet under hansynstagande till ett passagerar- perspektiv inbegripande hansynstagande till passagerarsakerhetsmassiga overvaganden och i forekommande fall aven passagerarkomfortmassiga overvaganden. The electronic control unit 100 is signal connected to the means 180 for controlling the node stop process during male observation to a passenger perspective including male observing passenger safety considerations via a lane 18. The electronic control unit 100 is arranged via the lane 18 to receive a signal by means of the control means n6. involves controlling the gearbox of the vehicle's powertrain including downshifting and deactivating the gearbox during deceleration of the vehicle and / or activating the parking brake and / or equivalent comfort parking space of the vehicle and / or applying throttle for decelerating propulsion of the vehicle during the emergency stop or follower course a path along the vehicle's intended route to things where the vehicle can be stopped and / or to swing the vehicle. The electronic control unit 100 is signal connected to the means 300 for driving the vehicle via a line 30. The electronic control unit 100 is arranged via the line 30 to transmit a signal to the means 300 for driving the vehicle representing emergency stop control data where the control includes control of the emergency stop process during his operation. a passenger perspective including consideration of passenger safety oversight and, where applicable, passenger comfort oversight.

Den elektroniska styrenheten 100 är signalansluten till medlet 190 fOr att avsluta det salunda aktiverade nodstoppsforloppet via en lank 19. Den elektroniska styrenheten 100 är via lanken 19 anordnad att mottaga en signal fran medlet 190 for att avsluta det salunda aktiverade nodstoppsforloppet representerande avaktiveringsdata for att avsluta nodstoppsforloppet, dar avaktiveringsdata kan inbegripa information om att fordonets hastighet är noll och/eller att fordonet befinner sig i positionen for sakert nodstopp och/eller att en eller flera dorrar hos fordonet oppnats. The electronic control unit 100 is signal connected to the means 190 for terminating the thus activated node stop process via a line 19. The electronic control unit 100 is arranged via the line 19 to receive a signal from the means 190 for terminating the thus activated node stop process representing deactivation data for terminating the node stop process. , where deactivation data may include information that the vehicle's speed is zero and / or that the vehicle is in the position of safe emergency stop and / or that one or more doors of the vehicle have been reached.

Den elektroniska styrenheten 100 är enligt en variant anordnad att behandla namnda fardvagsdata inbegripande kartdata och positionsdata f6r att faststalla fordonets position utmed fardvagen vid faststalld oformaga hos foraren att framfora fordonet och position relativt sakert nodstoppsstalle. Den elektroniska styrenheten 100 är enligt en variant anordnad att automatiskt aktivera nodstoppsforloppet vid faststalld oformaga hos foraren att kontrollerat framfora fordonet genom att sanda aktiveringsdata via aktiveringsorganet 110 som aktiverar medlet 300 for framforande av fordonet 25 under nodstoppsforlopp, varvid den elektroniska styrenheten 100 är anordnad att styra medlet 300 for framforande av fordonet i enlighet med nodstoppsforloppet under hansynstagande till ett passagerarperspektiv inbegripandehansynstagandetillpassagerarsakerhetsmassiga overvaganden. 17 Den elektroniska styrenheten 100 är enligt en variant anordnad att behandla aktiveringsdata fran manovreringsorganet 120. Den elektroniska styrenheten 100 anordnad att sanda aktiveringsdata via aktiveringsorganet 110 som aktiverar medlet 300 for framforande av fordonet under nodstoppsforlopp, 5 varvid den elektroniska styrenheten 100 är anordnad att styra medlet 300 fOr framf6rande av fordonet i enlighet med nodstoppsforloppet under hansynstagande till ett passagerarperspektiv inbegripande hansynstagande till passagerarsakerhetsmassiga overvaganden. The electronic control unit 100 is according to a variant arranged to process the said vehicle data including map data and position data for determining the position of the vehicle along the vehicle at a determined inability of the driver to drive the vehicle and position relatively securely node stop stall. The electronic control unit 100 is according to a variant arranged to automatically activate the node stop process at determined inability of the driver to control the vehicle in a controlled manner by sending activation data via the activating means 110 which activates the means 300 for driving the vehicle 25 during node stop processes, the electronic control unit 100 being arranged to the means 300 for driving the vehicle in accordance with the node stop process during his observation to a passenger perspective including taking into account the passenger's safety oversight. The electronic control unit 100 is according to a variant arranged to process activation data from the actuator 120. The electronic control unit 100 is arranged to send activation data via the activating means 110 which activates the means 300 for driving the vehicle during node stop processes, the electronic control unit 100 being arranged to control the means 300 for driving the vehicle in accordance with the node stop process during male inspection to a passenger perspective including male inspection to passenger safety surveillance.

