SE1451117A1

SE1451117A1 - Method and system for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road

Info

Publication number: SE1451117A1
Application number: SE1451117A
Authority: SE
Inventors: André Claesson
Original assignee: Scania Cv Ab
Priority date: 2014-09-22
Filing date: 2014-09-22
Publication date: 2016-03-23
Also published as: SE540547C2

Abstract

The present invention relates to a method for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road, said road comprising curved portions. The method comprises the step of adapting (S1) said automatic control to the fact that the vehicle is a passenger transport vehicle, for example a bus, for improving passenger safety and passenger comfort, said step comprising the step of determining (S1a) current distribution of passengers and current predicament of passengers as a basis for said adaption to the course of the road.The present invention relates to a system for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road. The present invention also relates to a bus. The present invention also relates to a computer program and a computer program product.(Fig. 3)

Description

ABSTRACT The present invention relates to a method for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road, said road comprising curved portions. The method comprises the step of adapting (Si) said automatic control to the fact that the vehicle is a passenger transport vehicle, for example a bus, for improving passenger safety and passenger comfort, said step comprising the step of determining (S1a) current distribution of passengers and current predicament of passengers as a basis for said adaption to the course of the road.

The present invention relates to a system for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road. The present invention also relates to a bus. The present invention also relates to a computer program and a computer program product.

(Fig. 3) 1 METHOD AND SYSTEM FOR AUTOMATICALLY CONTROLLING THE CONVEYANCE OF A VEHICLE ON A ROAD ADAPTED TO THE TRAJECTORY OF THE ROAD TECHNICAL FIELD The invention relates to a method for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road according to the preamble of claim 1. The invention relates to a system for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer program product.

BACKGROUND ART Vehicles, e.g. heavy vehicles such as trucks, are to some extent equipped with intelligent cruise control systems, i.e. cruise control systems having intelligent cruise control functions for automatically controlling the speed of the vehicle adapting to the trajectory of the road such that the vehicle adapts the speed in e.g. a curve. Hereby global positioning systems, map data and camera units are used as a basis for adaption to the trajectory of the road.

W02104027069A1 discloses a method for operating a speed control system of a vehicle taking into account the comfort of the passenger and centre of gravity and roll of the vehicle.

OBJECTS OF THE INVENTION 2 An object of the present invention is to provide a method for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road which further improves safety and comfort adapted to the specific vehicle.

Another object of the present invention is to provide a system for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road which further improves safety and comfort adapted to the specific vehicle.

SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer program product, which are of the type stated by way of introduction and which in addition exhibits the features recited in the characterising clause of the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.

Specifically an object of the invention is achieved by a method for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road, said road comprising curved portions, comprising the step of adapting said automatic control to the fact that the vehicle is a passenger transport vehicle, for example a bus, for improving passenger safety and passenger comfort, said step comprising the step of determining current distribution of passengers and current predicament of passengers as a basis for said adaption to the course of the road. Hereby safety and comfort is further improved and adapted to the bus and its passengers. By thus taking current distribution of passengers and current predicament of passengers into consideration the comfort and safety and the speed can be optimized for the actual situation, e.g. if passengers are standing up, if a 3 wheel chair and/or a baby carriage is present. Thus, in the case of standing passengers the speed should be lower in when driving in a curve in order to improve passenger safety and comfort, whereas the speed may be higher with only sitting passengers.

According to an embodiment the method further comprises the step of continuously determining the centre of gravity of the passenger transport vehicle taking into account the current distribution of passengers and current predicament of passengers. Hereby safety is further improved in that the speed may be adapted to the current centre of gravity when driving in a curve so that the risk of the vehicle tipping over may be avoided.

According to an embodiment the method further comprises the step of determining the trajectory of the road as a basis for said control of the conveyance of the passenger transport vehicle. By thus determining the trajectory of the road a basis for control of the speed of the vehicle is provided for improved safety and comfort.

