SE537646C2 - System and method for enabling autonomous operation and / or external control of a motor vehicle - Google Patents

System and method for enabling autonomous operation and / or external control of a motor vehicle Download PDF

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Publication number
SE537646C2
SE537646C2 SE1451387A SE1451387A SE537646C2 SE 537646 C2 SE537646 C2 SE 537646C2 SE 1451387 A SE1451387 A SE 1451387A SE 1451387 A SE1451387 A SE 1451387A SE 537646 C2 SE537646 C2 SE 537646C2
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Sweden
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motor vehicle
control system
external control
signal
vehicle
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SE1451387A
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Swedish (sv)
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SE1451387A1 (en
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Daniel Frylmark
Linus Bredberg
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Scania Cv Ab
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Priority to SE1451387A priority Critical patent/SE537646C2/en
Publication of SE1451387A1 publication Critical patent/SE1451387A1/en
Publication of SE537646C2 publication Critical patent/SE537646C2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0057—Estimation of the time available or required for the handover
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/05—Specific applications of the controlled vehicles for soil shifting, building, civil engineering or mining, e.g. excavators

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

Abstract

Sammandrag Uppfinningen avser ett system (200) for mojliggorande av autonom drift och/eller extern styrning av ett motorfordon, innefattande ett externt styrsystem (205) anordnat att generera en signal (Si) innefattande dtminstone en styrpa- rameter fOr autonom drift och/eller extern styrning av namnda motorfordon, och ett fordonsinternt styrsystem (270) innefattande en styrenhet (220) och manovreringssystem (230; 240; 250), van i styrenheten (220) ãr anordnad i kommunikativ fOrbindelse med manovreringssystemen (230; 240; 250). Van i ett data- grdnssnitt (210) är anordnat i kommunikativ forbindelse med det externa styr- systemet (205) och det fordonsinterna styrsystemet (270), varvid datagranssnittet (210) är anordnat att Overt Ora signalen (Si) frau det externa styrsystemet (205) till det fordonsinterna styrsystemet (270), och varvid det fordonsinterna styrsystemet (270) är anordnat att avgara huruvida dtminstone ett pa forhand bestamt kriterium fOr att tilláta autonom drift och/eller extern styrning av motorfordonet är uppfyllt, van i det dtminstone ena pa fOrhand bestamda kritenet ãr forknippat med en begransning gallande tiden for anvandning av autonom drift och/eller extern styrning. Uppfinningen avser aven ett forfarande fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon samt ett motorfordon (100; 110) innefattande ett sadant system (200). Summary The invention relates to a system (200) for enabling autonomous operation and / or external control of a motor vehicle, comprising an external control system (205) arranged to generate a signal (Si) comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle, and an in-house control system (270) comprising a control unit (220) and maneuvering system (230; 240; 250), used in the control unit (220) are arranged in communicative connection with the maneuvering systems (230; 240; 250). A data interface (210) is provided in communicative communication with the external control system (205) and the in-vehicle control system (270), the data interface (210) being arranged to receive the Overt Ora signal (Si) from the external control system ( 205) to the in-vehicle control system (270), and wherein the in-vehicle control system (270) is arranged to determine whether at least one predetermined criterion for allowing autonomous operation and / or external control of the motor vehicle is met, usually in the at least one pa The predetermined criterion is associated with a restriction regarding the time for use of autonomous operation and / or external control. The invention also relates to a method for enabling autonomous operation and / or external control of a motor vehicle and a motor vehicle (100; 110) comprising such a system (200).

Description

System och forfarande far mojliggorande av autonom drift och/eller extern styrning av ett motorfordon TEKNIKENS OMRADE FOreliggande uppfinning avser ett system for mOjliggorande av autonom drift och/eller extern styrning av ett motorfordon, ett forfarande for mOjliggorande av autonom drift och/eller extern styrning av ett motorfordon samt ett motorfordon innefattande ett sadant system. FIELD OF THE INVENTION The present invention relates to a system for enabling autonomous operation and / or external control of a motor vehicle, a procedure for enabling autonomous operation and / or external control of a motor vehicle. a motor vehicle and a motor vehicle comprising such a system.

UPPFINNINGENS BAKGRUND OCH KAND TEKNIK Att framfOra ett motorfordon staller hOga krav pa operatOren dã det finns mange komplexa forutsagbara och oforutsagbara situationer att ta hansyn till. BACKGROUND OF THE INVENTION AND PRIOR ART Driving a motor vehicle places high demands on the operator as there are many complex predictable and unpredictable situations to consider.

Det finns idag hjalpmedel for att underldtta operatOrens arbete, sasom adaptiv farthallare, nOdbroms, kOrfaltsvarnare och liknande. Dessa hjalpmedel kraver dock att det finns en operator i motorfordonet som sjdlv kan bedoma situationen och vidta lampliga atgarder. Today, there are aids to facilitate the operator's work, such as adaptive cruise control, emergency braking, anti-roll bar and the like. However, these aids require that there is an operator in the motor vehicle who can himself assess the situation and take appropriate action.

OperatOren utgor en stor del av driftskostnaden for ett motorfordon, dven i de korfall dâ belastningen pa operatOren är valdigt lag. Detta är exempelvis fallet i gruvapplikationer dãr karningarna ofta bestar av att lasta pa en punkt, fOr att darefter kOra till en andra punkt och lasta ay. Ett annat exempel är vid transport av resendrer mellan ett flygplan och en flygplatsterminal. I dessa applika- tioner är trafikferhallandena kontrollerade och det ferekommer saledes inte nagra fotgangare, cyklister eller liknande storningar. Gruvor exempelvis, är dessutom ofta lokaliserade pa se satt att det kravs transport och infrastruktur for personalen. Detta genererar stora kostnader. For att minimera kostnaderna är det ddrfor Onskvart att i vissa typer av drift helt automatisera motorfordonens framforande eller fjarrstyra motorfordonet. 1 For att framfora ett motorfordon autonomt, det viii saga utan operator/fOrare, kravs en god uppfattning om motorfordonets omgivning for att astadkomma en saker framdrivning av motorfordonet. Detta kan astadkommas genom anvandning av sensorer med hog precision och avancerad informationsbearbetning och kommunikation mellan motorfordonets olika styrenheter. Att utveckla och implementera en lOsning for autonom drift av ett motorfordon ãr tidskravande och kostsamt. The operator makes up a large part of the operating cost of a motor vehicle, even in cases where the load on the operator is very low. This is the case, for example, in mining applications where the carcasses often consist of loading at one point, and then driving to a second point and loading ay. Another example is when transporting passengers between an aircraft and an airport terminal. In these applications, traffic conditions are controlled and there are thus no pedestrians, cyclists or similar disturbances. Mines, for example, are also often located in such a way that transport and infrastructure are required for staff. This generates large costs. In order to minimize costs, it is therefore advisable for Onskvart to completely automate the driving of motor vehicles or to control the motor vehicle remotely in certain types of operation. 1 In order to drive a motor vehicle autonomously, the viii saga without operator / driver, a good idea of the motor vehicle's surroundings is required in order to achieve a things propulsion of the motor vehicle. This can be achieved by using sensors with high precision and advanced information processing and communication between the various control units of the motor vehicle. Developing and implementing a solution for autonomous operation of a motor vehicle is time consuming and costly.

Olika fOrfaranden och system har fOreslagits i den kanda tekniken fOr att astadkomma autonom drift. Till exempel i dokument US 2012/0239238 Al vi- sas hur en industriell truck styrs autonomt langs med en definierad bana genom anvandning av ett styr- och navigationssystem. Styr- och navigationssystemet skapar och skickar ett kommando avseende hastighet via ett kommunikationsnatverk till en processormodul. Processormodulen skickar vidare kom- mandot till truckens styrenhet, vilken i sin tur styr drivsystemet utifran namnda kommando. Banan kan definieras genom en kabel under golvet, tejp eller andra ref erenser pa golvet, vilka styr- och navigationssystemet kanner ay. Denna losning astadkommer forvisso autonom drift av trucken men kraver en pa forhand definierad bana langs med vilken trucken ska framforas samt ett internt styr- och navigeringssystem. Various methods and systems have been proposed in the prior art to achieve autonomous operation. For example, document US 2012/0239238 A1 shows how an industrial truck is steered autonomously along a defined path by using a steering and navigation system. The control and navigation system creates and sends a speed command via a communication network to a processor module. The processor module further sends the command to the truck's control unit, which in turn controls the drive system based on the said command. The path can be defined by a cable under the floor, tape or other references on the floor, which the steering and navigation system can ay. This solution certainly ensures autonomous operation of the truck but requires a predefined path along which the truck is to be driven and an internal steering and navigation system.

Trots kanda lOsningar pa omradet finns det fortfarande ett behov av att vidare- utveckla ett fOrfarande och ett system fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, som minimerar driftskostnader och utvecklingskostnader. Despite well-known solutions in the field, there is still a need to further develop a procedure and a system for enabling autonomous operation and / or external control of a motor vehicle, which minimizes operating costs and development costs.

SAMMANFATTNING AV UPPFINNINGEN Ett syfte med fOreliggande uppfinning är att astadkomma ett system for mojlig- gorande av autonom drift och/eller extern styrning av ett motorfordon, som mi- nimerar kostnader. 2 Ett syfte med foreliggande uppfinning är att astadkomma ett system for mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, som är sakert och som skyddar motorfordonet samt objekt och/eller personer i dess omgivning. SUMMARY OF THE INVENTION An object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, which minimizes costs. An object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, which is safe and which protects the motor vehicle and objects and / or persons in its surroundings.

Ett annat syfte med fOreliggande uppfinning ãr att astadkomma ett system for mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, som mOjliggor anvandandet av redan befintliga paketlosningar fOr autonom drift och/eller extern styrning. Another object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, which enables the use of already existing package solutions for autonomous operation and / or external control.

Ett ytterligare syfte med fOreliggande uppfinning är att astadkomma ett system for mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, som begransar dtkomsten av fordonsinterna funktioner for externa anvandare. A further object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, which limits the availability of in-vehicle functions for external users.

Ett ytterligare syfte med fOreliggande uppfinning är att astadkomma ett fOrfa- rande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, som minimerar kostnader. A further object of the present invention is to provide a procedure for enabling autonomous operation and / or external control of a motor vehicle, which minimizes costs.

Ett syfte med fOreliggande uppfinning är att astadkomma ett forfarande for mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, som är sakert och som skyddar motorfordonet samt objekt och/eller personer i dess omgivning. An object of the present invention is to provide a method for enabling autonomous operation and / or external control of a motor vehicle, which is safe and which protects the motor vehicle and objects and / or persons in its surroundings.

Ett annat syfte med fOreliggande uppfinning ãr att astadkomma ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, som mojliggor anvandandet av redan befintliga paketlosningar fOr autonom drift och/eller extern styrning. Another object of the present invention is to provide a method for enabling autonomous operation and / or external control of a motor vehicle, which enables the use of already existing package solutions for autonomous operation and / or external control.

Ett ytterligare syfte med fOreliggande uppfinning är att astadkomma ett fOrfa- rande for mOjliggOrande av autonom drift och/eller extern styrning av ett motor- fordon, som begransar dtkomsten av fordonsinterna funktioner for externa anvandare. 3 Dessa syften uppnas genom ett system fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon enligt patentkrav 1 samt genom ett forfarande for mojliggOrande av autonom drift och/eller extern styrning av ett motorfordon enligt patentkrav 8. A further object of the present invention is to provide a procedure for enabling autonomous operation and / or external control of a motor vehicle, which limits the availability of in-vehicle functions for external users. These objects are achieved by a system for enabling autonomous operation and / or external control of a motor vehicle according to claim 1 and by a method for enabling autonomous operation and / or external control of a motor vehicle according to claim 8.

Enligt en aspekt av foreliggande uppf inning tillhandahdlles ett system f6r mojliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande ett externt styrsystem anordnat att generera en signal innefattande dtminstone en styrparameter for autonom drift och/eller extern styrning av mo- torfordonet, och ett fordonsinternt styrsystem innefattande en styrenhet och manovreringssystem, där styrenheten är anordnad i kommunikativ forbindelse med manovreringssystemen, van i ett datagranssnitt ãr anordnat i kommunikativ forbindelse med det externa styrsystemet och det fordonsinterna styrsystemet, varvid datagranssnittet ãr anordnat fOr att overfOra signalen fran det externa styrsystemet till det fordonsinterna styrsystemet. Vidare är det fordonsinterna styrsystemet anordnat att avgora huruvida dtminstone ett pa forhand bestamt kriterium for att tillãta autonom drift och/eller extern styrning av motorfordonet as uppfyllt, van i det atminstone ena pa forhand bestamda kriteriet är forknippat med en begransning gallande tiden fOr anvandning av autonom drift och/eller extern styrning. According to one aspect of the present invention, there is provided a system for enabling autonomous operation and / or external control of a motor vehicle comprising an external control system arranged to generate a signal comprising at least one control parameter for autonomous operation and / or external control of the motor vehicle, and an in-house control system comprising a control unit and a maneuvering system, the control unit being arranged in communicative connection with the maneuvering systems, used in a data interface arranged in a communicative connection with the external control system and the in-vehicle control system, the data interface being arranged to transmit the control system. the in-vehicle control system. Furthermore, the in-vehicle control system is arranged to determine whether at least one predetermined criterion for allowing autonomous operation and / or external control of the motor vehicle is met, in which at least one predetermined criterion is associated with a limitation on the use of autonomous operation and / or external control.

FOretrddesvis är det externa styrsystemet anordnat att generera ett flertal sig- naler innefattande styrparametrar fOr autonom drift och/eller extern styrning av motorfordonet. Preferably, the external control system is arranged to generate a plurality of signals including control parameters for autonomous operation and / or external control of the motor vehicle.

Foretrddesvis är styrenheten hos det fordonsinterna styrsystemet anordnad att avgora huruvida dtminstone ett pa forhand bestamt kriterium fOr att tillata autonom drift och/eller extern styrning av motorfordonet as uppfyllt, van i det at- minstone ena pa forhand bestamda kriteriet ãr f6rknippat med en begransning gallande tiden for anvandning av autonom drift och/eller extern styrning. 4 Enligt en aspekt av foreliggande uppf inning tillhandahdlles ett system far mojliggorande av extern styrning av ett motorfordon innefattande ett externt styrsystem anordnat att generera en signal innefattande dtminstone en styrparameter for extern styrning av motorfordonet, och ett fordonsinternt styrsystem innefattande en styrenhet och manovreringssystem, clar styrenheten är anord- nad i kommunikativ farbindelse med manovreringssystemen, van i ett datagranssnitt är anordnat i kommunikativ forbindelse med det externa styrsystemet och det fordonsinterna styrsystemet, varvid datagranssnittet ãr anordnat far att Overfara signalen frau det externa styrsystemet till det fordonsinterna styrsystemet, och van i det fordonsinterna styrsystemet är anordnat att avgara huruvida dtminstone ett pa forhand bestamt kriterium for att tillata extern styrning av motorfordonet ãr uppfyllt, van i det dtminstone ena pa forhand bestamda kriteriet âr farknippat med en begransning gallande tiden for anvandning av extern styrning. Preferably, the control unit of the in-vehicle control system is arranged to determine whether at least one predetermined criterion for allowing autonomous operation and / or external control of the motor vehicle is met, when at least one predetermined criterion is associated with a limitation time. for use of autonomous operation and / or external control. According to one aspect of the present invention, there is provided a system for enabling external control of a motor vehicle comprising an external control system arranged to generate a signal comprising at least one control parameter for external control of the motor vehicle, and a pre-internal control system comprising a control unit and maneuvering system, the control unit is arranged in communicative connection with the maneuvering systems, used in a data interface is arranged in communicative connection with the external control system and the in-vehicle control system, the data interface being arranged to transfer the signal from the external control system to the in-vehicle control system, and used in the in-vehicle control system. the steering system is arranged to determine whether at least one predetermined criterion for allowing external steering of the motor vehicle is met, in which case at least one predetermined criterion is associated with a limitation on the time of use of external control.

