SE538079C2 - System and method for enabling autonomous operation and / or external control of a motor vehicle - Google Patents

Abstract

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 a vehicle internal 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). In the system (200), a data interface (210) is arranged in communicative connection with the external control system (205) and the in-vehicle control system (270), the data interface (210) being arranged to transmit the signal (Si) from the external control system (205). to the in-vehicle control system (270). The control unit (220) is configured with a certain level of authorization, including at least one of the control unit (220) stored in a predefined authorization requirement for allowing autonomous operation and / or external control, whereby the authorization level can be changed by reconfiguring the control unit (220). 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

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.

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.

Today, there are aids to facilitate the operator's work, such as adaptive cruise control, emergency brake, anti-roll bar and the like. However, these aids require that there is an operator in the motor vehicle who can assess the situation himself and take appropriate action.

The operator constitutes a large part of the operating cost for 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 grains 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 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 to completely automate the driving of motor vehicles in certain types of operation. 1 In order to drive a motor vehicle autonomously on a safe salt, that is to say without an operator / driver steering the motor vehicle in place in the vehicle, a good idea of the motor vehicle's surroundings is required. This can be achieved through the use of sensors with high precision and advanced information processing as well as communication between the motor vehicle's various control units. Developing and implementing such a solution for autonomous operation or remote control of a motor vehicle is time consuming and costly.

Various procedures and systems have been compromised 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 command gallant speed 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.

Despite well-known readings in the field, there is still a need to further develop a cost-effective system and procedure for autonomous operation and / or external control of a motor vehicle, which minimizes operating costs and development costs.

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. 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 is safe for the motor vehicle and for objects and persons in its surroundings.

Another object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, said system enabling the use of already existing package solutions for autonomous operation and / or external control.

A further object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, said system limiting the access of vehicle internal functions to external users.

An object of the present invention is to provide a cost-effective method for enabling autonomous operation and / or external control of a motor vehicle.

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 for the motor vehicle and for objects and persons in its surroundings.

Another object of the present invention is to provide a method for enabling autonomous operation and / or external control of a motor vehicle, this method enabling the use of already existing package solutions for autonomous operation and / or external control.

A further object of the present invention is to provide a method for enabling autonomous operation and / or external control of a motor vehicle, this method limiting the access of in-vehicle functions to external users. The above objects are achieved by a system according to claim 1 and by a method according to claim 9.

According to an 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 said motor vehicle, - an in-house control system comprising a control unit and the maneuvering system, used in the control unit being arranged in communicative connection with the maneuvering systems, and - a data interface arranged in communicative connection with the external control system and the in-vehicle control system, arranged to transmit the signal from the external control system to the control unit, and wherein the control unit is configured with a certain authorization level, including at least one pre-determined authorization requirement with the control unit to allow autonomous operation and / or external control, whereby the authorization level can be changed by reconfiguring gurera the control unit.

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.

According to an aspect of the present invention, there is provided a system for internal 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 said motor vehicle, - a vehicle internal control system comprising a control unit and maneuvering system the stern, used in the control unit, is arranged in communicative connection with the maneuvering systems, and 4 - a data interface arranged in communicative connection with the external control system and the vehicle internal control system, the data interface being arranged to transmit the signal from the external control system to the control unit, the control unit is configured with a certain authorization level, including at least one authorization requirement stored at the control unit in advance to allow external control, whereby the authorization level can be changed by reconfiguring the control unit.

According to an aspect of the present invention, there is provided a system for locating 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 said motor vehicle, - a vehicle internal control system comprising a control unit and maneuvering , used in the control unit is arranged in communicative connection with the control systems, and - a data interface arranged in a communicative connection with the external control system and the vehicle internal control system, the data interface being arranged to transmit the signal from the external control system to the control unit, the control unit being configured a certain level of authorization, including at least one pre-determined authorization requirement stored by the control unit in order to allow autonomous operation, whereby the authorization level can be changed by reconfiguring the control unit.

Preferably, the in-vehicle control system comprises a plurality of control units.

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.