According to an embodiment of the method the step of determining current distribution of passengers comprises the step of sensing passenger positions within the passenger transport vehicle. Hereby an efficient way of determining the distribution of the passengers is obtained.

According to an embodiment of the method the step of determining current predicament of passengers comprises the steps of sensing whether a passenger is sitting down or standing up; and sensing the existence of passenger aid devices. Hereby an efficient way of determining the predicament of passengers is obtained.

According to an embodiment the method further comprises the step of continuously sensing the lateral acceleration of the passenger transport vehicle as a basis for said control. By thus continuously sensing the lateral acceleration a basis for control of the speed of the vehicle is provided for improved safety and comfort. Hereby is avoided that the vehicle accelerates 4 too much in a curve in the longitudinal direction, e.g. due to the driver accelerating or automatically.

According to an embodiment the method further comprises the step of continuously sensing roll of the passenger transport vehicle as a basis for said control. By thus continuously sensing roll a basis for control of the speed of the vehicle is provided for improved safety and comfort. Hereby is avoided that the vehicle accelerates too much in a curve in the longitudinal direction, e.g. due to the driver accelerating or automatically.

Specifically an object of the invention is achieved by a system for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road according to independent system claim 8.

The system further comprises the embodiments according to the dependent system claims 9-14.

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

BRIEF DESCRIPTION OF THE DRAWINGS A better understanding of the present invention will be had upon the reference to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a passenger transport vehicle in the form of a bus according to the present invention; Fig. 2 schematically illustrates a system for automatically controlling the 25 conveyance of a vehicle on a road adapted to the trajectory of the road according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a method for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road according to an embodiment of the present invention; and Fig. 4 schematically illustrates a computer according to an embodiment of the present invention.

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

Hereinafter the term "current predicament of passengers" refers to any predicament of the passenger where lateral acceleration of the vehicle may have an impact on safety and comfort for the passenger such as whether the passenger is sitting down or standing up and/or whether the passenger utilizes passenger aid device such as e.g. a wheel chair, a cane, crutches, a baby carriage or the like.

Hereinafter the term "conveyance of a vehicle" refers to how the vehicle is driven in general terms involving speed of the vehicle, acceleration of the vehicle, retardation of the vehicle, turns of the vehicle etc.

Fig. 1 schematically illustrates a passenger transport vehicle 1 in the form of a bus 1. The passenger transport vehicle could be any suitable passenger transport vehicle involving passengers travelling and where passenger distribution and passenger predicament may vary. The passenger transport vehicle 1 comprises a system I for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road. 6 Fig. 2 schematically illustrates a system I for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road according to an embodiment of the present invention.

The system I comprises an electronic control unit 100. The electronic control unit 100 is arranged in the bus.

The system I comprises means 110 for adapting said automatic control to the fact that the vehicle is a passenger transport vehicle, for example a bus, for improving passenger safety and passenger comfort.

The means 110 for adapting said automatic control to the passenger transport vehicle comprises means 112 for determining current distribution of passengers and means 114 for determining current predicament of passengers as a basis for said adaption to the course of the road.

The means 112 for determining current distribution of passengers comprises means 112a for sensing passenger positions within the passenger transport vehicle. Said means 112a may comprise any suitable means such as one or more camera units, lasers scanner means, optical sensor means, pressure sensor means or the like.

The means 114 for determining current predicament of passengers comprises means 114a for sensing whether a passenger is sitting down or standing up. Said means 114a may comprise any suitable means such as one or more camera units, lasers scanner means, optical sensor means, pressure sensor means or the like.

The means 114 for determining current predicament of passengers comprises means 114b for sensing the existence of passenger aid devices.

Said means 114a may comprise any suitable means such as one or more camera units, lasers scanner means, optical sensor means, pressure sensor means or the like. 7 The system I comprises means 120 for continuously determining the centre of gravity of the passenger transport vehicle taking into account the current distribution of passengers and current predicament of passengers. The means 120 for continuously determining the centre of gravity of the passenger transport vehicle comprises vehicle geometry data comprising height, width, drivetrain information, gyro and means for determining vehicle load. The means 120 for continuously determining the centre of gravity of the passenger transport vehicle comprises said means 112 for determining current distribution of passengers and means 114 for determining current predicament of passengers.