Faretradesvis innefattar det fordonsinterna styrsystemet ett flertal styrenheter. Dangerously, the in-vehicle control system comprises a plurality of control units.

Enligt en aspekt av fareliggande uppf inning tillhandahalles ett system far majliggorande av autonom drift av ett motorfordon innefattande ett externt styrsy- stem anordnat att generera en signal innefattande atminstone en styrparame- ter far autonom drift av motorfordonet, och ett fordonsinternt styrsystem innefattande en styrenhet och manavreringssystem, dar styrenheten är anordnad i kommunikativ farbindelse med manavreringssystemen, van i ett datagranssnitt ãr anordnat i kommunikativ farbindelse med det externa styrsystemet och det fordonsinterna styrsystemet, varvid datagranssnittet är anordnat far att Overfa- ra signalen fran det externa styrsystemet till det fordonsinterna styrsystemet, och van i det fordonsinterna styrsystemet är anordnat att avgara huruvida atminstone ett pa forhand bestamt kriterium for att tillata autonom drift av motorfordonet Or uppfyllt, van i det dtminstone ena pa forhand bestamda kriteriet an forknippat med en begransning gallande tiden for anvandning av autonom drift. According to one aspect of the present invention, there is provided a system for enabling autonomous operation of a motor vehicle comprising an external control system arranged to generate a signal comprising at least one control parameter for autonomous operation of the motor vehicle, and a pre-internal control system comprising a control unit and maneuvering system. , where the control unit is arranged in communicative communication with the operating systems, used in a data interface is arranged in communicative communication with the external control system and the internal vehicle control system, the data interface being arranged to transfer the signal from the external control system to the internal vehicle control system, and in the in-vehicle control system is arranged to determine whether at least one predetermined criterion for allowing autonomous operation of the motor vehicle is met, used in the at least one predetermined criterion associated with a limitation on the time of use of autonomous operation.

Hari kan en signal eller signaler avse ett meddelande eller flera meddelanden innefattande en eller flera signaler. En signal hos ett meddelande kan innefatta en eller flera styrparametrar. In this case, a signal or signals can refer to a message or several messages comprising one or more signals. A signal of a message may include one or more control parameters.

Foretrddesvis är datagranssnittet anordnat i kommunikativ forbindelse med styrenheten hos det fordonsinterna styrsystemet. Styrenheten mottager darmed signalen som via datagranssnittet overfOrs fran det externa styrsystemet till det fordonsinterna styrsystemet. Preferably, the data interface is arranged in communicative connection with the control unit of the in-vehicle control system. The control unit thus receives the signal which is transmitted via the data interface from the external control system to the in-vehicle control system.

Det fordonsinterna styrsystemet an foretrddesvis en del av motorfordonet i dess grundutfOrande och styr motorfordonet nar motorfordonet framfors bemannat av en operator/forare. Genom att anordna ett datagranssnitt i kommunikativ forbindelse med det externa styrsystemet och det fordonsinterna styrsystemet, majliggOrs tvavagskommunikation mellan det fordonsexterna styrsy- stemet och det fordonsinterna styrsystemet. Granssnittet ãr saledes konfigure- rat fOr kommunikation mellan det fordonsinterna styrsystemet och det externa styrsystemet. Granssnittet kan utgora en del av det fordonsinterna styrsystemet. Pa sâ salt mOjliggors anvandande av ett pa marknaden redan befintligt fordonsexternt styrsystem fOr autonom drift och/eller extern styrning, kopplat till motorfordonet. Motorfordonet behOver saledes inte vid tillverkning forses med kostsamma system och verktyg fOr att astadkomma autonom drift och/eller extern styrning, utan kOparen av motorfordonet kan vid ett senare tillfdlle tillkoppla ett befintligt externt styrsystem fOr autonom drift och/eller extern styrning till det for andamdlet konfigurerade datagranssnittet och det fordonsinter- na styrsystemet. Darmed astadkommes en tidseffektiv och kostnadseffektiv lOsning for mojliggorande av autonom drift och/eller extern styrning av ett motorfordon. Genom att den av det externa styrsystemet genererade signalen overfors till det fordonsinterna styrsystemet via granssnittet begransas det externa styrsystemets dtkomst av det fordonsinterna styrsystemet. Detta ar sal-- skilt fordelaktigt dâ det fordonsinterna styrsystemet kan innefatta information och funktioner som fordonstillverkaren ej vill att externa anvandare ska ha till-gang till. Samtidigt kan abstraktionsnivan hOjas gentemot det externa styrsy- 6 stemet fOr att forenkla anvandandet. Pa samma satt medfOr systemet enligt fOreliggande uppf inning att det externa styrsystemet inte kan ta Over motorfordo nets styrning utan att dess signaler fOrst har passerat datagranssnittet. Datagranssnittet medfor aven att paverkan pd motorfordonet minimeras i de fall som inkoppling av det externa styrsystemet sker pa ett felaktigt satt Motorfordonet kan saledes styras antingen manuellt av en operator hos motorfordonet eller autonomt eller externt genom det externa styrsystemet. The in-vehicle steering system preferably controls a portion of the motor vehicle in its basic design and steers the motor vehicle when the motor vehicle is driven manned by an operator / driver. By arranging a data interface in communicative connection with the external control system and the in-vehicle control system, two-way communication between the external vehicle control system and the in-vehicle control system is possible. The interface is thus configured for communication between the in-vehicle control system and the external control system. The interface can form part of the in-vehicle control system. This makes it possible to use a vehicle external control system already existing on the market for autonomous operation and / or external steering, connected to the motor vehicle. The motor vehicle thus does not need to be provided with costly systems and tools for manufacturing autonomous operation and / or external control during manufacture, but the buyer of the motor vehicle can at a later time connect an existing external control system for autonomous operation and / or external control to the unit configured for the unit. the data interface and the in-vehicle control system. This provides a time-efficient and cost-effective solution for enabling autonomous operation and / or external control of a motor vehicle. By transmitting the signal generated by the external control system to the in-vehicle control system via the interface, the external control system's access to the in-vehicle control system is limited. This is particularly advantageous as the in-vehicle control system may include information and functions that the vehicle manufacturer does not want external users to have access to. At the same time, the level of abstraction can be increased in relation to the external control system 6 in order to simplify the use. In the same way, the system according to the present invention means that the external control system cannot take over the control of the motor vehicle without its signals having first passed the data interface. The data interface also means that the impact on the motor vehicle is minimized in cases where the external control system is switched on incorrectly. The motor vehicle can thus be controlled either manually by an operator of the motor vehicle or autonomously or externally through the external control system.

Motorfordonet kan drivas autonomt i ett fOrsta lage och drivas operatorsstyrt (manuellt eller externt) i ett andra lage. En operator, exempelvis en forare, kan sdledes anvanda samma datagranssnitt som vid autonom drift nar operatOren onskar styra fordonet externt. Namnda operator kan sdledes styra motorfordonet medelst ett manoverorgan, dar operatoren star placerad externt/vid sidan av motorfordonet, exempelvis i en korg eller en s.k. sky-lift eller manuellt via reglage anordnade i en hytt hos fordonet. The motor vehicle can be operated autonomously in a first gear and operated operator-controlled (manually or externally) in a second gear. An operator, for example a driver, can thus use the same data interface as in autonomous operation when the operator wishes to control the vehicle externally. Said operator can thus control the motor vehicle by means of an operating means, where the operator is located externally / next to the motor vehicle, for example in a basket or a so-called sky-lift or manually via controls arranged in a cab of the vehicle.

Det externa styrsystemet definieras som ett styrsystem som tillhandahdlls och installeras av en part annan an fordonstillverkaren. Det externa styrsystemet kan innefatta enheter som är anordnade hos motorfordonet och/eller enheter som inte är anordnade hos motorfordonet. Det externa styrsystemet innefattar lampligen hardvara i form av sensorer, navigeringssystem, kameror och liknande fOr positionsbestamning av motorfordonet och fOr att erhalla en god omvarldsuppfattning. Lampligen innefattar det externa styrsystemet aven at- minstone en styrenhet, som mottager instruktioner gallande den Onskade drif- ten av motorfordonet. The external control system is defined as a control system provided and installed by a party other than the vehicle manufacturer. The external control system may comprise units which are arranged in the motor vehicle and / or units which are not arranged in the motor vehicle. The external control system suitably includes hardware in the form of sensors, navigation systems, cameras and the like for determining the position of the motor vehicle and for obtaining a good perception of the outside world. The external control system also includes at least one control unit, which receives instructions regarding the desired operation of the motor vehicle.

Vid autonom drift av motorfordonet erhdller styrenheten hos det externa styrsystemet instruktioner pa en hog nivd, exempelvis kor fran en punkt A till en punkt B. Namnda styrenhet kan vidare vara anordnad i kommunikativ forbin- delse med externa enheter sasom en kartdatabas eller andra liknande system som kan bidra med information som kan paverka den autonoma driften av 7 namnda fordon. Styrenheten bearbetar signaler fran ovan namnda hardvara och/eller de externa enheterna tillsammans med instruktionerna och fordonsparametrar, for att faststalla en lamplig rutt far motorfordonet. Fordonsparametrarna kan utgoras av fordonsvikt, fordonshajd, accelerationsformaga etc. Styr- enheten faststaller vidare lampliga styrparametrar for framdrivning av motor- fordonet enligt den bestamda rutten. Styrparametrarna innefattar instruktioner pa en lag niva och kan utgoras av styrvinkel, lampligt vaxelsteg, bromsverkan, acceleration hos motorfordonet, vinkelhastighet och/eller vridmoment hos ratt och liknande detaljerade styrparametrar. Den av det externa styrsystemet ge- 1 0nererade signalen innefattar atminstone en sadan styrparameter. During autonomous operation of the motor vehicle, the control unit of the external control system receives instructions at a high level, for example running from a point A to a point B. can contribute information that can affect the autonomous operation of 7 named vehicles. The control unit processes signals from the above-mentioned hardware and / or the external units together with the instructions and vehicle parameters, in order to determine a suitable route for the motor vehicle. The vehicle parameters can consist of vehicle weight, vehicle height, acceleration capacity, etc. The control unit further determines suitable control parameters for propulsion of the motor vehicle according to the determined route. The steering parameters include instructions at a low level and can consist of steering angle, light gear step, braking action, acceleration of the motor vehicle, angular speed and / or torque of the steering wheel and similar detailed steering parameters. The signal generated by the external control system comprises at least one such control parameter.

Vid extern styrning av motorfordonet faststaller styrenheten has det externa styrsystemet styrparametrar baserat pa en fran en operator Onskad framforing av motorfordonet. Med extern styrning kan avses fjarrstyrning av ett motorfor- don medelst fjarrstyrningsorgan sâ som en barbar dator, en fjarrkontroll, joys- tick eller liknande organ hanterade av en operator. Det externa styrsystemet kan exempelvis innefatta en dator arrangerad hos fordonet och granssnittet kan utgoras av en signalledning, varvid en operator medelst en knapptryckning exempelvis kan onska att accelerera, decelerera, vaxla och/eller svanga mo- torfordonet. Styrparametrarna hos signalen fran det externa styrsystemet inne- fattar precis som vid autonom drift av motorfordonet instruktioner pa en lag nivâ och kan avse styrvinkel, lamplig vaxel, bromsverkan, acceleration och liknande detaljerade styrparametrar. In the case of external control of the motor vehicle, the control unit determines whether the external control system has control parameters based on one from an operator. Desired driving of the motor vehicle. External control can refer to remote control of a motor vehicle by means of remote control means such as a barbarian computer, a remote control, joystick or similar means handled by an operator. The external control system may, for example, comprise a computer arranged at the vehicle and the interface may consist of a signal line, whereby an operator by means of a push of a button may, for example, wish to accelerate, decelerate, shift and / or swing the motor vehicle. The control parameters of the signal from the external control system, as in the case of autonomous operation of the motor vehicle, include instructions at a low level and can refer to steering angle, lamp gear, braking action, acceleration and similar detailed control parameters.

En styrparameter kan aven benamnas begaran. Saledes tillhandahaller det externa styrsystemet en begaran gallande exempelvis en hastighet, med vilken motorfordonet bar framforas. Begaran overfors via granssnittet till det fordonsinterna styrsystemet, som bearbetar begaran och avgar am begaran ska exekveras. Enligt en utforingsform innefattar signalen fran det externa styrsy- stemet en begaran, som utgors av en positiv eller negativ hastighets- och/eller bromsbegaran samt en Onskad styrvinkel. Alternativt innefattar signalen fran det externa styrsystemet en begaran, som utgars av en accelerations- 8 och/eller decelerationsbegdran samt en onskad styrvinkel. Alternativt innefattar signalen ft-an det externa styrsystemet en begaran, som utgOrs av en vinkelhastighet och/eller rattmoment. A control parameter can also be called a request. Thus, the external steering system provides a request gallant, for example, a speed at which the motor vehicle was to be driven. The request is transferred via the interface to the in-vehicle control system, which processes the request and issues if the request is to be executed. According to one embodiment, the signal from the external control system comprises a request, which consists of a positive or negative speed and / or brake request and an undesired control angle. Alternatively, the signal from the external control system comprises a request, which is made up of an acceleration and / or deceleration request and a desired control angle. Alternatively, the signal from the external control system comprises a request, which consists of an angular velocity and / or steering torque.

Foretrddesvis genererar det externa styrsystemet fortlOpande ett flertal signa- ler varje innefattande en eller flera styrparametrar/begaran. Preferably, the external control system continuously generates a plurality of signals each comprising one or more control parameters / requests.

Datagranssnittet är lampligen utformat med pa forhand definierade krav pa hur begaran hos signalen fran det externa styrsystemet ska se ut. The data interface is suitably designed with predefined requirements for what the request of the signal from the external control system should look like.

Manovreringssystemen utgOrs lampligen av ett bromsstyrningssystem fOr styrning av exempelvis fardbroms, hjalpbroms och parkeringsbroms, drivorgan och/eller styrorgan. Med hjalpbroms kan avses retarder, avgasbroms, elektrisk hjalpbroms eller liknande. Manovreringssystemen utgors vidare lampligen av ett motorstyrningssystem fOr styrning av motorfordonets motor och framdriv- ning samt ett vaxlingsstyrningssystem fOr styrning av vaxling hos motorfordonet. Manovreringsorganen utgors sdledes av system, som genom det fordonsinterna styrsystemets styrenhet paverkar bland annat motorfordonets hastighet och riktning. The maneuvering systems are suitably constituted by a brake control system for controlling, for example, cruise control, auxiliary brake and parking brake, drive means and / or control means. Auxiliary brake can refer to retarder, exhaust brake, electric auxiliary brake or the like. The maneuvering systems furthermore suitably consist of a motor control system for controlling the motor vehicle's engine and propulsion and a shift control system for controlling shifting of the motor vehicle. The actuators are thus constituted by systems which, through the control unit of the in-vehicle control system, influence, among other things, the speed and direction of the motor vehicle.

Enligt en aspekt av foreliggande uppfinning tillhandahdlles ett system, vani styrenheten ãr anordnad i kommunikativ fOrbindelse med manovreringssystemen via en kommunikationsbuss. Kommunikationsbussen medfOr en tvavagskommunikation mellan styrenheten och manOvreringssystemen. Ldmpligen innefattar kommunikationsbussen en CAN-buss eller annan standard fOr data- overforing. According to one aspect of the present invention, there is provided a system in which the control unit is arranged in communicative connection with the maneuvering systems via a communication bus. The communication bus entails a two-way communication between the control unit and the operating systems. Typically, the communication bus includes a CAN bus or other standard for data transmission.