The in-vehicle steering system is preferably part of the motor vehicle in its basic design and steers the motor vehicle when the motor vehicle is driven by an operator / driver. By arranging a data interface of the motor vehicle in communicative connection with the external control system and the in-vehicle control system, two-way communication between the external control system and the in-vehicle control system is possible. The interface is 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. In this case, the use of an external control system already on the market for autonomous operation and / or external control, connected to the motor vehicle, is required. The motor vehicle thus does not need to be provided with costly systems and tools for achieving 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. 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. Because the signal generated by the external control system is first received at the data interface, the external control system's access is restricted by the in-vehicle control system. 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 raised in relation to the external control system in order to simplify 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 connected 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.

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 6 wishes to control the vehicle externally. Said operator can thus control the motor vehicle by means of a control member, 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.

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 position determination of the motor vehicle and for continuously detecting, for example, objects, obstacles, people and animals, in order to obtain a good perception of the outside world. The external control system also comprises at least one control unit, which receives instructions for the desired operation of the motor vehicle.

During autonomous operation of the motor vehicle, the control unit of the external control system receives instructions regarding the desired operation of the motor vehicle at a high level, for example moving from a position A to a position B. electronic map database or other similar systems, which can contribute information that may affect the autonomous operation of said motor vehicle. Said 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 an appropriate route for the motor vehicle. The vehicle parameters can consist of vehicle weight, vehicle height, acceleration shape, etc. The said control unit further determines suitable steering parameters for autonomous steering of the motor vehicle according to the determined route. The steering parameters include instructions at a low level and may refer to steering angle, suitable gear ratio of a transmission, 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.

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. By external control can be meant 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 to haul 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 steering parameters have the signal from the external steering system includes just as in the autonomous operation of the motor vehicle instructions at a low level and can refer to steering angle, lamp gear, braking action, acceleration and similar detailed steering parameters.

A control parameter can also be called a request. Thus, the external control system provides a request for, for example, a speed at which the motor vehicle could be driven. Request Iran the external control system Transferred via the data interface to the in-vehicle control system, which processes the request and decides if the request is to be executed. According to one embodiment, the signal Iran comprises the external control system a request, which consists of a positive or negative speed and / or brake request as well as a desired control angle. Alternatively, the signal from the external control system comprises a request, which consists 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.

Preferably, the external control system continuously generates a plurality of signals each comprising one or more control parameters / requests. 8 The maneuvering systems are suitably made up of a brake control system for controlling, for example, speed brake, 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 are furthermore aptly constituted by a motor control system for controlling the motor vehicle's engine and propulsion and a shift control system for controlling the shifting of the motor vehicle. The maneuvering means thus consist of systems which, via the control unit of the in-vehicle control system, influence, among other things, the speed and direction of the motor vehicle.

According to one aspect of the present invention, the control unit of the in-vehicle control system is arranged for communication with the operating systems via a communication bus. The communication bus suitably comprises a CAN bus or other standard for data transmission.

By configuring the control unit with a certain level of competence, including at least one requirement requirement for the control unit stored in advance to allow autonomous operation and / or external steering, it is ensured that the motor vehicle is driven autonomously and / or externally in a safe manner. The system can be activated by configuring the in-vehicle control system, so that all affected control units of the motor vehicle through parameter installations enable the autonomous operation and / or the external control and so that the data interface is activated. During parameter installation of the control unit, special restrictions are thus introduced to ensure that autonomous operation and / or external control of the motor vehicle takes place in a safe and secure manner. The motor vehicle is then installed with different levels of authorization regarding the autonomous operation and / or the external control. The level of authorization with which the control unit is configured may, for example, depend on the application in which the motor vehicle is to be driven. For example, the level of authorization may vary between a motor vehicle to be driven in a mining application and a motor vehicle to transport passengers to an airport. A certain authorization level thus includes a certain parameter installation / configuration of the control unit and thus at least a certain authorization requirement. Since the authorization level can be changed by reconfiguring the control unit, a flexible system is achieved - the authorization level can be updated as needed and the security can thus be secured.