The system I comprises means 130 for determining the trajectory of the road as a basis for said control of the conveyance of the passenger transport vehicle. The means 130 for determining the trajectory of the road is arranged to continuously determine the trajectory of the road.

The means 130 for determining the trajectory of the road comprises according to an embodiment a map information unit 132 comprising map data comprising characteristics of the road along the route of the vehicle comprising trajectory of the road including curves.

The means 130 for determining the trajectory of the road comprises according to an embodiment means 134 for determining the position of the vehicle. The means 134 for determining the position of the vehicle comprises a global positioning system, GPS, for continuously determining the position of the vehicle along the route.

By means of the map information unit 132 and the means 134 for determining the position of the vehicle it is thus facilitated to continuously identifying the position of the vehicle and characteristics of the road comprising curves along the route of the vehicle.

The means 130 for determining the trajectory of the road comprises according to an embodiment camera means 136 comprising at least one 8 camera unit. The camera means 136 is arranged to detect characteristics of the road comprising curves along the route of the vehicle. The camera means 136 is arranged to detect the trajectory of the road, i.e. the shape of the extension of the road comprising curves of the road and/or road marks in order to thus determine the trajectory of the road along which the vehicle is travelling. Said at least one camera unit 136 may according to an embodiment be arranged to sense traffic signs such as speed limits, behaviour of other road users such as other vehicles, baby carriages, bicycles etc.

The system I comprises means 140 for continuously sensing the lateral acceleration of the passenger transport vehicle as a basis for said control. The means 140 for continuously sensing the lateral acceleration of the passenger transport vehicle comprises sensor means in the form of yaw angle speed sensors and vehicle speed sensors, wherein the lateral acceleration of the vehicle hereby may be determined. The means 140 for continuously sensing the lateral acceleration of the passenger transport vehicle comprises according to an embodiment calculation means for calculating the lateral acceleration based on the geometry of the vehicle and means for determining differences in individual wheel speeds.

The system I comprises means 150 for continuously sensing roll of the passenger transport vehicle as a basis for said control. The means 150 for continuously sensing roll of the passenger transport vehicle comprises any suitable sensing means. The means 150 for continuously sensing roll of the passenger transport vehicle comprises according to an embodiment gyro means.

The system I comprises means 160 for determining speed of the vehicle. The means 160 for determining speed of the vehicle, i.e. the longitudinal speed of the vehicle, comprises a speedometer. 9 The system I comprises communication means 170 for communicating with other vehicles and/or infrastructure so as to extract information about situations in the vicinity of the passenger transport vehicle such as further ahead along the route of the vehicle such as red lights, possible queuing or the like.

The electronic control unit 100 is signal connected to the means 110 for adapting said automatic control to the fact that the vehicle is a passenger transport vehicle, for example a bus, for improving passenger safety and passenger comfort via a link 10. The electronic control unit 100 is via the link 10 arranged to receive a signal from said means 110 representing data for the passenger transport vehicle for improving passenger safety and passenger comfort.

The electronic control unit 100 is signal connected to the means 112 for determining current distribution of passengers via a link 12. The electronic control unit 100 is via the link 12 arranged to receive a signal from said means 112 representing passenger distribution data for current distribution of passengers.

The electronic control unit 100 is signal connected to the means 112a for sensing passenger positions within the passenger transport vehicle via a link 12a. The electronic control unit 100 is via the link 12a arranged to receive a signal from said means 112a representing passenger position data for determining current distribution of passengers.

The electronic control unit 100 is signal connected to the means 114 for determining current predicament of passengers via a link 14. The electronic control unit 100 is via the link 14 arranged to receive a signal from said means 114 representing passenger predicament data for current predicament of passengers.