Den elektroniska styrenheten 100 är anordnad att behandla namnda data fOr passagerarfordelning och passagerarbelagenhet som underlag for styrning av nodstoppsforloppet. The electronic control unit 100 is arranged to process said data for passenger distribution and passenger occupancy unit as a basis for controlling the node stop process.

Den elektroniska styrenheten 100 är anordnad att behandla namnda data f6r modelleringsdata fOr fOrvantad passagerarfOrdelning och passagerarbelagenhet som underlag for styrning av nodstoppsforloppet. The electronic control unit 100 is arranged to process said data for modeling data for the expected passenger distribution and passenger surface unit as a basis for controlling the node stop process.

Den elektroniska styrenheten 100 är anordnad att behandla namnda nodstoppsstyrdata Than medlet 180 f6r att styra nodstoppsforloppet under hansynstagande till ett passagerarperspektiv inbegripande hansynstagande till passagerarsakerhetsmassiga overvaganden inbegripande information att styra vaxel hos drivlina hos fordonet inbegripande data for nedvaxling och avaktivering av vaxel under retardation av fordonet och/eller for att aktivera parkeringsbroms och/eller for motsvarande komfort/hallplatsbroms hos fordonet och/eller for att lagga pa drivmoment for framdrivning av fordonet under nodstoppsforloppet och/eller for att folja en bana utmed fordonets avsedda fardvag till platsen dar fordonet avser stannas och/eller fOr att 25 svanga fordonet. Den elektronisk styrenheten 100 är anordnad att sanda narinnda nodstoppsstyrdata till aktiveringsorganet 110 vid aktivering av nodstopp. The electronic control unit 100 is arranged to process said node stop control data Than means 180 for controlling the node stop process during male taking to a passenger perspective including male taking to passenger safety surveillance including information to control gear at the driveline of the vehicle including data and including the vehicle or to activate the parking brake and / or for the corresponding comfort / parking space brake of the vehicle and / or to apply propulsion to propel the vehicle during the emergency stop process and / or to follow a path along the vehicle's intended route to the place where the vehicle is intended to stop and / or to swing the vehicle. The electronic control unit 100 is arranged to transmit node stop control data to the activating means 110 upon activation of node stops.

Den elektroniska styrenheten 100 är anordnad att behandla namnda avaktiveringsdata for att faststalla huruvida nodstoppsforloppet är avslutat. 18 Fig. 3 schematiskt illustrerar ett blockschema av ett forfarande for nOdstopp for ett motorfordon enligt en utforingsform av foreliggande uppfinning. The electronic control unit 100 is arranged to process said deactivation data to determine whether the node stop process is completed. Fig. 3 schematically illustrates a block diagram of an emergency stop method for a motor vehicle according to an embodiment of the present invention.

Enligt en utforingsform innefattar forfarandet for nodstopp for ett nnotorfordon ett forsta steg Si. I della steg faststalls formaga hos foraren att kontrollerat 5 framfora fordonet. According to one embodiment, the emergency stop procedure for a motor vehicle comprises a first stage Si. In some stages, the driver is determined to drive the vehicle in a controlled manner.

Enligt en utforingsform innefattar forfarandet for nodstopp for ett nnotorfordon ett andra steg S2. I detta steg aktiveras, vid faststalld oformaga, ett fordonsstyrt nodstopp av fordonet. According to one embodiment, the node stop method for a motor vehicle comprises a second step S2. In this step, in the event of a fixed abdomen, a vehicle-controlled node stop is activated by the vehicle.

Enligt en utforingsform innefattar forfarandet for nodstopp for ett nnotorfordon ett tredje steg S3. I della steg styrs fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsforlopp for sakerstallande av en saker inbromsning av fordonet. According to one embodiment, the node stop method for a motor vehicle comprises a third step S3. In some stages, the vehicle's deceleration and speed limit during the deceleration are controlled according to a vehicle - adapted node - stop process for stalling a material braking of the vehicle.