Foretrddesvis är det fordonsinterna styrsystemet anordnat att avgOra huruvida ett flertal pa fOrhand bestamda kriterier for att tillãta autonom drift och/eller ex- tern styrning av motorfordonet ãr uppfyllda. 9 Enligt en aspekt av foreliggande uppfinning tillhandahalles ett system, van i det atminstone ena pa fOrhand bestamda kriteriet innefattar att autonom drift och/eller extern styrning av motorfordonet endast far ha pagan under en tid, som underskrider en pa forhand bestamd tidsperiod. Nar autonom drift och/eller extern styrning av motorfordonet har pagan under en tid, som under- skrider den pa forhand bestamda tidsperioden bearbetas/omvandlas/processas signalen Iran det externa styrsystemet medelst styrenheten, varefter den bearbetade signalen OverfOrs fran styrenheten till manOvreringssystemen och motorfordonet framfOrs autonomt och/eller externt. Preferably, the in-vehicle control system is arranged to determine whether a plurality of predetermined criteria for allowing autonomous operation and / or external control of the motor vehicle are met. According to one aspect of the present invention, there is provided a system which in at least one predetermined criterion comprises that autonomous operation and / or external control of the motor vehicle may only be engaged for a time which is less than a predetermined period of time. When autonomous operation and / or external control of the motor vehicle has the pagan for a time which is below the predetermined time period, the signal is processed / converted / processed in the external control system by the control unit, after which the processed signal is transferred from the control unit to the control systems and the motor vehicle. autonomously and / or externally.

Nar autonom drift och/eller extern styrning av motorfordonet har pagatt under tid, som är lika med eller Overskrider den pa forhand bestamda tidsperioden stoppas signalen fran det externa styrsystemet hos styrenheten. Pa sa satt astadkommes en begransning av nar och hur autonom drift och/eller extern styrning av motorfordonet tillats. Saledes astadkommes en tidsbegransad an- vandning av autonom drift och/eller extern styrning av motorfordonet. When autonomous operation and / or external control of the motor vehicle has stopped for a time equal to or exceeding the predetermined time period, the signal is stopped from the external control system of the control unit. In this way, a limitation of when and how autonomous operation and / or external control of the motor vehicle is allowed is achieved. Thus, a time-limited use of autonomous operation and / or external control of the motor vehicle is achieved.

Enligt en aspekt av foreliggande uppfinning avser det pa fOrhand bestamda kriteriet avseende tiden for anvandning av autonom drift och/eller extern styrning, att den ackumulerade tiden av autonom drift och/eller extern styrning maste underskrida en pa fOrhand bestamd tidsperiod. Alternativt avser det pa fOrhand bestamda kriteriet avseende tiden for anvandning av autonom drift och/eller extern styrning, att anvandning av autonom drift och/eller extern styrning endast är tilla'tet under en viss tidsperiod, exempelvis under ett par manader. According to one aspect of the present invention, the predetermined criterion regarding the time of use of autonomous operation and / or external control means that the accumulated time of autonomous operation and / or external control must be less than a predetermined period of time. Alternatively, the predetermined criterion regarding the time for use of autonomous operation and / or external control means that the use of autonomous operation and / or external control is only permitted for a certain period of time, for example for a couple of months.

Genom att endast tillata autonom drift och/eller extern styrning av motorfordonet under en begransad tid minimeras risken for opassande anvandning av autonom drift och/eller extern styrning. Pa sâ salt astadkommes ett system for majliggOrande av autonom drift och/eller extern styrning av ett motorfordon, som är sakert och som skyddar motorfordonet och objekt och/eller personer i dess omgivning. 10 Foretradesvis utgOrs den forutbestamda tidsperioden av tiden mellan tva servicetillfallen. Alternativt utgors den forutbestamda tidsperioden av tiden mellan ett flertal servicetillfallen. Alternativt utgors den forutbestamda tidsperioden av en pa forhand bestamd maximal driftstid for autonom drift och/eller extern styr- ning av motorfordonet. By only allowing autonomous operation and / or external steering of the motor vehicle for a limited time, the risk of inappropriate use of autonomous operation and / or external steering is minimized. In this way, a system is provided for enabling autonomous operation and / or external control of a motor vehicle, which is safe and which protects the motor vehicle and objects and / or persons in its surroundings. Preferably, the predetermined time period is the time between two service events. Alternatively, the predetermined time period consists of the time between a plurality of service cases. Alternatively, the predetermined time period consists of a predetermined maximum operating time for autonomous operation and / or external control of the motor vehicle.

Alternativt regleras den tidsbegransande anvandningen av autonom drift och/eller extern styrning av motorfordonet genom nyttjande av operatOrslicens. Saledes utgOrs lampligen den pa fOrhand bestamda tidsperioden av licensens giltighetstid. Nar licensen har slutat galla stoppas overforingen av signaler fran det externa styrsystemet till manovreringssystemen. FOr att ater kunna framföra motorfordonet autonomt och/eller externt, kravs lampligen att operatoren fornyar sin licens. Information om licensens giltighet tillfOrs det fordonsinterna styrsystemet som darmed kan avgara om kriteriet gallande den pa fOrhand bestamda tidsperioden är uppfyllt eller inte. Alternatively, the time-limiting use of autonomous operation and / or external control of the motor vehicle is regulated through the use of an operator's license. Thus, the pre-determined period of time is suitably the period of validity of the license. When the license has expired, the transmission of signals from the external control system to the control systems is stopped. In order to be able to drive the motor vehicle again autonomously and / or externally, the operator is required to renew his license. Information about the validity of the license is supplied to the in-vehicle control system, which can thus determine whether the criterion validating the pre-determined time period is met or not.

Foretradesvis genereras en yarning till operatoren nar tiden som motorfordonet har framforts autonomt eller externt narmar sig den pa forhand bestamda tidsperioden. Lampligen genereras en signal innefattande varningen hos det fordonsinterna styrsystemet, vilken signal overfOrs via datagranssnittet till det externa styrsystemet. Det externa styrsystemet innefattar lampligen ett anvandargranssnitt mot operatOren dar varningen presenteras. Preferably, a charge is generated to the operator when the time that the motor vehicle has been driven autonomously or externally approaches the predetermined time period. A signal comprising the warning of the vehicle internal control system is generated, which signal is transmitted via the data interface to the external control system. The external control system apparently includes a user interface with the operator where the warning is presented.

Enligt en aspekt av fOreliggande uppfinning är det pa fOrhand bestamda krite- net fOrknippat med en begransning gallande geografiskt omrade och/eller framford stracka. Alternativt är det pa forhand bestamda kriteriet fOrknippat med en signal fran atminstone ett operatOrsreglage anordnat hos motorfordonet. Det pa fOrhand bestamda kriteriet ãr lampligen lagrat has styrenheten. According to one aspect of the present invention, the predetermined criterion is associated with a restriction defining geographically area and / or forward distance. Alternatively, the predetermined criterion is associated with a signal from at least one operator control arranged on the motor vehicle. The predetermined criterion is appropriately stored has the control unit.

Styrenheten hos det fordonsinterna styrsystemet är lampligen uppdaterad med exempelvis relevant information avseende motorfordonets positionering och/eller kOrstracka och/eller kOrtid och/eller licens/certifikat fOr att kunna jam- 11 fora namnda information med det pa forhand bestamda kriteriet och darmed kunna avgara huruvida kriteriet är uppfyllt. The control unit of the in-vehicle control system is suitably updated with, for example, relevant information regarding the motor vehicle's positioning and / or mileage and / or driving time and / or license / certificate in order to be able to compare the said information with the predetermined criterion and thereby determine whether the criterion is met.

Genom att infora en tidsbegransning, en geografisk begransning, eller nagon annan form av begransning for att framfora motorfordonet autonomt och/eller externt, astadkommes aven en begransning fOr nar, var och/eller hur det externa styrsystemet far tillgang till det fordonsinterna styrsystemet. By introducing a time limit, a geographical limit, or some other form of limit for driving the motor vehicle autonomously and / or externally, a limit is also provided for when, where and / or how the external control system accesses the vehicle internal control system.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett system, vani styrenheten är anordnad att, vid uppfyllt kriterium, bearbe- ta/omvandla/processa signalen fran det externa styrsystemet sâ att den bearbetade signalen uppvisar ett format som manOvreringssystemen hos det fordonsinterna styrsystemet kan tolka. Den bearbetade signalen innefattar sale-des samma begaran/styrparameter som signalen fran det externa styrsyste- met, men i ett annat format. Styrenheten OverfOr sedan den bearbetade signa- len till manOvreringssystemen. Genom att OverfOra den bearbetade signalen till manovreringssystemen styrs manOvreringssystemen i enlighet med styrparametrarna i signalen fran det externa styrsystemet. Pa sã salt astadkommes autonom drift och/eller extern styrning av motorfordonet genom det externa styrsystemet. According to an aspect of the present invention, there is provided a system in which the control unit is arranged to, when the criterion is met, process / convert / process the signal from the external control system so that the processed signal has a format which the operating systems of the in-vehicle control system can interpret. The processed signal includes the same request / control parameter as the signal from the external control system, but in a different format. The control unit then transmits the processed signal to the control systems. By transmitting the processed signal to the control systems, the control systems are controlled in accordance with the control parameters of the signal from the external control system. In this way, autonomous operation and / or external control of the motor vehicle is achieved through the external control system.

Enligt en aspekt av fOreliggande uppfinning, tillhandahalles ett system, van i det fordonsinterna styrsystemet är anordnat att avgOra huruvida motorfordonet bef inner sig inom ett pa forhand bestamt geografiskt omrade. Det atminstone ena pa fOrhand bestamda kriteriet innefattar saledes att motorfordonet ska be- finna sig inom ett pa fOrhand bestamt geografiskt omrade. Nar motorfordonet bef inner sig inom det pa forhand bestamda geografiska omradet, bearbetas signalen fran det externa styrsystemet has styrenheten, varefter den bearbetade signalen overfors till manOvreringssystemen och motorfordonet framfOrs autonomt eller externt. Nar motorfordonet inte befinner sig inom det pa forhand bestamda geografiska omradet stoppas signalen fran det externa styrsystemet hos styrenheten. Genom att endast tillata autonom drift och/eller extern styr- 12 fling av motorfordonet inom ett avgrdnsat omrade astadkommes ett system for autonom drift och/eller extern styrning av ett motorfordon, som är sakert och som skyddar motorfordonet och objekt och/eller personer i dess omgivning. Det pa fOrhand bestdmda geografiska omradet är lampligen ett omrade, som uppvisar kontrollerade trafikforhallanden där autonom drift och/eller extern styrning lampar sig. Pa sã salt kan sakerstallas att exempelvis en gruvmaskin innefattade ett system enligt foreliggande uppf inning endast kan framforas autonomt och/eller externt inom gruvomradet. SA fort gruvmaskinen lamnar gruvomradet stoppas den autonoma driften och/eller den externa styrningen och gruvmaskinen stoppas eller alternativt drivs manuellt. According to one aspect of the present invention, there is provided a system conventional in the in-vehicle control system for determining whether the motor vehicle is within a predetermined geographical area. The at least one pre-determined criterion thus includes that the motor vehicle must be within a pre-determined geographical area. When the motor vehicle is within the predetermined geographical area, the signal from the external control system is processed in the control unit, after which the processed signal is transmitted to the control systems and the motor vehicle is fed autonomously or externally. When the motor vehicle is not within the predetermined geographical area, the signal is stopped from the external control system of the control unit. By only allowing autonomous operation and / or external control of the motor vehicle within a defined area, a system for autonomous operation and / or external control of a motor vehicle is provided, which is safe and which protects the motor vehicle and objects and / or persons in it. environment. The predetermined geographical area is suitably an area that exhibits controlled traffic conditions where autonomous operation and / or external control is present. Such salt can be ensured that, for example, a mining machine comprising a system according to the present invention can only be operated autonomously and / or externally within the mining area. As soon as the mining machine leaves the mining area, the autonomous operation and / or the external control is stopped and the mining machine is stopped or alternatively operated manually.

Foretrddesvis avgOrs huruvida motorfordonet bef inner sig inom det pa fOrhand bestamda geografiska omradet genom anvandning av hos motorfordonet anordnad positioneringsenhet och elektronisk karta. Positioneringsenheten ut- gOrs lampligen av ett GNSS (Global Navigation Satellite System), exempelvis GPS, GLONASS, Galileo eller Compass. Positioneringsenheten kan lampligen innefattas av styrenheten hos det fordonsinterna styrsystemet. Alternativt är positioneringsenheten anordnad i kommunikativ forbindelse med styrenheten, sa att styrenheten kan erhalla information fran positioneringsenheten. Alterna- tivt avgOrs huruvida motorfordonet bef inner sig inom det pa fOrhand bestamda geografiska omradet genom anvandning av antenner anordnade hos omgivningen och mottagare anordnade hos motorfordonet. Alternativt avgOrs huruvida motorfordonet bef inner sig inom det pa fOrhand bestamda geografiska omradet genom annan kommunikation mellan motorfordonet och omvarlden. Preferably, it is determined whether the motor vehicle is within the predetermined geographical area by using the positioning unit and electronic map arranged with the motor vehicle. The positioning unit is a GNSS (Global Navigation Satellite System), such as GPS, GLONASS, Galileo or Compass. The positioning unit can suitably be included by the control unit of the in-vehicle control system. Alternatively, the positioning unit is arranged in communicative connection with the control unit, so that the control unit can receive information from the positioning unit. Alternatively, it is determined whether the motor vehicle is within the predetermined geographical area by using antennas arranged at the surroundings and receivers arranged at the motor vehicle. Alternatively, it is determined whether the motor vehicle is within the predetermined geographical area through other communication between the motor vehicle and the outside world.

Det pa fOrhand bestamda geografiska omradet är fOretradesvis lagrat hos styrenheten. Det pa fOrhand bestdmda geografiska omradet kan vara bestdmt av fordonstillverkaren och/eller operatoren. Exempelvis kan fordonstillverkaren ha satt det pa fOrhand bestdmda geografiska omradet till ett visst land, medan operatoren vill begransa anvandandet av autonom drift och/eller extern styr- ning ytterligare och darmed sailer det pa fOrhand bestdmda geografiska omra- det till ett visst industriomrade. Foretrddesvis kan inte operatOren utvidga det pa fOrhand bestamda geografiska omradet som är satt av fordonstillverkaren. 13 Foretradesvis genereras en yarning till operatoren ndr motorfordonet är nara att lama det pa farhand bestamda geografiska omradet. Exempelvis genereras en yarning när motorfordonet bef inner sig 500 meter fran det pa forhand bestdmda geografiska omradets grans. Lampligen genereras en signal innefat- tande varningen hos det fordonsinterna styrsystemet, vilken signal overfars via grdnssnittet till det externa styrsystemet. Det externa styrsystemet innefattar lampligen ett anvandargranssnitt mot operatoren ddr varningen presenteras. The predetermined geographical area is preferably stored at the control unit. The predetermined geographical area may be determined by the vehicle manufacturer and / or operator. For example, the vehicle manufacturer may have set the predetermined geographical area to a certain country, while the operator wants to further limit the use of autonomous operation and / or external control and thus sell the predetermined geographical area to a certain industrial area. Preferably, the operator cannot extend the predetermined geographical area set by the vehicle manufacturer. 13 Preferably, a call is generated to the operator when the motor vehicle is close to leaving the predetermined geographical area. For example, an earring is generated when the motor vehicle is located 500 meters from the boundary of the predetermined geographical area. A signal is generated, including the warning of the in-vehicle control system, which signal is transmitted via the interface to the external control system. The external control system apparently includes a user interface to the operator where the warning is presented.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett system, van i det atminstone ena pa forhand bestarnda kriteriet innefattar att den ackumulerade strackan vilken motorfordonet har framforts autonomt och/eller externt maste underskrida en pa forhand bestamd maxstracka. Det ford onsinterna styrsystemet är saledes anordnat att avgara huruvida motorfordonet har framforts autonomt och/eller externt en viss ackumulerad strdcka, vilken underskrider den pa farhand bestarnda maxstrdckan. Nat- motorfordonet har framfarts autonomt och/eller externt en ackumulerad strdcka, oavsett korvdg, som underskrider den pa forhand bestamda maxstrackan bearbetas signalen fran det externa styrsystemet medelst styrenheten, varefter den bearbetade signalen aver- fors fran styrenheten till manovreringssystemen och motorfordonet framfars autonomt eller externt. Nth' motorfordonet har framforts autonomt och/eller externt en ackumulerad strdcka, som ãr lika med eller overskrider den pa farhand bestdmda maxstrdckan stoppas signalen fran det externa styrsystemet hos styrenheten. Pa sa sdtt astadkommes en begransning av ndr och hur autonom drift och/eller extern styrning av motorfordonet tillats. According to one aspect of the present invention, there is provided a system which, in the at least one predetermined criterion, comprises that the accumulated distance which the motor vehicle has been driven autonomously and / or externally must be less than a predetermined maximum distance. The non-internal steering system is thus arranged to determine whether the motor vehicle has been driven autonomously and / or externally a certain accumulated distance, which is below the maximum distance determined by hand. The night motor vehicle has been driven autonomously and / or externally an accumulated distance, regardless of the sausage day, which is less than the predetermined maximum distance, the signal from the external control system is processed by the control unit, after which the processed signal is transferred from the control unit to the control system and the motor vehicle. . If the motor vehicle has been driven autonomously and / or externally an accumulated distance, which is equal to or exceeds the predetermined maximum distance, the signal is stopped from the external control system of the control unit. In this way, a limitation of changes and how autonomous operation and / or external control of the motor vehicle is permitted is achieved.