The electronic control unit 100 is signal connected to the means 114a for sensing whether a passenger is sitting down or standing up via a link 14a.

The electronic control unit 100 is via the link 14a arranged to receive a signal from said means 114a representing data for whether a passenger is sitting down or standing.

The electronic control unit 100 is signal connected to the means 114b for sensing the existence of passenger aid devices via a link 14b. The electronic control unit 100 is via the link 14b arranged to receive a signal from said means 114b representing passenger aid device data for existence of passenger aid devices.

The electronic control unit 100 is signal connected to the means 120 for continuously determining the centre of gravity of the passenger transport vehicle taking into account the current distribution of passengers and current predicament of passengers via a link 20. The electronic control unit 100 is via the link 20 arranged to receive a signal from said means 120 representing centre of gravity data for the passenger transport vehicle.

The electronic control unit 100 is signal connected to the means 130 for determining the trajectory of the road as a basis for said control of the conveyance of the passenger transport vehicle via a link 30. The electronic control unit 100 is via the link 30 arranged to receive a signal from said means 130 representing trajectory data for the trajectory of the road.

The electronic control unit 100 is signal connected to the map information unit 132 comprising map data comprising characteristics of the road along the route of the vehicle comprising trajectory of the road including curves via a link 32. The electronic control unit 100 is via the link 32 arranged to receive a signal from said map information unit 132 representing data for characteristics of the road along the route of the vehicle comprising trajectory of the road including curves.

The electronic control unit 100 is signal connected to the means 134 for determining the position of the vehicle via a link 34. The electronic control 11 unit 100 is via the link 34 arranged to receive a signal from said means 134 representing position data for the position of the passenger transport vehicle.

The electronic control unit 100 is signal connected to the camera means 136 for detecting characteristics of the road along the route of the vehicle via a link 36. The electronic control unit 100 is via the link 36 arranged to receive a signal from said camera means 136 representing data for road characteristics.

The electronic control unit 100 is signal connected to the means 140 for continuously sensing the lateral acceleration of the passenger transport vehicle via a link 40. The electronic control unit 100 is via the link arranged to receive a signal from said means 140 representing lateral acceleration data.

The electronic control unit 100 is signal connected to the means 150 for continuously sensing roll of the passenger transport vehicle via a link 50. The electronic control unit 100 is via the link 50 arranged to receive a signal from said means 150 representing roll data.

The electronic control unit 100 is signal connected to the means 160 for determining speed of the vehicle via a link 60. The electronic control unit 100 is via the link 60 arranged to receive a signal from said means 160 representing vehicle speed data for longitudinal speed of the vehicle.

The electronic control unit 100 is signal connected to the means 170 for communicating with other vehicles and/or infrastructure via a link 70. The electronic control unit 100 is via the link 70 arranged to receive a signal from said means 170 communication data for communicating with other vehicles and/or infrastructure.

The electronic control unit 100 is arranged to process said data for the passenger transport vehicle including said passenger distribution data with passenger position data, passenger predicament data with data for whether a 12 passenger is sitting down or standing and passenger aid device data for providing as a basis for said adaption to the course of the road.

The electronic control unit 100 is further arranged to process said centre of gravity data, trajectory data including data for characteristics of the road and position data, lateral acceleration data, roll data, vehicle speed data and communication data as a basis for said adaption to the course of the road Fig. 3 schematically illustrates a block diagram of a method for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road according to an embodiment of the present invention.

According to the embodiment the method for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road comprises a step Si. In this step said automatic control is adapted to the fact that the vehicle is a passenger transport vehicle, for example a bus, for improving passenger safety and passenger comfort.

According to the embodiment the method the step Si of adapting said automatic control to the fact that the vehicle is a passenger transport vehicle for improving passenger safety and passenger comfort comprises the step S1a of determining current distribution of passengers and current predicament of passengers as a basis for said adaption to the course of the road.