For example, the control unit is configured to include a plurality of predetermined authorization requirements corresponding to the current authorization level. It is required that all authorization requirements are met for autonomous operation and / or external control of the motor vehicle to By configuring the control unit with a pre-determined authorization requirement to allow autonomous operation and / or external control of the motor vehicle, so-called autonomous operation and / or external control of the motor vehicle takes place in the desired manner. The authorization requirement can suitably refer to a requirement for the control parameter for autonomous and / or external control of the signal from the external control system.

The authorization requirement may, for example, be associated with the motor vehicle only being allowed to be driven autonomously and / or externally for a limited period of time. The authorization requirement may, for example, mean that the motor vehicle may be driven autonomously and / or externally at a certain permitted maximum speed. The eligibility requirement may, for example, be associated with a specific geographical area. The authorization requirement may, for example, be associated with how the motor vehicle may be braked, accelerated and / or turned during autonomous operation and / or external steering. The authorization requirement may, for example, be associated with the operator, who intends to drive the motor vehicle autonomously and / or externally, being authorized, ie. The operator must have a mandate to drive the vehicle.

Preferably, the control unit is configured so that a high level of authorization entails lower / fewer restrictions than a level of authorization. Thus, a high authorization level may include lower / lower authorization requirements than a law authorization level. only finals are performed at a speed below 20 km / h. In the case of an experienced and experienced operator, the control unit can be configured with a higher authorization level, whereby an authorization requirement may be that the motor vehicle, for example, is only allowed to be driven at a speed below 50 km / h. This salt provides a system for autonomous operation and / or external control of a motor vehicle, which is safe for the motor vehicle and for objects and people in its vicinity.

According to one aspect of the present invention, the level of authorization is based on the integrity and / or experience of an operator of the motor vehicle. Because the authorization level can be changed by reconfiguring the control unit, an inexperienced operator can in time obtain a higher authorization level over time. In the same way, an operator who for some reason does not perform his tasks in an adequate manner, for example for medical reasons, can obtain a lower level of competence. The control unit can be conveniently configured so that a temporary / temporary increase and / or decrease of the authorization level is achieved.

An operator can refer to one or more people. Alternatively, an operator may refer a company or a customer to the vehicle manufacturer.

According to one aspect of the present invention, there is provided a system which, in the predetermined authorization requirement, relates to requirements for the control parameter for autonomous operation and / or external control of the signal from the external control system.

The control parameter for autonomous operation and / or external control of the signal from the external control system may, for example, refer to a speed request and / or a control angle request and / or a brake request and / or a gear request. The control unit is preferably configured with an authorization level comprising at least one authorization requirement regarding this control parameter for autonomous operation and / or external control. For example, the authorization requirement may include that a speed request from the external control system must not exceed a predetermined maximum permitted speed. Alternatively, the eligibility requirement may include that a steering angle request from the external steering system may not exceed a predetermined maximum allowable steering angle. This ensures that the motor vehicle is driven autonomously and / or externally in a safe and comfortable way.

According to one aspect of the present invention, there is provided a system which, in the predetermined eligibility requirement, relates to a period of time during which the motor vehicle is finally driven autonomously and / or externally.

For example, the eligibility requirement may mean that the motor vehicle is only driven autonomously and / or externally for a predetermined period of time in a row, for example 3 hours in a row. Alternatively, the authorization requirement means that the motor vehicle is only allowed to be driven autonomously and / or externally for a certain accumulated period of time, for example 10 hours with or without downtime. Alternatively, the authorization requirement means that the motor vehicle is only permitted to be driven automatically and / or externally until a certain date. Preferably, it includes authorization requirements for a period of time during which the motor vehicle may be driven autonomously and / or externally, also that the motor vehicle, after being driven autonomously and / or externally during the specified time period, must rest / park for a specified period of time before it can be driven autonomously and / or externally again.

According to an exemplary embodiment, the operator is warned when the period of time that the motor vehicle may be driven autonomously and / or externally is nearing its end. The controller generates a message including the warning, which message is sent via the data interface to the external control system. The external control system suitably includes a user interface to the operator, which displays the message. The user interface is suitably constituted by a presentation means such as a screen. In this way, an audiovisual feedback to the operator is achieved. The warning message appropriately includes instructions on how the operator should act to obtain. drive the motor vehicle automatically and / or externally again. According to one aspect of the present invention, the predetermined authorization requirement is associated with a requirement that the motor vehicle must be parked or driven manually for a certain period of time between the occasions it is driven autonomously and / or externally.