Genom att endast tillata autonom drift och/eller extern styrning av motorfordonet under en begransad strdcka, astadkommes ett system far autonom drift och/eller extern styrning av ett motorfordon, som dr sakert och som skyddar motorfordonet och objekt och/eller personer i dess omgivning. 14 Foretrddesvis avgars huruvida motorfordonet uppfyller kriteriet gallande kOrd stracka under autonom drift och/eller extern styrning, medelst fordonsinterna funktioner som kommunicerar med styrenheten. By only allowing autonomous operation and / or external control of the motor vehicle during a limited distance, a system is achieved for autonomous operation and / or external control of a motor vehicle, which is safe and which protects the motor vehicle and objects and / or persons in its surroundings. 14 Preferably, it is determined whether the motor vehicle meets the criterion gallant chord distance during autonomous operation and / or external control, by means of vehicle internal functions that communicate with the control unit.

Foretrddesvis genereras en yarning till operatoren nãr motorfordonet har fram- forts autonomt och/eller externt en stracka som är nara den pa forhand bestamda maxstrackan. Exempelvis genereras en yarning till operatOren 500 km fore den pa fOrhand bestamda maxstrackan har uppnatts. Ldmpligen genereras en signal innefattande varningen hos det fordonsinterna styrsystemet, VII- ken signal overfOrs via granssnittet till det externa styrsystemet. Preferably, a distance is generated to the operator when the motor vehicle has autonomously and / or externally a distance that is close to the predetermined maximum distance. For example, a run to the operator is generated 500 km before the predetermined maximum distance has been reached. Typically, a signal is generated including the warning of the in-vehicle control system, VII a signal is transmitted via the interface to the external control system.

Enligt en aspekt av foreliggande uppfinning tillhandahalls ett system, vani styrenheten dr anordnad att, ndr autonom drift och/eller extern styrning av motorfordonet ej Oats och overfOring av det externa styrsystemets signal frdn styrenheten till manOvreringssystemen har forhindrats, generera en signal fOr intern styrning av motorfordonet och OverfOra namnda signal till manOvreringssystemen. Pa sâ satt astadkommes en intern styrning av motorfordonet när ett kriterium fOr att tilläta autonom drift och/eller extern styrning av motorfordonet ej är uppfyllt. Foretrddesvis innefattar signalen for intern styrning styrparamet- rar, som minimerar risken for skador hos motorfordonet och objekt och/eller personer i dess omgivning. Exempelvis innefattar signalen fOr intern styrning styrparametrar som medfar att motorfordonet bromsas och/eller stannas/parkeras. According to one aspect of the present invention there is provided a system, wherein the control unit is arranged to, when autonomous operation and / or external control of the motor vehicle is not interrupted and transmission of the external control system signal from the control unit to the control systems is prevented, generate a signal for internal control of the motor vehicle. and Transmitting said signal to the operating systems. In this way, an internal control of the motor vehicle is achieved when a criterion for allowing autonomous operation and / or external control of the motor vehicle is not met. Preferably, the signal for internal control includes control parameters which minimize the risk of damage to the motor vehicle and objects and / or persons in its vicinity. For example, the signal for internal control includes control parameters which cause the motor vehicle to be braked and / or stopped / parked.

Enligt en aspekt av fOreliggande uppfinning tillhandahalls ett system, van i styr- enheten är anordnad att, när ett had beskrivet kriterium for att tillâta autonom drift och/eller extern styrning av motorfordonet ej är uppfyllt, generera en signal innefattande information om att det fordonsinterna styrsystemet styr motorfordonet och Overfora namnda signal innefattande information om att det fordons- interna styrsystemet styr motorfordonet, frail det fordonsinterna styrsystemet till det externa styrsystemet via granssnittet. Pa sâ sail erhdller det externa styrsystemet, och ddrmed operatOren, information om att det inte styr motorfordonet och vad anledningen till detta dr. According to one aspect of the present invention, there is provided a system used in the control unit which, when a criterion described for allowing autonomous operation and / or external control of the motor vehicle is not met, generates a signal including information that the in-vehicle control system controls the motor vehicle and Overfora said signal including information that the vehicle internal control system controls the motor vehicle, from the vehicle internal control system to the external control system via the interface. On this sail, the external control system, and thus the operator, receives information that it does not control the motor vehicle and what the reason for this is.

NI& autonom drift och/eller extern styrning av motorfordonet ej tillats erhaller det externa styrsystemet foretradesvis en instruktion om dtgarder som krdvs for att aterigen astadkomma autonom drift och/eller extern styrning. Atgardsinstruktionerna genereras lampligen hos det fordonsinterna styrsystemet och overfOrs till det externa styrsystemet via datagranssnittet. NI & autonomous operation and / or external control of the motor vehicle is not permitted, the external control system preferably receives an instruction on dtgarder that is required to again achieve autonomous operation and / or external control. The access instructions are conveniently generated by the in-vehicle control system and transferred to the external control system via the data interface.

Enligt en utfOringsform av foreliggande uppf inning tillhandahdlles ett system, van i det fordonsinterna styrsystemet är anordnat att avgara huruvida styrenheten mottager en signal frdn ett operatorsreglage hos motorfordonet. Operatorsreglaget hos motorfordonet utgors fOretradesvis av ett reglage som kan manOvreras manuellt av operatoren när operatoren är lokaliserad inuti motorfor- donets fOrarhytt. Exempel pa operatOrsreglage ãr ratt, gaspedal, bromspedal, vaxelspak, signaleringsorgan etc. Enligt en utfOringsform utgOrs ett operatorsreglage av ett reglage som vid aktivering indikerar att operatoren onskar framfora fordonet manuellt. I de fall dâ styrenheten mottager signaler fran ett operatorsreglage tillâts inte autonom drift eller extern styrning av motorfordonet utan signalen frdn det externa styrsystemet stoppas hos styrenheten. Genom att forhindra overfOring av signaler frail det externa styrsystemet till manovreringssystemen ndr styrenheten mottager en signal fran ett operatorsreglage, fOrhindras autonom drift och/eller extern styrning av motorfordonet sâ fort indikation ges att en person bef inner sig inuti motorfordonet och vill framfOra mo- torfordonet manuellt. NI& den autonoma driften och/eller den externa styrning- en ej tillâts erhdlles manuellt drift av motorfordonet, genom att styrenheten styr manovreringssystemen i enlighet med den fran operatOrsreglaget mottagna signalen. Pa sâ salt sakerstalls att manuell drift av motorfordonet alltid prioriteras framfOr autonom drift och/eller extern styrning av motorfordonet. 16 Styrenheten styr saledes manovreringssystemen exempelvis pa basis av signaler fran antingen operatorsreglagen (manuell drift), eller fran det externa styrsystemet (autonom drift och/eller extern styrning). According to an embodiment of the present invention, a system is provided, used in the in-vehicle control system is arranged to determine whether the control unit receives a signal from an operator control of the motor vehicle. The operator control of the motor vehicle preferably consists of a control that can be operated manually by the operator when the operator is located inside the motor vehicle's cab. Examples of operator controls are steering wheel, accelerator pedal, brake pedal, gear lever, signaling means, etc. According to one embodiment, an operator control is a control which upon activation indicates that the operator wishes to drive the vehicle manually. In cases where the control unit receives signals from an operator control, autonomous operation or external control of the motor vehicle is not permitted, but the signal from the external control system is stopped at the control unit. By preventing the transmission of signals from the external control system to the control systems when the control unit receives a signal from an operator control, autonomous operation and / or external control of the motor vehicle is prevented as soon as an indication is given that a person is inside the motor vehicle and wants to drive the motor vehicle manually. . NI & the autonomous operation and / or the external control are not allowed, manual operation of the motor vehicle is obtained, by the control unit controlling the maneuvering systems in accordance with the signal received from the operator control. In such a case it is ensured that manual operation of the motor vehicle is always prioritized over autonomous operation and / or external control of the motor vehicle. 16 The control unit thus controls the maneuvering systems, for example on the basis of signals from either the operator controls (manual operation), or from the external control system (autonomous operation and / or external control).

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett system, vani styrenheten är anordnad att validera signalen fran det externa styrsystemet. Genom att styrenheten hos det fordonsinterna styrsystemet validerar den inkommande signalen fran det externa styrsystemet astadkommes en kontroll fOre namnda signal bearbetas och OverfOrs till manOvreringssystemen och ddrmed styr motorfordonet. Pa sã salt sakerstalls att inga orimliga eller skadli- ga signaler, eller signaler som styrenheten inte kan tolka, styr motorfordonet. Detta ãr sdrskilt viktigt da signalen fran det externa styrsystemet innefattar styrparametrar pa lag niva. Valideringen innefattar foretrddesvis kontroll av pa forhand bestdmda kriterier, exempelvis gdllande det externa styrsystemets signalers format. Exempelvis innefattar valideringen kontroll av kriterier avse- ende den av det externa styrsystemet genererade signalens frekvens, det vill saga hur ofta signaler fran det externa styrsystemet sands. Exempelvis, i det fall signaler är avsedda att sandas var fyrtionde millisekund men ett avbrott uppstar, stoppar styrenheten den autonoma driften. Vidare kan vid validering- en kontrolleras kriterier avseende en av det externa styrsystemet genererad kontrollsumma. Valideringen innebdr att formatet med vilket kommunikation sker via datagranssnittet maste ske enligt tydligt definierade kriterier far att mottagas av det fordonsinterna styrsystemet. Pa sã salt sdkerstalls att fordonstillverkaren har kontroll Over hur fordonet styrs och darmed framfOrs aven nal- ett externt styrsystem anvd.nds fOr autonom drift och/eller extern styrning. According to one aspect of the present invention, there is provided a system in which the control unit is arranged to validate the signal from the external control system. By the control unit of the in-vehicle control system validating the incoming signal from the external control system, a control is achieved before the said signal is processed and transferred to the maneuvering systems and thereby controls the motor vehicle. In such a case that no unreasonable or harmful signals, or signals that the control unit can not interpret, control the motor vehicle. This is especially important as the signal from the external control system includes control parameters at the team level. The validation preferably includes checking of predetermined criteria, for example regarding the format of the external control system signals. For example, the validation includes checking criteria regarding the frequency of the signal generated by the external control system, ie how often signals from the external control system are transmitted. For example, in the event that signals are intended to be sent every forty milliseconds but an interruption occurs, the control unit stops the autonomous operation. Furthermore, during the validation, criteria can be checked regarding a checksum generated by the external control system. The validation means that the format with which communication takes place via the data interface must take place according to clearly defined criteria must be received by the in-vehicle control system. In such a salt marsh stall that the vehicle manufacturer has control over how the vehicle is controlled and thus also an external control system is used for autonomous operation and / or external control.

Vidare sdkerstalls att det externa styrsystemet är ett godkdnt och tillatet styrsystem for autonom drift och/eller extern styrning av fordonet. Furthermore, it is stated that the external control system is an approved and permitted control system for autonomous operation and / or external control of the vehicle.

Dá valideringen visar att signalen fran det externa styrsystemet inte uppfyller ett pa forhand bestamt kriterium, stoppar styrenheten Idmpligen signalen fran det externa styrsystemet. FOretradesvis genererar aven styrenheten en signal 17 for intern styrning och overfor signalen for intern styrning till manOvreringssystemen. When the validation shows that the signal from the external control system does not meet a predetermined criterion, the control unit usually stops the signal from the external control system. Preferably, the control unit also generates a signal 17 for internal control and opposite the signal for internal control to the operating systems.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett system, vani styrenheten är anordnad att modifiera signalen fran det externa styrsystemet fore overforing till manOvreringssystemen, sá att motorfordonet inte i onodan forsetts i situationer som kan vara skadliga for motorfordonet och/eller dess omgivning. Signalen fran det externa styrsystemet innefattar som tidigare namnts atminstone en styrparameter. I vissa fall är operateren och/eller motor- fordonet alagt med begransningar gallande exempelvis hastighet, styrvinkel, vaxelval eller liknande. Operatoren kan exempelvis vara begransad till att framfora motorfordonet med en pa forhand bestamd maximal hastighet. Om signalen fran det externa styrsystemet dã uppvisar en begard hastighet som overstiger den maximala hastigheten, modifieras signalen hos styrenheten, sa att den modifierade signalen som kommuniceras till manOvreringssystemen uppvisar en hastighet som Overensstammer med den maximalt tillatna hastigheten. En modifiering av signalen fran det externa styrsystemet kan exempelvis utforas dâ signalen fran det externa styrsystemet innehaller samtidig begaran om gas/hastighet/acceleration och broms/deceleration. Modifiering av sig- nalen fran det externa styrsystemet kan exempelvis utfOras nar signalen fran det externa styrsystemet innehaller begaran om att lagga i backvaxeln eller neutrallage samtidigt som motorfordonet framfors med en hastighet. Modifiering av signalen fran det externa styrsystemet kan exempelvis utfOras nar signalen fran det externa styrsystemet innehaller samtidig begaran om kraftig ac- celeration och styrvinkel. Modifiering av signalen fran det externa styrsystemet kan exempelvis utfOras nar signalen fran det externa styrsystemet innehaller begaran om att tippa ett flak samtidigt som motorfordonet framfors med en for tippning for hog hastighet. Modifiering av signalen fran det externa styrsystemet medfor saledes att den modifierade signalen innefattar en bega.- ran/styrparameter som skiljer sig fran den ursprungliga bega- ran/styrparametern hos signalen fran det externa styrsystemet. 18 Enligt en aspekt av foreliggande uppfinning är det fordonsinterna styrsystemet anordnat att, vid ej uppfyllt kriterium fOr att tillâta autonom drift och/eller extern styrning, begrdnsa funktionaliteten av den autonoma driften och/eller den externa styrningen av motorfordonet. Exempelvis kan det fordonsinterna styrsy- stemet, vid ej uppfyllt kriterium, begransa hastigheten med vilken motorfordo- net far framforas autonomt och/eller externt. Foretradesvis utfors begransningen av funktionaliteten av den autonoma driften och/eller den externa styrningen genom att styrenheten modifierar signalen fran det externa styrsystemet, sâ att den modifierade signalen, nar den NeffOrs till manevreringssystemen, medfor att motorfordonet framfors pa ett sdkert sdtt. I det fall ddr det pa for- hand bestamda kriteriet avser ett pa forhand bestamt geografiskt omrade, kan operatoren pa sã sdtt exempelvis tillatas att med begrdnsad hastighet aterfora motorfordonet till det pa forhand bestamda geografiska omradet. According to one aspect of the present invention, there is provided a system in which the control unit is arranged to modify the signal from the external control system for transmission to the maneuvering systems so that the motor vehicle is not unnecessarily advanced into situations which may be harmful to the motor vehicle and / or its surroundings. The signal from the external control system includes, as previously mentioned, at least one control parameter. In some cases, the operator and / or the motor vehicle are loaded with restrictions that limit, for example speed, steering angle, gear selection or the like. The operator may, for example, be limited to driving the motor vehicle at a predetermined maximum speed. If the signal from the external control system then has a requested speed that exceeds the maximum speed, the signal of the control unit is modified so that the modified signal communicated to the operating systems has a speed which corresponds to the maximum permitted speed. A modification of the signal from the external control system can be performed, for example, when the signal from the external control system simultaneously contains the request for gas / speed / acceleration and brake / deceleration. Modification of the signal from the external control system can be performed, for example, when the signal from the external control system contains the request to engage the reverse gear or neutral bearing at the same time as the motor vehicle is driven at a speed. Modification of the signal from the external control system can be performed, for example, when the signal from the external control system simultaneously contains the request for strong acceleration and control angle. Modification of the signal from the external control system can be performed, for example, when the signal from the external control system contains the request to tip a flatbed at the same time as the motor vehicle is driven at a pre-tip for high speed. Modification of the signal from the external control system thus means that the modified signal comprises a request / control parameter that differs from the original request / control parameter of the signal from the external control system. According to one aspect of the present invention, the in-vehicle control system is arranged to, in the event of non-compliance with the criterion for allowing autonomous operation and / or external control, limit the functionality of the autonomous operation and / or the external control of the motor vehicle. For example, the vehicle's internal steering system may, if the criteria are not met, limit the speed at which the motor vehicle may be driven autonomously and / or externally. Preferably, the limitation of the functionality of the autonomous operation and / or the external control is performed by the control unit modifying the signal from the external control system, so that the modified signal reaches the NeffOrs to the control systems, so that the motor vehicle is driven in a safe way. In the event that the predetermined criterion refers to a predetermined geographical area, the operator may in this way, for example, be allowed to return the motor vehicle to the predetermined geographical area at a limited speed.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande stegen att: - generera en signal innefattande atminstone en styrparameter fOr autonom drift och/eller extern styrning av ndmnda motorfordon medelst ett externt styr- system, och att - via ett datagrdnssnitt overfOra signalen fran det externa styrsystemet till ett fordonsinternt styrsystem, innefattande en styrenhet samt manovreringssystern, varvid datagrdnssnittet är anordnat i kommunikativ fOrbindelse med det externa styrsystemet och det fordonsinterna styrsystemet; och - avgOra huruvida atminstone ett pa fOrhand bestdmt kriterium fOr att tillata au- tonom drift och/eller extern styrning av motorfordonet är uppfyllt, medelst det fordonsinterna styrsystemet, varvid det atminstone ena pa forhand bestamda kriteriet är forknippat med en begrdnsning gdllande tiden for anvdndning av autonom drift och/eller extern styrning. According to an aspect of the present invention, there is provided a method for enabling autonomous operation and / or external control of a motor vehicle comprising the steps of: - generating a signal comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle by means of an external control vehicle. system, and - via a data interface, transmitting the signal from the external control system to an in-house control system, comprising a control unit and the maneuvering system, the data interface being arranged in communicative connection with the external control system and the in-vehicle control system; and - determine whether at least one predetermined criterion for allowing autonomous operation and / or external steering of the motor vehicle is met, by means of the in-vehicle steering system, the at least one predetermined criterion being associated with a limitation on the time of use of autonomous operation and / or external control.