Med hanvisning till fig. 4, visas ett diagram av ett utforande av en anordning 500. Styrenheten 100 som beskrivs med hanvisning till fig. 2 kan i ett utforande innefatta anordningen 500. Anordningen 500 innefattar ett icke- flyktigt minne 520, en databehandlingsenhet 510 och ett las/skriv-minne 550. Det icke-flyktiga minnet 520 har en forsta minnesdel 530 van i ett datorprogram, sá som ett operativsystem, är lagrat for att styra funktionen hos anordningen 500. Vidare innefattar anordningen 500 en buss-controller, en seriell kommunikationsport, I/O-organ, en ND-omvandlare, en tids- och datum inmatnings- och OverfOringsenhet, en handelseraknare och en avbrytningscontroller (ej visade). Det icke-flyktiga minnet 520 har ocksa en andra minnesdel 540. Referring to Fig. 4, there is shown a diagram of an embodiment of a device 500. The controller 100 described with reference to Fig. 2 may in one embodiment include the device 500. The device 500 includes a non-volatile memory 520, a data processing unit 510, and a read / write memory 550. The non-volatile memory 520 has a first memory portion 530 of a computer program, such as an operating system, stored to control the operation of the device 500. Further, the device 500 includes a bus controller, a serial communication port, I / O means, an ND converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.

Det tillhandahalles ett datorprogram P som innefattar rutiner for nodstopp for ett motorfordon enligt det innovativa fOrfarandet. Programmet P innefattar rutiner for att faststalla formaga hos -Waren att kontrollerat framfora fordonet. Programmet P innefattar rutiner for att vid faststalld oformaga, aktivera ett fordonsstyrt nodstopp av fordonet. Programmet P innefattar rutiner for att automatiskt styra fordonets retardation och fardvag under retardationen enligt 19 ett fordonsanpassat nodstoppsfOrlopp fOr sakerstallande av en saker inbronnsning av fordonet. Programmet P kan vara lagrat pa ett exekverbart vis eller pa komprimerat vis i ett minne 560 och/eller i ett las/skrivminne 550. A computer program P is provided which includes routing for node stops for a motor vehicle according to the innovative procedure. The program P includes routines for determining the shape of the -Ware to drive the vehicle in a controlled manner. The program P includes routines for activating a vehicle-controlled node stop of the vehicle in the event of a fixed deformity. The program P includes routines for automatically controlling the deceleration of the vehicle and the carriageway during the deceleration according to 19 a vehicle-adapted node-stop process for the establishment of a certain fueling of the vehicle. The program P can be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550.

Nar det är beskrivet att databehandlingsenheten 510 utf6r en viss funktion ska det forstas att databehandlingsenheten 510 utfOr en viss del av programmet vilket är lagrat i minnet 560, eller en viss del av programmet som är lagrat i las/skrivminnet 550. When it is described that the data processing unit 510 performs a certain function, it should be understood that the data processing unit 510 performs a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550.

Databehandlingsanordningen 510 kan kommunicera med en dataport 599 via en databuss 515. Det icke-flyktiga minnet 520 är avsett for kommunikation 10 med databehandlingsenheten 510 via en databuss 512. Det separata minnet 560 är avsett att kommunicera med databehandlingsenheten 510 via en databuss 511. Las/skrivminnet 550 är anordnat att kommunicera med databehandlingsenheten 510 via en databuss 514. Till dataporten 599 kan t.ex. lankarna forbundna med styrenheten 100 anslutas. 15 Nar data mottages pa dataporten 599 lagras det temporart i den andra minnesdelen 540. Nar mottaget indata temporart har lagrats, är databehandlingsenheten 510 iordningstalld att utfOra exekvering av kod pa ett vis som beskrivits ovan. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att faststalla formaga hos foraren att kontrollerat framfora fordonet. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att vid faststalld oformaga, aktivera ett fordonsstyrt n6dstopp av fordonet. De mottagna signalerna pa dataporten 599 kan anvandas av anordningen 500 for att automatiskt styra fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsforlopp for sakerstallande av en saker inbromsning av fordonet. The data processing device 510 may communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. Read / the write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 599, e.g. the links connected to the control unit 100 are connected. When data is received on the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is ready to perform code execution in a manner described above. The received signals on the data port 599 can be used by the device 500 to determine the ability of the driver to drive the vehicle in a controlled manner. The received signals on the data port 599 can be used by the device 500 to activate a vehicle-controlled emergency stop of the vehicle when it is determined. The received signals on the data port 599 can be used by the device 500 to automatically control the deceleration of the vehicle and the carriageway during the deceleration according to a vehicle-adapted emergency stop process for setting a certain deceleration of the vehicle.