With reference to figure 4, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 2 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a nonvolatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, I/O-means, an AID-converter, a time date entry 13 and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.

A computer program P is provided comprising for routines for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of 5 the road according to an embodiment of the present invention according to the innovative method. The program P comprises routines adapting said automatic control to the fact that the vehicle is a passenger transport vehicle, for example a bus, for improving passenger safety and passenger comfort. The program P comprises routines for determining current distribution of 10 passengers and current predicament of passengers as a basis for said adaption to the course of the road. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.

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

Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 511. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100; 200; 300 may be connected.

When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be 14 used by apparatus 500 for adapting said automatic control to the fact that the vehicle is a passenger transport vehicle, for example a bus, for improving passenger safety and passenger comfort. The signals received on data port 599 can be used by apparatus 500 for determining current distribution of passengers and current predicament of passengers as a basis for said adaption to the course of the road.

Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs 10 the program, parts of the methods described herein are executed.

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

Claims

1. A method for automatically controlling the conveyance of a vehicle (1) on a road adapted to the trajectory of the road, said road comprising curved portions, characterized by the step of adapting (Si) said automatic control to the fact that the vehicle is a passenger transport vehicle (1), for example a bus, for improving passenger safety and passenger comfort, said step comprising the step of determining (S1a) current distribution of passengers and current predicament of passengers as a basis for said adaption to the course of the road.

2. A method according to claim 1, comprising the step of continuously determining the centre of gravity of the passenger transport vehicle (1) taking into account the current distribution of passengers and current predicament of passengers.

3. A method according to claim 1 or 2, comprising the step of determining 15 the trajectory of the road as a basis for said control of the conveyance of the passenger transport vehicle (1).

4. A method according to any preceding claims, wherein the step of determining current distribution of passengers comprises the step of sensing passenger positions within the passenger transport vehicle (1).

5. A method according to any preceding claims, wherein the step of determining current predicament of passengers comprises the steps of sensing whether a passenger is sitting down or standing up; and sensing the existence of passenger aid devices.

6. A method according to any preceding claims, comprising the step of continuously sensing the lateral acceleration of the passenger transport vehicle (1) as a basis for said control. 16

7. A method according to any preceding claims, comprising the step of continuously sensing roll of the passenger transport vehicle (1) as a basis for said control.

8. A system (I) for automatically controlling the conveyance of a vehicle (1) 5 on a road adapted to the trajectory of the road, said road comprising curved portions, characterized by means (110) for adapting said automatic control to the fact that the vehicle is a passenger transport vehicle (1), for example a bus, for improving passenger safety and passenger comfort, said means (110) comprising means (112) for determining current distribution of 10 passengers and means (114) for determining current predicament of passengers as a basis for said adaption to the course of the road.

9. A system according to claim 8, comprising means (120) for continuously determining the centre of gravity of the passenger transport vehicle taking into account the current distribution of passengers and current predicament 15 of passengers.

10. A system according to claim 8, comprising means (130) for determining the trajectory of the road as a basis for said control of the conveyance of the passenger transport vehicle (1).

11. A system according to any of claims 8-10, wherein the means (112) for determining current distribution of passengers comprises means (112a) for sensing passenger positions within the passenger transport vehicle.

12. A system according to any of claims 8-11, wherein the means (114) for determining current predicament of passengers comprises means (114a) for sensing whether a passenger is sitting down or standing up; and means (114b) for sensing the existence of passenger aid devices.

13. A system according to any of claims 8-12, comprising means (140) for continuously sensing the lateral acceleration of the passenger transport vehicle (1) as a basis for said control. 17

14. A system according to any of claims 8-13, comprising means (150) for continuously sensing roll of the passenger transport vehicle as a basis for said control.

15. A vehicle (1) comprising a system (I) according to any of claims 8-14.

16. A computer program (P) for automatically controlling the conveyance of a vehicle on a road adapted to the trajectory of the road, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-7.

17. A computer program product comprising a digital storage medium storing the computer program according to claim 16.