Datagranssnittet anordnat i kommunikativ fOrbindelse med det externa styrsystemet och det fordonsinterna styrsystemet, mOjliggOr tvavagskommunikation 19 mellan det externa styrsystemet och det fordonsinterna styrsystemet. Pa sâ salt mOjliggors anvandande av ett pa marknaden redan befintligt externt styrsystem for att astadkomma autonom drift och/eller extern styrning av ett motorfordon. Genom att lata ett externt styrsystem for autonom drift och/eller extern styrning generera signaler innefattande styrparametrar fOr autonom och/eller extern styrning, kan kostnaderna minimeras. Genom att den av det externa styrsystemet genererade signalen overfors till det fordonsinterna styrsystemet via datagranssnittet begransas det externa styrsystemets dtkomst av det fordonsinterna styrsystemet. Sdledes kan inte det externa styrsystemet ta Over motorfordonets styrning utan att forst ha passerat datagranssnittet. The data interface arranged in communicative connection with the external control system and the in-vehicle control system, allows two-way communication 19 between the external control system and the in-vehicle control system. This makes it possible to use an external control system already on the market to achieve autonomous operation and / or external control of a motor vehicle. By allowing an external control system for autonomous operation and / or external control to generate signals including control parameters for autonomous and / or external control, the costs can be minimized. By transmitting the signal generated by the external control system to the in-vehicle control system via the data interface, the access of the external control system is limited by the in-vehicle control system. Thus, the external control system cannot take control of the motor vehicle without first passing the data interface.

Enligt en aspekt av foreliggande uppfinning tillhandahdlles ett forfarande for majliggOrande av extern styrning av ett motorfordon innefattande stegen att: - generera en signal innefattande dtminstone en styrparameter for extern styr- ning av namnda motorfordon medelst ett externt styrsystem, och att - via ett datagranssnitt OverfOra signalen fran det externa styrsystemet till ett fordonsinternt styrsystem, innefattande en styren het samt manovreringssystem, varvid datagranssnittet är anordnat i kommunikativ forbindelse med det externa styrsystemet och det fordonsinterna styrsystemet; och - avgiira huruvida dtminstone ett pa fOrhand bestamt kriterium fOr att tilldta ex- tern styrning av motorfordonet är uppfyllt, medelst det fordonsinterna styrsystemet, varvid det dtminstone ena pa fOrhand bestamda kriteriet är fOrknippat med en begransning gallande tiden fOr anvandning av extern styrning. According to an aspect of the present invention there is provided a method for enabling external control of a motor vehicle comprising the steps of: - generating a signal comprising at least one control parameter for external control of said motor vehicle by means of an external control system, and - via a data interface transmitting the signal from the external control system to an in-vehicle control system, comprising a control unit and a maneuvering system, the data interface being arranged in communicative connection with the external control system and the in-vehicle control system; and - determine whether at least one predetermined criterion for assigning external control of the motor vehicle is met, by means of the in-vehicle control system, the at least one predetermined criterion being associated with a limitation on the use of external control.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande fOr mojliggorande av autonom drift av ett motorfordon innefattande stegen att: - generera en signal innefattande dtminstone en styrparameter for autonom drift av namnda motorfordon medelst ett externt styrsystem, och att - via ett datagranssnitt Overfora signalen fran det externa styrsystemet till ett fordonsinternt styrsystem, innefattande en styrenhet samt manovreringsorgan, varvid datagranssnittet är anordnat i kommunikativ fOrbindelse med det externa styrsystemet och det fordonsinterna styrsystemet; och - avgara huruvida atminstone ett pa forhand bestamt kriterium for att tillata autonom drift av motorfordonet är uppfyllt, medelst det fordonsinterna styrsystemet, varvid det atminstone ena pa fOrhand bestamda kriteriet är forknippat med en begransning gallande tiden fOr anvandning av autonom drift. According to an aspect of the present invention, there is provided a method for enabling autonomous operation of a motor vehicle comprising the steps of: - generating a signal comprising at least one control parameter for autonomous operation of said motor vehicle by means of an external control system, and - transmitting the signal from the external control system for an in-house control system, comprising a control unit and actuating means, the data interface being arranged in communicative connection with the external control system and the in-vehicle control system; and - determining whether at least one predetermined criterion for allowing autonomous operation of the motor vehicle is met, by means of the in-vehicle control system, the at least one predetermined criterion being associated with a restriction on the time for use of autonomous operation.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande, vidare innefattande steget att: -validera signalen fran det externa styrsystemet medelst styrenheten. According to one aspect of the present invention, there is provided a method, further comprising the step of: validating the signal from the external control system by means of the control unit.

I de fall da signalen fran det externa styrsystemet vid valideringen uppvisar egenskaper som inte stammer Overens med pa fOrhand bestamda kriterier, exempelvis avseende signalens format och/eller frekvens och/eller kontrollsumma, stoppas signalen hos styrenheten och autonom drift och/eller extern styrning forhindras. In cases where the signal from the external control system during validation exhibits properties that do not agree with predetermined criteria, for example regarding the signal format and / or frequency and / or checksum, the signal is stopped at the control unit and autonomous operation and / or external control is prevented.

Det pa fOrhand bestamda kriteriet fOr att tillata autonom drift och/eller extern styrning av motorfordonet är foretradesvis lagrat hos styrenheten, varvid det fordonsinterna styrsystemet avgar om det pa fOrhand bestamda kriteriet är uppfyllt genom att jamfora information avseende motorfordonets position och/eller driftstillstand med det inlagrade kriteriet. The predetermined criterion for allowing autonomous operation and / or external steering of the motor vehicle is preferably stored with the control unit, the in-vehicle control system determining whether the predetermined criterion is met by comparing information regarding the motor vehicle's position and / or operating condition with the stored the criterion.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande, vidare innefattande steget att: - avgiira huruvida motorfordonet bef inner sig inom ett pa fOrhand bestamt geografiskt omrade, medelst det fordonsinterna styrsystemet. According to one aspect of the present invention, there is provided a method, further comprising the step of: - determining whether the motor vehicle is within a predetermined geographical area, by means of the in-vehicle control system.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande, vidare innefattande steget att: - avgiira huruvida motorfordonet har framforts autonomt och/eller externt under en tid, som underskrider en pa fOrhand bestamd tidsperiod, medelst det for- donsinterna styrsystemet. 21 Enligt en aspekt av foreliggande uppfinning tillhandahalles ett forfarande, vidare innefattande steget att: - avgara huruvida motorfordonet har framforts autonomt och/eller externt en ackumulerad stracka, som underskrider en pa forhand bestamd stracka, me- deist det fordonsinterna styrsystemet. According to one aspect of the present invention there is provided a method, further comprising the step of: - delivering whether the motor vehicle has been driven autonomously and / or externally for a time which is less than a predetermined period of time, by means of the in-vehicle control system. According to one aspect of the present invention, there is provided a method, further comprising the step of: - determining whether the motor vehicle has been driven autonomously and / or externally an accumulated distance, which is less than a predetermined distance, by means of the in-vehicle steering system.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett forfarande, vidare innefattande steget att: - avgOra huruvida styrenheten inte mottager nagon signal fran operatOrsregla- ge hos motorfordonet. According to one aspect of the present invention, there is provided a method, further comprising the step of: - determining whether the control unit does not receive any signal from the operator control of the motor vehicle.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett forfarande, vidare innefattande stegen att, vid uppfyllt kriterium: -bearbeta signalen fran det externa styrsystemet, medelst styrenheten; och att - Overfora den bearbetade signalen fran styrenheten till manovreringssyste- men. According to one aspect of the present invention, there is provided a method, further comprising the steps of, upon fulfillment of the criterion: - processing the signal from the external control system, by means of the control unit; and that - Transfer the processed signal from the control unit to the maneuvering system.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett forfarande, vidare innefattande stegen att, vid ej uppfyllt kriterium: - generera en signal for intern styrning av motorfordonet, medelst styrenheten; och att - Overfora namnda signal kw intern styrning fran styrenheten till manOvreringssystemen. According to an aspect of the present invention, there is provided a method, further comprising the steps of, if the criterion is not met: - generating a signal for internal control of the motor vehicle, by means of the control unit; and that - Transfer said signal kw internal control from the control unit to the control systems.

Nar det fordonsinterna styrsystemet har beslutat att inte tillata autonom drift och/eller extern styrning av motorfordonet och forhindrat overforing av signalen fran det externa styrsystemet till manovreringssystemen, genererar styrenheten foretradesvis en signal for intern styrning av motorfordonet och overt& namnda signal till manOvreringssystemen. Detta kan vara fallet bade dã signa- len inte uppfyller pa forhand bestamda signalkriterier vid valideringen samt dá autonom drift och/eller extern styrning ej tillâts. FOretradesvis innefattar signalen, som styrenheten genererar fOr intern styrning av motorfordonet, styrpara- 22 metrar for att framdriva motorfordonet pa ett sakert salt. Ldmpligen innefattar signalen for intern styrning styrparametrar for att stanna motorfordonet. Sale-des forhindras autonom drift och/eller extern styrning av motorfordonet medelst det externa styrsystemet och motorfordonet stannar. Genom att stanna fordo- net nar autonom drift och/eller extern styrning ej är Idmpligt sakerstalls att mo- torfordonet inte framfors pa ett felaktigt och farligt salt. Darmed skyddas bade motorfordonet och objekt och/eller personer i dess omgivning. When the in-vehicle control system has decided not to allow autonomous operation and / or external control of the motor vehicle and prevented transmission of the signal from the external control system to the maneuvering systems, the control unit preferably generates a signal for internal control of the motor vehicle and the said signal to the control systems. This may be the case both when the signal does not meet pre-determined signal criteria during validation and when autonomous operation and / or external control is not permitted. Preferably, the signal generated by the control unit for internal control of the motor vehicle comprises control parameters for propelling the motor vehicle on a safe salt. For example, the internal steering signal includes control parameters for stopping the motor vehicle. Sale prevents autonomous operation and / or external steering of the motor vehicle by means of the external control system and the motor vehicle stops. By stopping the vehicle when autonomous operation and / or external steering is not possible, it is imperative that the motor vehicle is not driven on a faulty and dangerous salt. This protects both the motor vehicle and objects and / or people in its vicinity.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande, vida- re innefattande stegen att, vid ej uppfyllt kriterium: - generera en signal innefattande information om att det fordonsinterna styrsystemet styr motorfordonet, medelst styrenheten; och - Overfora namnda signal fran det fordonsinterna styrsystemet till det externa styrsystemet via granssnittet. According to an aspect of the present invention, there is provided a method, further comprising the steps of, in the event of a criterion not being met: - generating a signal comprising information that the in-vehicle control system controls the motor vehicle, by means of the control unit; and - Transfer said signal from the in-vehicle control system to the external control system via the interface.

IV& det fordonsinterna styrsystemet har avgjort att kriteriet fOr att tillata auto-nom drift och/eller extern styrning ej ãr uppfyllt och forhindrat overforing av signalen fran det externa styrsystemet till manovreringssystemen, meddelas lampligen operatoren via det externa styrsystemet att det fordonsinterna styr- systemet styr motorfordonet. IV & the in-vehicle control system has decided that the criterion for allowing automatic operation and / or external control is not met and prevented transmission of the signal from the external control system to the maneuvering systems, the operator is suitably notified via the external control system that the in-vehicle control system controls the motor vehicle .

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande, vidare innefattande steget att: -modifiera signalen fran det externa styrsystemet. According to one aspect of the present invention, there is provided a method, further comprising the step of: - modifying the signal from the external control system.

Enligt en aspekt av fOreliggande uppfinning tillhandahalls ett fOrfarande, vidare innefattande steget att: - medelst styrenheten generera en signal fOr intern styrning av motorfordonet, da granssnittet och/eller det fordonsinterna styrsystemet inte mottager nagon signal ails fran det externa styrsystemet. 23 Pa sã salt kan det fordonsinterna styrsystemet stanna motorfordonet nar den autonoma driften och/eller den externa styrningen av nagon anledning har avbrutits. Darmed skyddas bade motorfordonet och objekt och personer i dess omgivning. According to an aspect of the present invention, there is provided a method, further comprising the step of: - by the control unit generating a signal for internal control of the motor vehicle, as the interface and / or the in-vehicle control system does not receive any signal from the external control system. 23 On such a salt, the in-vehicle control system can stop the motor vehicle when the autonomous operation and / or the external steering for some reason has been interrupted. This protects both the motor vehicle and objects and people in its vicinity.

Enligt en aspekt av fOreliggande uppfinning tillhandahalls ett system och forfarande for mojliggorande av autonom drift och/eller extern styrning av ett motorfordon. Enligt en aspekt av fOreliggande uppfinning tillhandahalls ett system och fOrfarande Mr mOjliggOrande av extern styrning av ett motorfordon. Enligt en aspekt av fOreliggande uppfinning tillhandahalls ett system och forfarande for mojliggorande av autonom drift av ett motorfordon. According to one aspect of the present invention, there is provided a system and method for enabling autonomous operation and / or external control of a motor vehicle. According to one aspect of the present invention, there is provided a system and method enabling external control of a motor vehicle. According to one aspect of the present invention, there is provided a system and method for enabling autonomous operation of a motor vehicle.

