SE1650631A1 - A method and a system for making manoeuvring decisions for avehicle - Google Patents

A method and a system for making manoeuvring decisions for avehicle Download PDF

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Publication number
SE1650631A1
SE1650631A1 SE1650631A SE1650631A SE1650631A1 SE 1650631 A1 SE1650631 A1 SE 1650631A1 SE 1650631 A SE1650631 A SE 1650631A SE 1650631 A SE1650631 A SE 1650631A SE 1650631 A1 SE1650631 A1 SE 1650631A1
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SE
Sweden
Prior art keywords
vehicle
road
anomaly
manoeuvre
requirements
Prior art date
Application number
SE1650631A
Other languages
English (en)
Other versions
SE542517C2 (sv
Inventor
Huselius Joel
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1650631A priority Critical patent/SE542517C2/sv
Priority to DE102017004068.0A priority patent/DE102017004068A1/de
Publication of SE1650631A1 publication Critical patent/SE1650631A1/sv
Publication of SE542517C2 publication Critical patent/SE542517C2/sv

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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0021—Planning or execution of driving tasks specially adapted for travel time
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/35—Road bumpiness, e.g. potholes
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/55—External transmission of data to or from the vehicle using telemetry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B60W60/00256—Delivery operations

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Claims (17)

1. Datoriserat förfarande för fattande av manövreringsbeslut för ett fordon (1),varvid fordonet (1) är pä ett transportuppdrag varvid det transporterar last ochfärdas längs en bana till en viss destination, varvid transportuppdraget innefattarett antal krav relaterade till minst en av lastintegritet och körekonomi, varvidförfarandet kännetecknas av stegen att: - identifiera (s101) en vägavvikelse associerad med fordonets bana (1 ); - fastställa (s102) en prioritet för uppdragskraven; och - fastställa (s103) en lämplig manöver för fordonet (1) i förhällande tillvägavvikelsen, baserat pä kravens prioritetsordning.
2. Förfarande enligt krav 1, varvid vägavvikelsen identifieras baserat päinformation frän ett system för diagnos av vägkvalitet (200).
3. Förfarande enligt krav 1 eller 2, varvid den fastställda manövern omfattar att justera fordonets hastighet och/eller initiera en undvikande manöver.
4. Förfarande enligt krav 3, varvid justeringen av fordonets hastighet beror pä vägavvikelsens egenskaper.
5. Förfarande enligt nägot av de föregäende kraven, varvid manövern fastställsbaserat pä vägförhällandet och/eller omgivningen där fordonet (1) färdas.
6. Förfarande enligt nägot av de föregäende kraven, varvid fordonet (1) är ettautonomt kört fordon och den fastställda manövern överförs som styrparametrartill en styrenhet för styrning av fordonet (230).
7. Förfarande enligt nägot av kraven 1-5, varvid fordonet (1) är ett manuellt körtfordon och den fastställda manövern presenteras för föraren av fordonet pä enbildskärmsenhet (240).
8. System (100) för fattande av manövreringsbeslut för ett fordon (1), varvidfordonet (1) är pä ett transportuppdrag varvid det transporterar last och färdaslängs en bana till en viss destination, varvid transportuppdraget innefattar ettantal krav relaterade till minst en av lastintegritet och körekonomi,kännetecknat av att systemet (100) är anpassat för att identifiera envägavvikelse associerad med fordonets bana (1); fastställa en prioritet föruppdragskraven; och fastställa en lämplig manöver för fordonet (1) i förhällande till vägavvikelsen, baserat pä kravens prioritetsordning.
9. System enligt krav 8, varvid det är anpassat för att identifiera en vägavvikelse baserat pä information frän ett system för diagnos av vägkvalitet (200).
10. System enligt krav 8 eller 9, varvid det är anpassat för att fastställa enmanöver omfattande att justera fordonets hastighet och/eller omfattande att initiera en undvikande manöver.
11. Förfarande enligt krav 10, varvid det är anpassat för att justera fordonetshastighet beroende pä vägavvikelsens egenskaper.
12. System enligt nägot av kraven 8-11, varvid det är anpassat för att fastställamanövern baserat pä vägförhällandet och/eller omgivningen där fordonet (1)färdas.
13. System enligt nägot av kraven 8-12, varvid fordonet (1) är ett autonomt körtfordon och systemet (100) är anpassat för att överföra den fastställda manövernsom styrparametrar till en styrenhet för styrning av fordonet (230).
14. System enligt nägot av kraven 8-13, varvid fordonet (1) är ett manuellt körtfordon och systemet (100) är anpassat för att presentera manövern för förarenav fordonet (1) pä en bildskärmsenhet (240).
15. Fordon (1), kännetecknat av att det omfattar ett system (100) enligt något av kraven 8-14.
16. Datorprogram (P), varvid nämnda datorprogram omfattar programkod sombringar en elektronisk styrenhet (110; 500) eller en dator (120; 500) som äransluten till den elektroniska styrenheten (110; 500) att utföra förfarandestegen enligt nàgot av kraven 1-7.
17. Datorprogramprodukt omfattande en programkod lagrad pä ett datorläsbartmedium för utförande av förfarandestegen enligt nàgot av kraven 1-7, närnämnda datorprogram körs pä en elektronisk styrenhet (110; 500) eller pä endator (120; 500) som är ansluten till den elektroniska styrenheten (110; 500).
SE1650631A 2016-05-11 2016-05-11 A method and a system for making manoeuvring decisions for a vehicle SE542517C2 (sv)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE1650631A SE542517C2 (sv) 2016-05-11 2016-05-11 A method and a system for making manoeuvring decisions for a vehicle
DE102017004068.0A DE102017004068A1 (de) 2016-05-11 2017-04-27 Verfahren und System zum Treffen von Manövrierentscheidungen für ein Fahrzeug

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1650631A SE542517C2 (sv) 2016-05-11 2016-05-11 A method and a system for making manoeuvring decisions for a vehicle

Publications (2)

Publication Number Publication Date
SE1650631A1 true SE1650631A1 (sv) 2017-11-12
SE542517C2 SE542517C2 (sv) 2020-06-02

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SE1650631A SE542517C2 (sv) 2016-05-11 2016-05-11 A method and a system for making manoeuvring decisions for a vehicle

Country Status (2)

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DE (1) DE102017004068A1 (sv)
SE (1) SE542517C2 (sv)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2814573C1 (ru) * 2023-05-25 2024-03-01 Общество с ограниченной ответственностью "ГлобалТест" Способ передачи данных мониторинга транспортного средства

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8855847B2 (en) 2012-01-20 2014-10-07 Toyota Motor Engineering & Manufacturing North America, Inc. Intelligent navigation system
DE102013212776A1 (de) 2013-07-01 2015-01-08 Bayerische Motoren Werke Aktiengesellschaft Routenplanungsverfahren und Routenplanungsvorrichtung zum Planen einer Fahrtroute für ein Fahrzeug, Computerprogramm und Computerprodukt

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2814573C1 (ru) * 2023-05-25 2024-03-01 Общество с ограниченной ответственностью "ГлобалТест" Способ передачи данных мониторинга транспортного средства

Also Published As

Publication number Publication date
DE102017004068A1 (de) 2017-11-16
SE542517C2 (sv) 2020-06-02

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