According to one aspect of the present invention, there is provided a system which, in the predetermined eligibility requirement, relates to the validity of a certificate issued to an operator of the motor vehicle.

By requiring the operator of the motor vehicle to hold a valid certificate or license to drive the motor vehicle autonomously and / or externally, an authentication of authorized operators is achieved and it is ensured that non-authorized persons in front of the motor vehicle autonomously and / or externally . In such a case it is ensured that a motor vehicle, when sold further, cannot be driven autonomously and / or externally unless the new operator is authorized.

In this way, a system is provided for enabling autonomous operation and / or external steering of a motor vehicle, which is safe and which minimizes the risk of unauthorized persons using the motor vehicle autonomously and / or externally.

The certificate issued to the operator of the motor vehicle is preferably Renewable. It is appropriate to renew the certificate with some regularity, for example once a week, once a month or once every two months. Alternatively, renewal of the certificate is required every day. Alternatively, renewal of the certificate is required at each time that the operator wishes to drive the motor vehicle autonomously and / or externally. According to an exemplary embodiment of the present invention, a random check of the validity of the certificate is generated.

The certificate can preferably be renewed wirelessly via a telematics unit arranged at the motor vehicle against a server operated by the vehicle manufacturer. Alternatively, the certificate can be renewed by entering a one-time code via an input device. The input device can consist of a workshop tool, an instrument cluster, a PDA, a mobile phone or a navigation equipment.

Preferably, certificates are issued to service technicians at workshops authorized by the vehicle manufacturer. In such a case, only authorized service technicians can configure the system and other parameter installation and thus the authorization level.

Preferably, the operator is warned when the validity of the certificate is about to expire.

Typically, the control unit generates a message including the warning, which message is sent via the data interface to the external control system. The external control system suitably includes a user interface to the operator, which displays the message. The warning message probably also includes instructions on how the operator can renew the certificate.

According to one aspect of the present invention, there is provided a system in which the control unit is arranged to meet if the predetermined authorization requirement is met. This is conveniently achieved by storing the predetermined authorization requirement having the control unit, the control unit also providing information from the in-vehicle control system and / or the signal from the external control system with the stored authorization requirement.

According to one aspect of the present invention, there is provided a system in which the control unit is arranged to allow, upon fulfillment of authorization requirements, autonomous operation and / or external control of the motor vehicle.

Preferably, autonomous operation and / or external control of the motor vehicle is allowed by the control unit processing / processing / processing the signal from the external control system so that the processed signal can be interpreted by the operating systems. The processed signal thus 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 operating 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.

According to one aspect of the present invention, there is provided a system in which the control unit is arranged to, upon fulfillment of authorization requirements, allow access to the in-vehicle control system.

In this way, a service technician can, by fulfilling a specific authorization requirement, for example a valid certificate, gain access to the in-vehicle control system and thus other parameter installations of the in-vehicle control system.

According to one aspect of the present invention, there is provided a system in which the control unit is arranged to, in the event of unauthorized requirements, prevent autonomous operation and / or external control of the motor vehicle.

Preferably, the control unit is arranged to, in the event of non-compliance with the authorization requirements, prevent autonomous operation and / or external control of the motor vehicle by stopping the signal from the external control system.

Lamply, the control unit is arranged to, in the event of non-compliance with the authorization requirements, prevent autonomous operation and / or external control of the motor vehicle by generating a signal for internal control of the motor vehicle. In this way, an internal control of the motor vehicle is achieved when the pre-determined authorization requirement 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 internal steering includes steering parameters that cause the motor vehicle to be braked and / or stopped / parked.

According to one aspect of the present invention, there is provided a system in which the control unit is arranged to, in the event of non-compliance with authorization requirements, lower the authorization level. Preferably, the lowering of the authorization level comprises a limitation of the functionality of the autonomous operation and / or the external control by changing at least one authorization requirement. The change in the eligibility requirement will inevitably entail a stricter limitation and thus an increase in the eligibility requirement. For example, the functionality is limited by the autonomous operation and / or the external control by changing at least one authorization requirement regarding the control parameter from the external control system. sa. . For example, the control unit may be arranged to, in the event of an invalid certificate, lower the permitted maximum speed by 20 km / h.