Delar av metoderna beskrivna h5ri kan utforas av anordningen 500 med hjalp av databehandlingsenheten 510 som Icor programmet lagrat i minnet 560 eller las/skrivminnet 550. Nar anordningen 500 kik programmet, exekveras hari beskrivna forfaranden. Parts of the methods described herein may be performed by the device 500 by means of the data processing unit 510 which the Icor program stored in the memory 560 or the read / write memory 550. When the device 500 looks at the program, the methods described are executed.

Beskrivningen ovan av de fOredragna utfOringsformerna av fOreliggande uppfinning har tillhandahallits i illustrerande och beskrivande syfte. Den är inte avsedd att vara uttOmmande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga modifieringar och variationer att framga fOr fackmannen. UtfOringsformerna har valts och beskrivits for att bast forklara principerna av uppfinningen och dess praktiska tillampningar, och darmed mojliggora for en fackman att forsta uppfinningen for olika utfOringsformer och med de olika modifieringarna som är lampliga for det avsedda bruket. 21 The above description of the preferred embodiments of the present invention has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments have been selected and described in order to best explain the principles of the invention and its practical applications, thereby enabling one skilled in the art to understand the invention for various embodiments and with the various modifications which are appropriate to the intended use. 21

Claims (16)

PATENTKRAVPATENT REQUIREMENTS 1. Forfarande for nodstopp for ett motorfordon (1) innefattande stegen att: faststalla (Si) formaga hos foraren att kontrollerat framfora fordonet, samt, vid faststalld oformaga, aktivera (S2) ett fordonsstyrt nodstopp av fordonet, kannetecknat av steget att automatiskt styra (S3) fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsforlopp f6r sakerstallande av en saker inbromsning av fordonet.A node stop method for a motor vehicle (1) comprising the steps of: determining (Si) shaping the driver to drive the vehicle in a controlled manner, and, in the event of a determined deformity, activating (S2) a vehicle controlled node stop of the vehicle, characterized by the step of automatically steering ( S3) the deceleration of the vehicle and the carriageway during the deceleration according to a vehicle-adapted node-stop process for the proper setting of a things braking of the vehicle. 2. F6rfarande enligt krav 1, varvid steget att styra nodstoppsforloppet inbegriper hansynstagande till ett passagerarperspektiv inbegripande hansynstagande till passagerarsakerhetsmassiga overvaganden.The method of claim 1, wherein the step of controlling the node stop process comprises male consideration of a passenger perspective including male consideration of passenger safety surveillance. 3. Forfarande enligt krav 1 eller 2, vidare innefattande steget att faststalla radande passagerarfordelning och passagerarbelagenhet i fordonet som underlag for styrning av nodstoppsforloppet.A method according to claim 1 or 2, further comprising the step of determining radiating passenger distribution and passenger occupancy in the vehicle as a basis for controlling the node stop process. 4. Forfarande enligt nagot av kraven 1-3, vidare innefattande steget att 15 bedOrna forvantad passagerarfordelning och passagerarbelagenhet i fordonet utifran en modell for uppforande hos en viss passagerarpopulation som underlag for styrning av nOdstoppsforloppet.A method according to any one of claims 1-3, further comprising the step of improving the expected passenger distribution and passenger occupancy in the vehicle based on a model for the behavior of a certain passenger population as a basis for controlling the emergency stop process. 5. Forfarande enligt nagot av kraven 1-4, innefattande steget att styra nodstoppsforloppet baserat erforderliga riktningsforandringar och hastighets20 forandringar under hansynstagande till passagerarsakerhetsmassiga overvaganden.A method according to any one of claims 1-4, comprising the step of controlling the node stop process based on required directional changes and speed changes while taking into account passenger safety observations. 6. Forfarande enligt nagot av kraven 1-5, varvid steget att automatiskt styra (S2) fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsforlopp inbegriper hansynstagande till 25 omvarldsfaktorer.A method according to any one of claims 1-5, wherein the step of automatically controlling (S2) the deceleration of the vehicle and the carriageway during the deceleration according to a vehicle-adapted node stop process comprises taking into account environmental factors. 