Syftena med foreliggande uppfinning uppnas aven genom ett motorfordon en- ligt patentkrav 13. Motorfordonet utgors fOretradesvis av en lastbil, buss, skogsmaskin, gruvmaskin, hjullastare eller personbil. The objects of the present invention are also achieved by a motor vehicle according to claim 13. The motor vehicle preferably consists of a truck, bus, forestry machine, mining machine, wheel loader or passenger car.

Syftena med foreliggande uppfinning uppnas vidare genom ett datorprogram enligt patentkrav 15 och en datorprogramprodukt enligt patentkrav 16. The objects of the present invention are further achieved by a computer program according to claim 15 and a computer program product according to claim 16.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett datorprogram, dar namnda datorprogram innefattar programkod for att utfOra hail beskrivna forfarandesteg, nar namnda datorprogram [Kars pa en dator. According to one aspect of the present invention, there is provided a computer program, wherein said computer program includes program code for performing the procedures described herein, when said computer program [Kars on a computer.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles en datorprogram- produkt innefattande en programkod Mr att utfOra hari beskrivna fOrfarande- steg, nar namnda programkod kors pa en dator. According to one aspect of the present invention, there is provided a computer program product comprising a program code Mr to perform the procedures described herein, when said program code is crossed on a computer.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett datorprogram, dar namnda datorprogram innefattar programkod for att utfOra hari beskrivna forfarandesteg, nar namnda datorprogram [Kars pa en elektronisk styrenhet. 24 537 646 Enligt en aspekt av foreliggande uppfinning tillhandahalles en datorprogramprodukt innefattande en programkod lagrad pa ett, av en dator lasbart, medium for att utfora hari beskrivna forfarandesteg, nar namnda programkod kors pa en elektronisk styrenhet. According to one aspect of the present invention, there is provided a computer program, wherein said computer program includes program code for performing the procedures described herein, when said computer program [Kars on an electronic control unit. According to one aspect of the present invention, there is provided a computer program product comprising a program code stored on a computer readable medium for performing the steps described therein, when said program code is crossed on an electronic control unit.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles en datorprogramprodukt innefattande en programkod lagrad pa ett, av en dator lasbart, medium for att utfOra hari beskrivna fOrfarandesteg, nar namnda programkod ' Enligt en aspekt av foreliggande uppfinning tillhandahalles en datorprogramprodukt direkt lagrad pa ett internt minne hos en dator, innefattande ett datorprogram innefattande programkod anordnat att utfora hari namnda fOrfarandesteg, dâ namnda datorprogram kOrs pa en elektronisk styrenhet. According to one aspect of the present invention, there is provided a computer program product comprising a program code stored on a computer readable medium for performing the steps described herein, when said program code. computer, comprising a computer program comprising program code arranged to perform in said process steps, said computer program running on an electronic control unit.

Ytterligare fOrdelar med uppfinningen framgar av fOljande detaljerade beskrivning av uppfinningens exempelutforingsformer. Further advantages of the invention will become apparent from the following detailed description of the exemplary embodiments of the invention.

KORT BESKRIVNING AV RITNINGARNA I det foljande beskrivs, sasom ett exempel, foredragna utforingsformer av uppfinningen med hanvisning till bifogade ritningar, pa vilka: Fig. 1visar en schematisk sidovy av ett fordon; Fig. 2visar schematiskt ett system for mOjliggorande av autonom drift och/eller extern styrning av ett motorfordon enligt en utforingsform av foreliggande uppfinning; Fig. 3avisar ett flodesschema far ett farfarande far majliggorande av au- tonom drift och/eller extern styrning av ett motorfordon enligt en utforingsform av foreliggande uppfinning; Fig. 3bvisar ett flodesschema far ett farfarande far majliggorande av au- tonom drift och/eller extern styrning av ett motorfordon enligt en utforingsform av foreliggande uppfinning; och Fig. 4visar schematiskt en dator, enligt en utfaringsform av uppfinning- en. BRIEF DESCRIPTION OF THE DRAWINGS In the following, as an example, preferred embodiments of the invention are described with reference to the accompanying drawings, in which: Fig. 1 shows a schematic side view of a vehicle; Fig. 2 schematically shows a system for enabling autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention; Fig. 3 shows a flow chart of a procedure for automating autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention; Fig. 3b shows a flow chart of a procedure for enabling autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention; and Fig. 4 schematically shows a computer, according to an embodiment of the invention.

DETALJERAD BESKRIVNING AV UPPFINNINGEN Hari hanfOr sig termen "lank" till en kommunikationslank som kan vara en fy- sisk ledning, sasom en opto-elektronisk kommunikationsledning, eller en ickefysisk ledning, sasom en tradlos anslutning, till exempel en radio- eller mikrovagslank. DETAILED DESCRIPTION OF THE INVENTION 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.

Fig. 1 visar en sidovy av ett motorfordon 100 innefattande en dragbil 110 och en slapvagn 112. Motorfordonet 100 innefattar vidare ett system 200 far mojliggarande av autonom drift och/eller extern styrning av motorfordonet enligt en utfaringsform av fareliggande uppf inning. Motorfordonet kan vara ett tungt for-don, sasom en lastbil, buss, hjullastare, skogsmaskin, dumper, gruvmaskin, bandvagn eller stridsvagn. Motorfordonet kan alternativt vara en personbil. Mo- torfordonet 100 kan enligt ett utforande vara ett hybridfordon. Motorfordonet 100 kan enligt ett utforande vara ett elf ordon med en elektrisk motor. Uppfinningen an med fardel applicerbar pa fordon i samband med gruvdrift. Fig. 1 shows a side view of a motor vehicle 100 comprising a tractor 110 and a trailer 112. The motor vehicle 100 further comprises a system 200 for enabling autonomous operation and / or external control of the motor vehicle according to an embodiment of the present invention. The motor vehicle can be a heavy vehicle, such as a truck, bus, wheel loader, forestry machine, dump truck, mining machine, tracked vehicle or tank. The motor vehicle can alternatively be a car. According to one embodiment, the motor vehicle 100 may be a hybrid vehicle. The motor vehicle 100 may, according to one embodiment, be an eleven vehicle with an electric motor. The invention can be applied to vehicles in connection with mining operations.

Fig. 2 visar schematiskt ett system 200 far majliggarande av autonom drift och/eller extern styrning av ett motorfordon 100 enligt en utfaringsform av fareliggande uppf inning. Systemet 200 innefattar ett externt styrsystem 205, ett 26 datagranssnitt 210 och ett fordonsinternt styrsystem 270. Det externa styrsystemet 205 kan vara tillverkat av en tredjepartsleverantor och innefattar ett styrsystem for autonom drift och/eller extern styrning av ett motorfordon. Fig. 2 schematically shows a system 200 for autonomous operation and / or external control of a motor vehicle 100 according to an embodiment of the present invention. The system 200 includes an external control system 205, a data interface 210 and an in-house control system 270. The external control system 205 may be manufactured by a third party supplier and includes a control system for autonomous operation and / or external control of a motor vehicle.

Det externa styrsystemet 205 innefattar enligt en utforingsform sensororgan sdsom kameror, radarorgan eller liknande (ej visade). Namnda sensororgan kan vara placerade hos motorfordonet 100 och/eller externt namnda motorfordon 100. Det externa styrsystemet 205 innefattar enligt en utforingsform atminstone en styrenhet (ej visad). Namnda styrenhet bearbetar signalerna frdn respektive sensororgan. Namnda styrenhet kan vidare vara anordnad i kom- munikativ forbindelse med externa enheter sasom en elektronisk kartdatabas eller andra liknande system som kan bidra med information som kan paverka den autonoma driften och/eller den externa styrningen av namnda fordon. Det externa styrsystemet 205 är anordnat att fortlopande generera en signal Si innefattande dtminstone en styrparameter fOr autonom och/eller extern styr- ning av namnda motorfordon 100. According to one embodiment, the external control system 205 comprises sensor means such as cameras, radar means or the like (not shown). Said sensor means may be located at the motor vehicle 100 and / or externally named motor vehicle 100. According to one embodiment, the external control system 205 comprises at least one control unit (not shown). Said control unit processes the signals from the respective sensor means. Said control unit may further be arranged in communicative connection with external units such as an electronic map database or other similar systems which may contribute information which may affect the autonomous operation and / or the external control of said vehicle. The external control system 205 is arranged to continuously generate a signal Si comprising at least one control parameter for autonomous and / or external control of said motor vehicle 100.

Det externa styrsystemet 205 och det fordonsinterna styrsystemet 270 kan kommunicera med varandra genom att datagranssnittet 210 är anordnat i kommunikativ forbindelse med det externa styrsystemet 205 och det fordonsin- terna styrsystemet 270. Det externa styrsystemet 205 och datagranssnittet 210 ãr anordnade fOr kommunikation via en lank L205 och datagranssnittet 210 och det fordonsinterna styrsystemet 210 är anordnade fOr kommunikation via en lank L210. Det fordonsinterna styrsystemet 270 innefattar en styrenhet 2 samt manOvreringssystem 230, 240, 250. Styrenheten 220 är anordnad i kommunikativ forbindelse med manovreringssystemen 230, 240, 250 genom en lank L220 och med datagranssnittet genom lanken L210. Manovreringssystemen 230, 240, 250 utgors lampligen av system, som genom det fordonsinterna styrsystemets 270 styrenhet 220 paverkar bland annat motorfordonets 100 hastighet och riktning. Manovreringssystemen 230, 240, 250 är i detta ex- empelutfOrande ett vdxlingsstyrningssystem 230, ett bromsstyrningssystem 240 och ett motorstyrningssystem 250. Det externa styrsystemet 205 är an- 27 ordnat att skicka signalen Si via lanken L205 till datagranssnittet 210. Granssnittet är vidare anordnat att skicka vidare signalen Si till styrenheten 220 via lanken L210. The external control system 205 and the in-vehicle control system 270 can communicate with each other by the data interface 210 being arranged in communicative connection with the external control system 205 and the in-vehicle control system 270. The external control system 205 and the data interface 210 are arranged for communication via a long L205. and the data interface 210 and the in-vehicle control system 210 are arranged for communication via a long L210. The in-vehicle control system 270 comprises a control unit 2 and operating systems 230, 240, 250. The control unit 220 is arranged in communicative connection with the operating systems 230, 240, 250 through a line L220 and with the data interface through the line L210. The maneuvering systems 230, 240, 250 are suitably constituted by systems which, through the control unit 220 of the in-vehicle control system 270, influence, inter alia, the speed and direction of the motor vehicle 100. The maneuvering systems 230, 240, 250 are in this exemplary embodiment a shift control system 230, a brake control system 240 and an engine control system 250. The external control system 205 is arranged to send the signal Si via the line L205 to the data interface 210. The interface is further arranged to send further the signal Si to the control unit 220 via the line L210.

Styrenheten 220 är anordnad att kommunicera med ett kraftaggregat 280 och ett operatorsreglage 290 hos motorfordonet 100. Namnda kraftaggregat 280 styr funktioner hos motorfordonet 100, sasom tippning av flak, hissning av gripklo, styrning av kran ect. OperatOrsreglaget 290 utgOr ett reglage, som kan manOvreras manuellt av operatOren när operatOren är lokaliserad inuti motor- fordonets 100 dragbil 110. Exempel pa. operatorsreglage 290 är ratt, gaspedal, bromspedal, vaxelspak/paddel, signaleringsorgan etc. Styrenheten 220 är anordnad i kommunikativ forbindelse med kraftaggregatet 280 via en lank L280. Styrenheten 220 ãr vidare anordnad i kommunikativ fOrbindelse med operatorsreglagen 290 via en lank L290. Operatorsreglagen är anordnade att vid aktivering skicka en signal S4 till styrenheten 220 via lanken L290. Signalen S4 innefattar styrparametrar, som motsvarar operatOrens Onskemdl gallande driften av motorfordonet 100. The control unit 220 is arranged to communicate with a power unit 280 and an operator control 290 of the motor vehicle 100. Said power unit 280 controls functions of the motor vehicle 100, such as tipping of flatbeds, hoisting of grab claw, control of crane ect. The operator control 290 is a control which can be operated manually by the operator when the operator is located inside the towing vehicle 110 of the motor vehicle 100. Example pa. operator control 290 is steering wheel, accelerator pedal, brake pedal, gear lever / paddle, signaling means, etc. The control unit 220 is arranged in communicative connection with the power unit 280 via a long L280. The control unit 220 is further arranged in communicative connection with the operator controls 290 via a long L290. The operator controls are arranged to send a signal S4 to the control unit 220 via the line L290 when activated. The signal S4 comprises control parameters, which correspond to the operator's Onskemdl gallant operation of the motor vehicle 100.

Det fordonsinterna styrsystemet 270 är anordnat att avgOra huruvida ett pa. forhand bestamt kriterium for att tillâta autonom drift och/eller extern styrning av motorfordonet 100 är uppfyllt, varvid det pa forhand bestamda kriteriet är forknippat med en begransning gallande tiden fOr anvandning av autonom drift och/eller extern styrning. Det pa fOrhand bestamda kriteriet är lampligen att motorfordonet 100 ska ha framfOrts autonomt och/eller externt under en tid, som underskrider en pa.fOrhand bestamt tidsperiod. Det pa fOrhand bestamda kriteriet innefattar enligt en utforingsform att motorfordonet 100 ska befinna sig morn ett pa forhand bestamt geografiskt omrade, och/eller att motorfordonet 100 ska ha framforts autonomt och/eller externt en stracka, som underskrider en pa fOrhand bestamd maxstracka. Foretrddesvis innefattar styrenheten 2 en positioneringsenhet. Alternativt kan styrenheten 220 erhalla information fran en positioneringsenhet. Det pa fOrhand bestamda kriteriet innefattar enligt en 28 utforingsform att styrenheten 220 ej ska mottaga flagon signal S4 fran operatOrsreglagen 290. The in-vehicle control system 270 is arranged to determine whether a pa. a predetermined criterion for allowing autonomous operation and / or external control of the motor vehicle 100 is met, the predetermined criterion being associated with a limitation regarding the time for use of autonomous operation and / or external control. The predetermined criterion is suitably that the motor vehicle 100 must have been driven autonomously and / or externally for a period of time which is less than a predetermined period of time. According to one embodiment, the predetermined criterion comprises that the motor vehicle 100 must be located in a predetermined geographical area, and / or that the motor vehicle 100 must have driven autonomously and / or externally a distance which is less than a predetermined maximum distance. Preferably, the control unit 2 comprises a positioning unit. Alternatively, the controller 220 may obtain information from a positioning unit. According to a 28 embodiment, the predetermined criterion comprises that the control unit 220 should not receive flag signal S4 from the operator controls 290.

Styrenheten 220 är vidare anordnad att, vid uppfyllt kriterium, bearbe- ta/behandla/processa/omvandla signalen Si fran det externa styrsystemet 205, sa att den bearbetade signalen Sib uppvisar ett format som kan tolkas av manovreringssystemen 230, 240, 250. Styrenheten 220 skickar den bearbetade signalen Si b till manOvreringssystemen 230, 240, 250 via lanken L220. Styrenheten 220 kan dven skicka den bearbetade signalen Sib via lanken L280 till kraftaggregatet 280. Namnda signal S1b innefattar atminstone en styrparameter for styrning av namnda manOvreringssystem 230, 240, 250 och/eller kraftaggregat 280. Pa sâ salt astadkommes autonom drift och/eller extern styrning av motorfordonet 100. The control unit 220 is further arranged to, if the criterion is met, process / process / process / convert the signal Si from the external control system 205, so that the processed signal Sib has a format which can be interpreted by the maneuvering systems 230, 240, 250. The control unit 220 sends the processed signal Si b to the operating systems 230, 240, 250 via the line L220. The control unit 220 can also send the processed signal Sib via the line L280 to the power unit 280. Said signal S1b comprises at least one control parameter for controlling said operating systems 230, 240, 250 and / or power unit 280. On such salt autonomous operation and / or external control is achieved. of the motor vehicle 100.