Preferably, the control unit is arranged to, when lowering the authorization level and clamed when changing authorization requirements, modify the signal from the external control system so that the modified signal meets the new authorization requirement.

According to one aspect of the present invention, the control unit generates a signal for internal control of the motor vehicle when the interface and / or the internal vehicle control system during ongoing autonomous operation or external control does not receive any signal from the external control system. in this way, the internal control system can, for example, stop the motor vehicle when the autonomous operation and / or the external steering has been interrupted for reasons of flaking. This protects both the motor vehicle and objects and / or persons in its vicinity.

According to an aspect of the present invention, the control unit is arranged that, when autonomous operation and / or external control has been prevented and the control unit has generated a signal for internal control, generate a signal comprising information that the in-vehicle control system controls the motor vehicle. The control unit is suitably further arranged to transmit the signal including information that the in-vehicle control system controls the motor vehicle Iran the in-vehicle control system to the external control system via the interface. On such salt, the external control system, and the clamed operator, receives information that it does not control the motor vehicle and why it does not control the motor vehicle.

According to an aspect of the present invention, there is provided a system in which the control unit is arranged to, in the event of non-compliance with the authorization requirements regarding the control parameter for autonomous operation and / or external control of the signal from the external control system, modify the signal from the external control system the modified signal meets the predetermined authorization requirement. For example, if the signal from the external control system has a requested speed parameter that exceeds a permitted maximum speed according to a predetermined authorization requirement, the signal Iran modifies the external control system of the control unit so that it exhibits a speed that corresponds to the permitted maximum speed. The modified signal is then transmitted from the control unit to the operating systems for executing the control command according to the modified signal.

According to one aspect of the present invention, the control unit of the internal vehicle control system is arranged to modify the signal from the external control system, so that the motor vehicle is not inadvertently provided in situations which may be harmful to the motor vehicle and / or its surroundings. Such a modification of the signal from the external control system can be performed, for example, when the signal from the external control system contains at the same time a 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 a 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 tip for high speed. Modification of the signal from the external control system thus means that the modified signal comprises a request / control parameter which differs from the original request / control parameter of the signal from the external control system.

According to an embodiment of the present invention, there is provided a system, used in the in-vehicle control system, 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 is preferably a control that can be operated manually by the operator when the operator is located inside the driver's cab of the motor vehicle. By operator can be meant a driver of the motor vehicle. Examples of operator controls are the engine, accelerator pedal, brake pedal, gear lever, signaling device, etc. According to one embodiment, an operator control is a control which, when activated, indicates that the operator wishes to drive the vehicle manually. In cases where the control unit receives signals from an operator control, automatic 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. When 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, manual operation of the motor vehicle is always given priority over autonomous operation and / or external control of the motor vehicle. 18 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 or external control).

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 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 includes risk control of predetermined criteria, concerning 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 transmitted 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 meant that the format with which communication takes place via the data interface must take place according to clearly defined criteria in order to be received by the in-vehicle control system. In such a case it is ensured that the vehicle manufacturer has control over how the vehicle is controlled and clamed even when an external control system is used for autonomous operation and / or external control. 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.

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 generates a signal 19 for internal control and opposite the signal for internal control to the maneuvering systems.

According to one aspect of the present invention, the status of the motor vehicle is checked to determine whether or not autonomous operation and / or external control of the motor vehicle should be allowed. It is generally checked that the engine of the motor vehicle, the brake system or the like do not show faults which may affect the performance during automatic operation and / or external control.

According to one aspect of the present invention there is provided a method of 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 maneuvering system, the data interface being arranged in communicative connection with the external control system and the vehicle internal control system, the control unit being configured with a certain level of authority including at the control unit stored pre-determined authorization requirements to allow autonomous operation and / or external control, whereby the authorization level can be changed by reconfiguring the control unit.