7. System for nodstopp for ett motorfordon (1) innefattande medel (200) for att faststalla formaga hos foraren att kontrollerat framfora fordonet, samt medel (100, 110, 120) for att, vid faststalld oformaga, aktivera ett fordonsstyrt 22 nodstopp av fordonet, kannetecknat av medel (100, 180, 300) for att automatiskt styra fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nOdstoppsfOrlopp fOr sakerstallande av en saker inbronnsning av fordonet.A node stop system for a motor vehicle (1) comprising means (200) for determining the shape of the driver to drive the vehicle in a controlled manner, and means (100, 110, 120) for activating a vehicle-controlled node stop of the vehicle in the event of a fixed inefficiency. , can be characterized by means (100, 180, 300) for automatically controlling the deceleration of the vehicle and the carriageway during the deceleration according to a vehicle-adapted emergency stop process for correcting a certain fueling of the vehicle. 8. System enligt krav 7, varvid medlet (100, 180, 300) for att styra nodstoppsforloppet inbegriper hansynstagande till ett passagerarperspektiv inbegripande hansynstagande till passagerarsakerhetsmassiga Overvaganden.The system of claim 7, wherein the means (100, 180, 300) for controlling the node stop process includes male consideration of a passenger perspective including male consideration of passenger safety considerations. 9. System enligt krav 7 eller 8, vidare innefattande medel (140, 150) for att 10 faststalla rAdande passagerarfordelning och passagerarbelagenhet i fordonet som underlag fOr styrning av nOdstoppsfOrloppet.A system according to claim 7 or 8, further comprising means (140, 150) for determining the appropriate passenger distribution and passenger occupancy in the vehicle as a basis for controlling the emergency stop process. 10. System enligt nagot av kraven 7-9, vidare innefattande medel (160) for att bedorna fOrvantad passagerarfordelning och passagerarbelagenhet i fordonet utifran en modell f6r uppf6rande hos en viss passagerarpopulation som underlag fOr styrning av nOdstoppsfOrloppet.A system according to any one of claims 7-9, further comprising means (160) for improving the expected passenger distribution and passenger occupancy in the vehicle based on a model for behavior of a certain passenger population as a basis for controlling the emergency stop process. 11. System enligt nagot av kraven 7-10, innefattande medel (180) for att styra nOdstoppsfOrloppet baserat erforderliga riktningsforandringar och hastighetsforandringar under hansynstagande till passagerarsakerhetsmassiga Overvaganden.A system according to any one of claims 7-10, comprising means (180) for controlling the emergency stop course based on required changes of direction and speed changes while taking into account passenger safety considerations. 12. System enligt nagot av kraven 7-11, varvid medlet (100, 180, 300) f6r att automatiskt styra fordonets retardation och fardvag under retardationen enligt ett fordonsanpassat nodstoppsforlopp inbegriper medel (184) for hansynstagande till omvarldsfaktorer.A system according to any one of claims 7-11, wherein the means (100, 180, 300) for automatically controlling the deceleration of the vehicle and the carriageway during the deceleration according to a vehicle-adapted node stop process includes means (184) for taking into account external factors. 13. Fordon innefattande ett system enligt nagot av kraven 7-12.Vehicle comprising a system according to any one of claims 7-12. 14. Fordon enligt krav 13, varvid fordonet utgors av en buss eller en lastbil eller ett ekipage med dragfordon och slap, till exennpel en tankbil. 23Vehicle according to claim 13, wherein the vehicle consists of a bus or a truck or a crew with a towing vehicle and slack, for example a tanker truck. 23 15. Datorprogram (P) kir nOdstopp kir ett motorfordon, dar namnda datorprogram (P) innefattar programkod sonn, dá det '15. Computer program (P) kir nOdstopp kir a motor vehicle, where said computer program (P) comprises program code sonn, dá det ' 16. Datorprogramprodukt innefattande ett digitalt lagringsmedium som lagrar datorprogrammet enligt krav 15.A computer program product comprising a digital storage medium which stores the computer program according to claim 15.
SE1351409A 2013-11-27 2013-11-27 Procedure and emergency stop system for a motor vehicle SE537704C2 (en)

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PCT/SE2014/051402 WO2015080655A1 (en) 2013-11-27 2014-11-25 Method and system for emergency stopping of a motor vehicle

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