Styrenheten 220 ãr vidare anordnad att, vid ej uppfyllt kriterium, stoppa signa- len Si fran det externa styrsystemet 205 och clamed ej tillâta autonom drift eller extern styrning av motorfordonet 100. Styrenheten 220 är aven anordnad att, vid ej uppfyllt kriterium, generera en signal S2 for intern styrning av motorfordonet 100 och skicka namnda signal S2 till manovreringssystemen 230, 240, 250 via lanken L220 och/eller till kraftaggregatet 280 via lanken L280. The control unit 220 is further arranged to, if the criterion is not met, stop the signal Si from the external control system 205 and clamed not to allow autonomous operation or external control of the motor vehicle 100. The control unit 220 is also arranged to, if the criterion is not met, generate a signal S2 for internal control of the motor vehicle 100 and send said signal S2 to the maneuvering systems 230, 240, 250 via the line L220 and / or to the power unit 280 via the line L280.

Styrenhet 220 ãr anordnad att, vid ej uppfyllt kriterium, generera en signal S3 innefattande information om att det fordonsinterna styrsystemet 270 styr motorfordonet 100. Styrenheten 220 ãr vidare anordnat att skicka namnda signal S3 till datagranssnittet 210 via lanken L210. Datagranssnittet 210 är anordnat att, vid ej uppfyllt kriterium, skicka signalen S3 via lanken L205 till det externa styrsystemet 205. Control unit 220 is arranged to, if the criterion is not met, generate a signal S3 comprising information that the in-vehicle control system 270 controls the motor vehicle 100. Control unit 220 is further arranged to send said signal S3 to the data interface 210 via line L210. The data interface 210 is arranged to, if the criterion is not met, send the signal S3 via the line L205 to the external control system 205.

Styrenheten 220 dr vidare anordnad att vid mottagande av signalen S4 fran operatorsreglaget 290, skicka namnda signal S4 till manovreringssystemen 230, 240, 250 och/eller kraftaggregatet 280 fOr manuell drift av motorfordonet 100. 29 Figur 3a visar ett fludesschema far ett forfarande for mojliggorande av auto-nom drift och/eller extern styrning av ett motorfordon 100 enligt en utforingsform av foreliggande uppfinning. Forfarandet innefattar steget s301 att via ett datagranssnitt 210 Overfora en signal Si fran ett externt styrsystem 205 till ett fordonsintern styrsystem 270, innefattande en styrenhet 220 samt manavreringssystem 230, 240, 250. Datagranssnittet 210 är anordnat i kommunikativ forbindelse med det externa styrsystemet 205 och det fordonsinterna styrsystemet 270. Overfaringen mellan det externa styrsystemet 205 och datagrans- snittet 210 utfors lampligen via en lank L205. Overforingen mellan datagrans- snittet 210 och det externa styrsystemet utfors lampligen via en lank L210. Steget s301 innefattar vidare att avgara huruvida atminstone ett pa forhand bestamt kriterium far att tillãta autonom drift och/eller extern styrning av motorfordonet 100 är uppfyllt, medelst det fordonsinterna styrsystemet 270, varvid det atminstone ena pa farhand bestamda kriteriet är farknippat med en be- gransning gallande tiden far anvandning av autonom drift och/eller extern styrning. Efter forfarandesteget s301 avslutas forfarandet. The control unit 220 is further arranged to, upon receiving the signal S4 from the operator control 290, send said signal S4 to the maneuvering systems 230, 240, 250 and / or the power unit 280 for manual operation of the motor vehicle 100. Figure 3a shows a flow chart for enabling a procedure for enabling automatic operation and / or external control of a motor vehicle 100 according to an embodiment of the present invention. The method includes the step s301 of transmitting via a data interface 210 a signal Si from an external control system 205 to a pre-internal control system 270, comprising a control unit 220 and operating systems 230, 240, 250. The data interface 210 is arranged in communicative connection with the external control system 205 and the in-vehicle control system 270. The overpass between the external control system 205 and the data interface 210 is conveniently performed via a long L205. The transfer between the data interface 210 and the external control system is suitably performed via a long L210. Step s301 further comprises determining whether at least one predetermined criterion for allowing autonomous operation and / or external control of the motor vehicle 100 is met, by means of the in-vehicle control system 270, the at least one predetermined criterion being associated with a limitation. gallant time may use autonomous operation and / or external control. After procedure step s301, the procedure is terminated.

Figur 3b visar ett flodesschema far ett forfarande for mojliggorande av auto- nom drift och/eller extern styrning av ett motorfordon 100 enligt en utfarings- form av foreliggande uppfinning. Forfarandet innefattar steget s310 att medelst ett externt styrsystem 205 generera en signal Si innefattande atminstone en styrparameter far autonom drift och/eller extern styrning av namnda motorfordon 100. Efter forfarandesteget s310 utfors ett farfarandesteg s320. Figure 3b shows a flow chart of a method for enabling automatic operation and / or external control of a motor vehicle 100 according to an embodiment of the present invention. The method comprises the step s310 of generating by means of an external control system 205 a signal Si comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle 100. After the method step s310 a procedure step s320 is performed.

Forfarandesteg s320 innefattar att via ett datagranssnitt 210 overfora namnda signal Si fran det externa styrsystemet 205 till ett fordonsinternt styrsystem 270, innefattande en styrenhet 220 samt manovreringssystem 230, 240, 250, varvid datagranssnittet 210 är anordnat i kommunikativ farbindelse med det externa styrsystemet 205 och det fordonsinterna styrsystemet 270. Overfa- ringen mellan det externa styrsystemet 205 och datagranssnittet 210 utfOrs lampligen via en lank L205. Overfaringen mellan datagranssnittet 210 och det fordonsinterna styrsystemet 270 utfors lampligen via en lank L210. Efter forfarandesteget s320 utfors ett forfarandesteg s330. Method step s320 comprises transmitting via a data interface 210 said signal Si from the external control system 205 to a pre-internal control system 270, comprising a control unit 220 and maneuvering systems 230, 240, 250, the data interface 210 being arranged in communicative connection with the external control system 205 and the the in-vehicle control system 270. The transfer between the external control system 205 and the data interface 210 is suitably performed via a long L205. The crossing between the data interface 210 and the in-vehicle control system 270 is suitably performed via a long L210. After the step step s320, one step step s330 is performed.

Forfarandesteget s330 innefattar att medelst det fordonsinterna styrsystemet 270 avgara huruvida atminstone ett pa forhand bestamt kriterium for att tillata autonom drift och/eller extern styrning av motorfordonet 100 ãr uppfyllt. Kriteriet är forknippat med en begransning gallande tiden for anvandning av auto-nom drift och/eller extern styrning och kan exempelvis vara att motorfordonet 100 ska ha framfOrts autonomt och/eller externt under en tidsperiod underskri- dande en pa fOrhand bestamt tidsperiod. Det pa fOrhand bestamda kriteriet kan aven innefatta att motorfordonet 100 ska befinna sig inom ett pa fOrhand bestamt geografiskt omrade och/eller att motorfordonet 100 ska ha framforts autonom en stracka underskridande en pa fOrhand bestamd maxstracka. Det atminstone ena pa fOrhand bestamda kriteriet for att tillata autonom drift och/eller extern styrning av motorfordonet 100 ãr fOretradesvis lagrat hos styr- enheten 220. Styrenheten 220 är vidare uppdaterad med exempelvis relevant information avseende motorfordonets positionering och/eller korstracka och/eller kortid och/eller licens/certifikat for att kunna jamfora namnda information med det pa fOrhand bestamda kriteriet och darmed kunna avgara huruvida kriteriet är uppfyllt. Efter fOrfarandesteget s330 utfOrs ett forfarandesteg s3 eller s350. The process step s330 comprises determining by means of the in-vehicle control system 270 whether at least one predetermined criterion for allowing autonomous operation and / or external control of the motor vehicle 100 is met. The criterion is associated with a limitation on the time for use of autonomous operation and / or external control and may, for example, be that the motor vehicle 100 must have been driven autonomously and / or externally for a period of time below a predetermined period of time. The predetermined criterion may also include that the motor vehicle 100 must be within a predetermined geographical area and / or that the motor vehicle 100 must have driven autonomously a distance below a predetermined maximum distance. The at least one predetermined criterion for allowing autonomous operation and / or external steering of the motor vehicle 100 is preferably stored at the control unit 220. The control unit 220 is further updated with, for example, relevant information regarding the motor vehicle positioning and / or crossover and / or short-term and / or license / certificate in order to be able to compare the said information with the predetermined criterion and thereby be able to determine whether the criterion is met. After the procedure step s330, one procedure step s3 or s350 is performed.

FOrfarandesteget s340 utfOrs endast om det i fOrfarandesteg s330 avgOrs att det atminstone ena pa fOrhand bestamda kriteriet ãr uppfyllt. Forfarandesteget s340 innefattar att bearbeta/omvandla/processa signalen Si medelst styrenhe- ten 220 och overfora den bearbetade signalen S1b till manovreringssystemen 230, 240, 250 och damned framfOra motorfordonet 100 autonomt och/eller externt. Overforingen av den bearbetade signalen Sib mellan styrenheten 220 och manOvreringssystemen 230, 240, 250 utfOrs lampligen via en lank L220. Procedure step s340 is performed only if it is determined in procedure step s330 that at least one predetermined criterion is met. The process step s340 comprises processing / converting / processing the signal Si by means of the control unit 220 and transmitting the processed signal S1b to the maneuvering systems 230, 240, 250 and then advancing the motor vehicle 100 autonomously and / or externally. The transmission of the processed signal Sib between the control unit 220 and the operating systems 230, 240, 250 is suitably performed via a long L220.

Efter fOrfarandesteget s340 avslutas forfarandet. 31 Forfarandesteget s350 utfors endast am det i fOrfarandesteg s330 avgars att det atminstone ena pa forhand bestamda kriteriet ej är uppfyllt. FOrfarandesteget s350 innefattar att medelst styrenheten 220 generera en signal S2 for intern styrning av motorfordonet 100 samt att Overfora namnda signal S2 fran styrenheten 220 till manovreringssystemen 230, 240, 250. Overforingen utfors lampligen via lanken L220. Efter fOrfarandesteget s350 utfOrs forfarandesteget s360. After the procedure step s340, the procedure is terminated. 31 Procedure step s350 is performed only if it is determined in procedure step s330 that at least one predetermined criterion is not met. The method step s350 comprises generating a signal S2 for internal control of the motor vehicle 100 by means of the control unit 220 and transferring said signal S2 from the control unit 220 to the maneuvering systems 230, 240, 250. The transfer is suitably performed via the line L220. After the procedure step s350, the procedure step s360 is performed.

FOrfarandesteget s360 innefattar att medelst styrenheten 220 generera en sig- nal S3 innefattande information om att det fordonsinterna styrsystemet 270 styr motorfordonet 100, samt att Overfora namnda signal S3 fran det fordonsinterna styrsystemet 270 till det externa styrsystemet 205 via datagranssnittet 210. OverfOringen fran det fordonsinterna styrsystemet 270 till datagranssnittet 210 utfors lampligen via lanken L210 och Overforingen fran datagranssnittet 210 till det externa styrsystemet utfOrs lampligen via lanken L205. Efter forfa- randesteget s360 avslutas fOrfarandet. The method step s360 comprises generating by the control unit 220 a signal S3 comprising information that the in-vehicle control system 270 controls the motor vehicle 100, and in transmitting said signal S3 from the in-vehicle control system 270 to the external control system 205 via the data interface 210. The transfer from the in-vehicle control system 270 to the data interface 210 is suitably performed via the line L210 and the transfer from the data interface 210 to the external control system is carried out suitably via the line L205. After the step step s360, the procedure is terminated.

Figur 4 visar ett diagram av ett utforande av en anordning 400. Det externa styrsystemet 205 och/eller styrenheten 220 som beskrivs med hanvisning till Fig. 2 kan i ett utforande innefatta anordningen 400. Anordningen 400 innefat- tar ett icke-flyktigt minne 420, en databehandlingsenhet 410 och ett las/skrivminne 450. Det icke-flyktiga minnet 420 har en farsta minnesdel 430 van i ett datorprogram, sâ som ett operativsystem, är lagrat fOr att styra funktionen hos anordningen 400. Vidare innefattar anordningen 400 en buss-controller, en seriell kommunikationsport, 1/0-organ, en AID-omvandlare, en tids- och datum inmatnings- och overforingsenhet, en handelseraknare och en avbrytningscontroller (ej visade). Det icke-flyktiga minnet 420 har ocksâ en andra minnesdel 440. Figure 4 shows a diagram of an embodiment of a device 400. The external control system 205 and / or the control unit 220 described with reference to Fig. 2 may in one embodiment comprise the device 400. The device 400 comprises a non-volatile memory 420, a data processing unit 410 and a read / write memory 450. The non-volatile memory 420 has a first memory portion 430 used in a computer program, such as an operating system, stored to control the operation of the device 400. Further, the device 400 includes a bus controller, a serial communication port, I / O means, an AID converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 420 also has a second memory portion 440.

Has anordningen 400 tillhandahalls ett datorprogram P, som kan innefatta ruti- ner fOr majliggOrande av autonom drift och/eller extern styrning av ett motorfordon 100. 32 Datorprogrammet P kan innefatta rutiner fOr att generera en signal Si innefattande atminstone en styrparameter for autonom drift och/eller extern styrning av namnda motorfordon 100 samt rutiner for att via ett datagranssnitt 2 skicka/mottaga signalen Si. Datorprogrammet P kan innefatta rutiner for att validera signalen Si. Datorprogrammet P kan innefatta rutiner for att modifiera signalen Si. Datorprogrammet P kan innefatta rutiner fOr att avgOra huruvida ett pa forhand bestamt kriterium fOr att tillata autonom drift och/eller extern styrning av motorfordonet är uppfyllt. Datorprogrammet P kan innefatta rutiner for att, vid uppfyllt kriterium, overfora namnda signal Si till manovreringssy- stern 230, 240, 250 och clamed tillata autonom drift och/eller extern styrning av motorfordonet 100. Datorprogrammet P kan innefatta rutiner for att, vid ej uppfyllt kriterium, generera en signal S2 fOr intern styrning av motorfordonet 100 och overfora namnda signal S2 till manOvreringssystemen 230, 240, 250. If the device 400 is provided, a computer program P, which may comprise routines for enabling autonomous operation and / or external control of a motor vehicle 100. 32 The computer program P may comprise routines for generating a signal Si comprising at least one control parameter for autonomous operation and / or or external control of said motor vehicle 100 and routines for sending / receiving the signal Si via a data interface 2. The computer program P may include routines for validating the signal Si. The computer program P may include routines for modifying the signal Si. The computer program P may include routines for determining whether a predetermined criterion for allowing autonomous operation and / or external control of the motor vehicle is met. The computer program P may include routines for, if the criterion is met, transmitting said signal Si to the maneuvering system 230, 240, 250 and clamed allowing autonomous operation and / or external control of the motor vehicle 100. The computer program P may include routines for, if not met criterion, generate a signal S2 for internal control of the motor vehicle 100 and transmit said signal S2 to the operating systems 230, 240, 250.

Datorprogrammet P kan innefatta rutiner fOr att, vid ej uppfyllt kriterium, gene- rera en signal S3 innefattande information om att ett fordonsinternt styrsystem 270 styr motorfordonet 100, och Overfora namnda signal S3 fran det fordonsinterna styrsystemet 270 till ett externt styrsystem 205 via datagranssnittet 210. The computer program P may comprise routines for generating, if the criterion is not met, a signal S3 comprising information that an in-house control system 270 controls the motor vehicle 100, and Transfer said signal S3 from the in-vehicle control system 270 to an external control system 205 via the data interface 210.

Datorprogrammet P kan innefatta rutiner fOr att avgOra om motorfordonet be- finner sig inom ett pa f6rhand bestamt geografiskt omrade. Datorprogrammet kan innefatta rutiner fOr att avgOra under vilken tidsperiod motorfordonet har framfOrts autonomt och/eller externt samt fOr att avgOra om namnda tidsperiod underskrider en pa f6rhand bestamd tidsperiod. Datorprogrammet kan innefat- ta rutiner fOr att avgOra under hur lang stracka motorfordonet 100 har framfOrts autonomt, samt for att avgOra om namnda stracka underskrider en pa forhand bestamd maxstracka. The computer program P may include routines for determining whether the motor vehicle is within a predetermined geographical area. The computer program may include routines for determining the period of time during which the motor vehicle has been driven autonomously and / or externally and for determining whether the said time period is less than a predetermined period of time. The computer program may include routines for determining for how long the motor vehicle 100 has been driven autonomously, and for determining whether the said distance is less than a predetermined maximum distance.

Datorprogrammet P kan vara lagrat pa ett exekverbart vis eller pa komprimerat vis i ett minne 460 och/eller i ett las/skrivminne 450. 33 NI& det är beskrivet att databehandlingsenheten 410 utfor en viss funktion ska det forstas att databehandlingsenheten 410 utfOr en viss del av programmet vilket ãr lagrat i minnet 460, eller en viss del av programmet som ãr lagrat i las/skrivminnet 450. The computer program P may be stored in an executable manner or in a compressed manner in a memory 460 and / or in a read / write memory 450. 33 NI & it is described that the data processing unit 410 performs a certain function, it should be understood that the data processing unit 410 performs a certain part of the program which is stored in the memory 460, or a certain part of the program which is stored in the read / write memory 450.

Databehandlingsanordningen 410 kan kommunicera med en dataport 499 via en databuss 415. Det icke-flyktiga minnet 420 ãr avsett for kommunikation med databehandlingsenheten 410 via en databuss 412. Det separata minnet 460 är avsett att kommunicera med databehandlingsenheten 410 via en data- buss 411. Las/skrivminnet 450 är anordnat att kommunicera med databehand- lingsenheten 410 via en databuss 414. Till dataporten 499 kan t.ex. lankarna L205, L210, L220, L280 och L290 anslutas (se Fig. 2). The data processing device 410 can communicate with a data port 499 via a data bus 415. The non-volatile memory 420 is intended for communication with the data processing unit 410 via a data bus 412. The separate memory 460 is intended to communicate with the data processing unit 410 via a data bus 411. Read The write memory 450 is arranged to communicate with the data processing unit 410 via a data bus 414. To the data port 499, e.g. the lanes L205, L210, L220, L280 and L290 are connected (see Fig. 2).

NI& data mottages pa dataporten 499 lagras det temporart i den andra min- nesdelen 440. Nth' mottagen indata temporart har lagrats, är databehandlings- enheten 410 iordningstalld att utfOra exekvering av kod pa ett vis som beskrivits ovan. When data is received at the data port 499, it is temporarily stored in the second memory part 440. Once the received input data has been temporarily stored, the data processing unit 410 is ready to perform code execution in a manner described above.

Enligt ett utforande innefattar signaler mottagna pa dataporten 499 parametrar for autonom drift och/eller extern styrning av motorfordonet 100. Enligt ett utfO- rande innefattar signaler mottagna pa dataporten 499 parametrar for intern styrning av motorfordonet 100. Enligt ett utfOrande innefattar signaler mottagna pa dataporten 499 information fran ett operatOrsreglage 290. Enligt ett utfOrande innefattar signaler mottagna pa dataporten 499 information fran ett kraftag- gregat 280. Enligt ett utfOrande innefattar signaler mottagna pa dataporten 499 information om att det fordonsinterna styrsystemet 270 styr motorfordonet 100. Enligt ett utforande innefattar signaler mottagna pa dataporten 499 information om var motorfordonet 100 befinner sig geografiskt. Enligt ett utforande innefattar signaler mottagna pa. dataporten 499 information om hur lang tid motorfor- donet 100 har framforts autonomt och/eller externt. Enligt ett utforande innefat- tar signaler mottagna pa dataporten 499 information om hur lang stracka motorfordonet 100 har framfOrts autonomt och/eller externt. 34 De mottagna signalerna pa dataporten 499 kan anvandas av anordningen 400 for att avgara om namnda motorfordon 100 ska framfOras autonomt, externt eller manuellt. According to one embodiment, signals received at the data port 499 comprise parameters for autonomous operation and / or external control of the motor vehicle 100. According to one embodiment, signals received at the data port 499 comprise parameters for internal control of the motor vehicle 100. According to one embodiment, signals received at the data port 499 include information from an operator control 290. According to one embodiment, signals received at the data port 499 include information from a power supply 280. According to one embodiment, signals received at the data port 499 include information that the in-vehicle control system 270 controls the motor vehicle 100. According to one embodiment, signals received include data port 499 information about the geographical location of the motor vehicle 100. According to one embodiment, signals received include pa. data port 499 information on how long the motor vehicle 100 has been driven autonomously and / or externally. According to one embodiment, signals received at the data port 499 include information on how far the motor vehicle 100 has been driven autonomously and / or externally. The received signals on the data port 499 can be used by the device 400 to decide whether the said motor vehicle 100 is to be driven autonomously, externally or manually.

Delar av metoderna beskrivna hari kan utfOras av anordningen 400 med hjalp av databehandlingsenheten 410 som kor programmet lagrat i minnet 460 eller las/skrivminnet 450. Nar anordningen 400 kor programmet, exekveras hall beskrivna fOrfaranden. Parts of the methods described herein may be performed by the device 400 using the data processing unit 410 as the program stored in the memory 460 or the read / write memory 450. When the device 400 runs the program, the procedures described are executed.

Den foregdende beskrivningen av de foredragna utforingsformerna av foreliggande uppfinning har tillhandahallits i syftet att illustrera och beskriva uppfinningen. Det dr inte avsett att vara uttOmmande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga modifieringar och variationer att framga for fackmannen. UtfOringsformerna valdes och beskrevs fOr att bast fOrklara principerna av uppfinningen och dess praktiska tillampningar, och darmed mOjliggora for fackman att forsta uppfinningen fOr olika utforingsformer och med de olika modifieringarna som är lampliga for det avsedda bruket. The foregoing description of the preferred embodiments of the present invention has been provided for the purpose of illustrating and describing the invention. 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 were selected and described in order to best explain the principles of the invention and its practical applications, thereby enabling those skilled in the art to understand the invention for various embodiments and with the various modifications which are appropriate to the intended use.

Claims (16)

PatentkravPatent claims 1. System fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon innefattande: - ett externt styrsystem (205) anordnat att generera en signal (Si) innefattande dtminstone en styrparameter for autonom drift och/eller extern styrning av namnda motorfordon, och - ett fordonsinternt styrsystem (270) innefattande en styrenhet (220) och manOvreringssystem (230; 240; 250), van i styrenheten (220) ãr anordnad i kommunikativ fOrbindelse med manOvreringssystemen (230; 240; 250), [canne- 1 0tecknat av: - ett datagranssnitt (210) anordnat i kommunikativ fOrbindelse med det externa styrsystemet (205) och det fordonsinterna styrsystemet (270), varvid datagranssnittet (210) dr anordnat att overfOra signalen (Si) fran det externa styrsystemet (205) till det fordonsinterna styrsystemet (270), och varvid det for- donsinterna styrsystemet (270) ãr anordnat att avgifira huruvida atminstone ett pa fOrhand bestamt kriterium fOr att tillata autonom drift och/eller extern styrning av motorfordonet ãr uppfyllt, van i det atminstone ena pa forhand bestamda kriteriet är forknippat med en begransning gallande tiden fOr anvandning av autonom drift och/eller extern styrning.A system for enabling autonomous operation and / or external control of a motor vehicle comprising: - an external control system (205) arranged to generate a signal (Si) comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle, and a pre-internal control system (270) comprising a control unit (220) and operating system (230; 240; 250), used in the control unit (220) arranged in communicative connection with the operating systems (230; 240; 250), [can be drawn by : a data interface (210) arranged in communicative connection with the external control system (205) and the vehicle internal control system (270), the data interface (210) arranged to transmit the signal (Si) from the external control system (205) to the vehicle internal control system. (270), and wherein the in-vehicle control system (270) is arranged to provide whether at least one predetermined criterion for allowing autonomous operation and / or external control of the motor vehicle is met, used in the at least one predetermined criterion is associated with a limitation on the time for use of autonomous operation and / or external control. 2. System enligt krav 1, van i datagranssnittet (210) är anordnat i kommunikativ fOrbindelse med styrenheten (220).A system according to claim 1, used in the data interface (210) is arranged in communicative connection with the control unit (220). 3. System enligt krav 1 eller 2, van i styrenheten (220) ãr anordnad i kommuni- kativ fOrbindelse med manOvreringsorganen via en kommunikationsbuss (L220).A system according to claim 1 or 2, a van in the control unit (220) is arranged in communicative connection with the operating means via a communication bus (L220). 4. System enligt nagot av krav 1-3, van i det dtminstone ena pa forhand bestamda kriteriet âr fOrknippat med en begransning gallande geografiskt omra.- de och/eller framfOrd stracka. 364. A system according to any one of claims 1-3, used in the at least one predetermined criterion is associated with a limitation of the geographical area and / or distance traveled. 36 5. System enligt nagot av krav 1-4, van i styrenheten (220) är anordnad att, vid uppfyllt kriterium, bearbeta signalen (Si) fran det externa styrsystemet (205) och overfora den bearbetade signalen (Sib) till manavreringssystemen (230; 240; 250) far att styra motorfordonet autonomt och/eller externt.A system according to any one of claims 1-4, used in the control unit (220) arranged to, when the criterion is met, process the signal (Si) from the external control system (205) and transmit the processed signal (Sib) to the operating systems (230; 240; 250) may steer the motor vehicle autonomously and / or externally. 6. System enligt nagot av krav 1-4, van i styrenheten (220) ãr anordnad att, vid ej uppfyllt kriterium, generera en signal (S2) far intern styrning av motorfordonet och Overfora namnda signal (S2) till manavreringssystemen (230; 240; 250).System according to any one of claims 1-4, used in the control unit (220) is arranged to, if the criterion is not met, generate a signal (S2) for internal control of the motor vehicle and transfer said signal (S2) to the operating systems (230; 240). ; 250). 7. System enligt nagot av krav 1-4 eller 6, van i styrenheten (220) är anordnad att, vid ej uppfyllt kriterium, generera en signal (S3) innefattande information om att det fordonsinterna styrsystemet (270) styr motorfordonet och overfara namnda signal (S3) fran det fordonsinterna styrsystemet (270) till det externa styrsystemet (205) via datagranssnittet (210).System according to any one of claims 1-4 or 6, used in the control unit (220) is arranged to, if the criterion is not met, generate a signal (S3) comprising information that the in-vehicle control system (270) controls the motor vehicle and transmits said signal (S3) from the in-vehicle control system (270) to the external control system (205) via the data interface (210). 8. FOrfarande for mojliggorande av autonom drift och/eller extern styrning av ett motorfordon innefattande stegen att: -generera en signal (Si) innefattande dtminstone en styrparameter for auto- nom drift och/eller extern styrning av namnda motorfordon medelst ett externt styrsystem (205), kannetecknat av stegen att: - via ett datagranssnitt (210) overfora signalen (Si) fran det externa styrsystemet (205) till ett fordonsinternt styrsystem (270), innefattande en styrenhet (220) samt manovreringssystem (230; 240; 250), varvid datagranssnittet (210) as anordnat i kommunikativ farbindelse med det externa styrsystemet (205) och det fordonsinterna styrsystemet (270); och - avgara huruvida dtminstone ett pa forhand bestamt kriterium for att tilldta autonom drift och/eller extern styrning av motorfordonet är uppfyllt, medelst det fordonsinterna styrsystemet (270), varvid det dtminstone ena pa farhand be- stamda kriteriet är forknippat med en begransning gallande tiden for anvand- ning av autonom drift och/eller extern styrning 37A method for enabling autonomous operation and / or external control of a motor vehicle comprising the steps of: - generating a signal (Si) comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle by means of an external control system (205 ), characterized by the steps of: - transmitting via a data interface (210) the signal (Si) from the external control system (205) to a pre-internal control system (270), comprising a control unit (220) and a maneuvering system (230; 240; 250), wherein the data interface (210) is arranged in communicative communication with the external control system (205) and the in-vehicle control system (270); and - determining whether at least one predetermined criterion for allowing autonomous operation and / or external steering of the motor vehicle is met, by means of the in-vehicle steering system (270), the at least one predetermined criterion being associated with a limitation of the time limit. for use of autonomous operation and / or external control 37 9. Forfarande enligt krav 8, van i det atminstone ena pa fOrhand bestamda kriteriet ãr f6rknippat med en begransning gallande geografiskt omrade och/eller framford stracka.A method according to claim 8, used in at least one predetermined criterion is associated with a restriction defining geographically area and / or forward distance. 10. FOrfarande enligt krav 8 eller 9, vidare innefattande stegen att vid uppfyllt kriteri um : -bearbeta signalen (Si) fran det externa styrsystemet (205), medelst styrenheten (220); och att - overfora den bearbetade signalen (Sib) fran styrenheten (220) till manovre- ringssystemen (230; 240; 250) far autonom drift och/eller extern styrning av motorfordonet.A method according to claim 8 or 9, further comprising the steps of: if the criterion is met: - processing the signal (Si) from the external control system (205), by means of the control unit (220); and - transmitting the processed signal (Sib) from the control unit (220) to the maneuvering systems (230; 240; 250) for autonomous operation and / or external control of the motor vehicle. 11. F6rfarande enligt krav 8 eller 9, vidare innefattande stegen att vid ej upp- fyllt kriterium: -generera en signal (S2) fOr intern styrning av motorfordonet, medelst styrenheten (220); och att -overfora namnda signal (S2) fran styrenheten (220) till manovreringssystemen (230; 240; 250).A method according to claim 8 or 9, further comprising the steps of: if the criterion is not met: - generating a signal (S2) for internal control of the motor vehicle, by means of the control unit (220); and transmitting said signal (S2) from the control unit (220) to the operating systems (230; 240; 250). 12. Forfarande enligt krav 8, 9 eller 11, vidare innefattande steget att vid ej uppfyllt kriterium: - generera en signal (S3) innefattande information om att det fordonsinterna styrsystemet (270) styr motorfordonet, medelst styrenheten (220), och - OverfOra namnda signal (S3) fran det fordonsinterna styrsystemet (270) till det externa styrsystemet (205) via datagranssnittet (210).A method according to claim 8, 9 or 11, further comprising the step of, if the criterion is not met: - generating a signal (S3) comprising information that the in-vehicle control system (270) controls the motor vehicle, by means of the control unit (220), and - signal (S3) from the in-vehicle control system (270) to the external control system (205) via the data interface (210). 13. Motorfordon (100; 110) innefattande ett system enligt nagot av kraven 1-7.Motor vehicle (100; 110) comprising a system according to any one of claims 1-7. 14. Motorfordon (100; 110) enligt krav 13, varvid motorfordonet är nagot av en lastbil, buss, skogsmaskin, gruvmaskin, hjullastare eller personbil. 38A motor vehicle (100; 110) according to claim 13, wherein the motor vehicle is any of a truck, bus, forestry machine, mining machine, wheel loader or passenger car. 38 15. Datorprogram (P), dar namnda datorprogram (P) innefattar programkod for att utfora fOrfarandestegen enligt nagot av patentkraven 8-12, dã namnda datorprogram kors pa en dator (205; 220).Computer program (P), wherein said computer program (P) comprises program code for performing the procedure steps according to any of claims 8-12, wherein said computer program is crossed on a computer (205; 220). 16. Datorprogramprodukt innefattande en programkod for att utfora forfaran- destegen enligt nagot av patentkraven 8-12, nar namnda programkod 'A computer program product comprising a program code for performing the process steps of any of claims 8-12, when said program code '
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