According to one aspect of the present invention, there is provided a method of 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-house control system, comprising a control unit and maneuvering system, the data interface being arranged in communicative connection with the external control system and the vehicle internal control system, the control unit being configured with a certain level of authority including with the control unit stored in advance certain authorization requirements for assigning external control, whereby the authorization level can be changed by reconfiguring the control unit.

According to one aspect of the present invention, there is provided a method of 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 - via a data interface - transmitting the signal from the external control system to an internal control system, comprising a control unit and maneuvering system, the data interface being arranged in communicative connection with the external control system and the vehicle internal control system, the control unit being configured with a certain level of authority including with the control unit stored in advance predetermined authorization requirements to allow autonomous operation, whereby the authorization level can be changed by reconfiguring the control unit.

For example, the external control system continuously generates a plurality of signals, the usual signal being able to include one or a plurality of control parameters for autonomous operation and / or external control of the motor vehicle.

According to one aspect of the present invention, there is provided a method of enabling autonomous operation and / or external control of a motor vehicle comprising the step of: - determining whether the at least one predetermined authorization requirement to allow autonomous operation and / or external control of motor vehicle , by means of the control unit.

Preferably, the control unit decides whether a number of pre-determined eligibility requirements are met. In general, all authorization requirements must be met in order for autonomous operation and / or external control of the motor vehicle to be 21 : - allow autonomous operation and / or external control of the motor vehicle.

In this case, autonomous operation and / or external control of the motor vehicle is permitted by processing / processing / processing the signal from the external control system by means of the control unit and transferring the processed signal to the operating systems.

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 step of, in the event of non-compliance requirements: - preventing autonomous operation and / or external control of the motor vehicle.

Dangerously, autonomous operation and / or external control of the motor vehicle is prevented by the control unit stopping the signal from the external control system, which signal is thus not transferred to the maneuvering systems.

Alternatively, autonomous operation and / or external control of the motor vehicle is prevented by modifying the signal from the external control system by means of the control unit.

According to one aspect of the present invention, there is provided a method of automated operation and / or external control of a motor vehicle comprising the steps of, in the event of non-compliance requirements: modifying the signal from the external control system, by means of the control unit; and - transmitting the modified signal to the maneuvering systems, by means of the control unit.

The signal from the external control system is suitably modified, if the authorization requirements are not met, so that the modified signal has one or more control parameters which mean that the motor vehicle is not unnecessarily provided in situations that may be harmful to the motor vehicle and / or its surroundings.

According to one aspect of the present invention, there is provided a method for enabling autonomous operation and / or external steering of a motor vehicle comprising the step of: in case of non-compliance requirements: lowering the authorization level with which the control unit is configured.

Preferably, a reduction in the level of authorization includes a limitation of the functionality of the autonomous operation and / or the external control of the motor vehicle. A limitation of the functionality of the autonomous operation and / or the external control of the motor vehicle is achieved by the second parameter setting / configuration of the control unit so that at least one authorization requirement is different and thus means that the motor vehicle can be driven autonomously and / or externally under stricter restrictions. with earlier. Preferably, the signal from the external control system is modified by the control unit so that the modified signal meets the at least one new authorization requirement.

According to an aspect of the present invention, the method comprises the steps of, in the event of unauthorized authorization requirements and prevented autonomous operation and / or external control: - generating a signal for internal control of the motor vehicle by means of the control unit; and that - Transmitting the signal for internal control from the control unit to the control systems.

Preferably, the signal generated by the control unit for internal control of the motor vehicle includes control parameters for stopping the motor vehicle. This prevents the autonomous operation and / or the external control of the motor vehicle and the motor vehicle stops when the pre-determined authorization requirement is not met. By stopping the vehicle when the autonomous operation 23 and / or the external control does not take place as desired, it is ensured that the motor vehicle is not driven on a faulty and dangerous salt. This protects both the motor vehicle and objects and people in its vicinity. This salt provides an environmentally safe procedure for autonomous operation and / or external control of a motor vehicle and a procedure for the said motor vehicle for safe operation and / or external control.

According to an aspect of the present invention, the method comprises the steps of, in the case of obstructed autonomous operation and / or external control: - generating a signal comprising information that the in-vehicle control system controls the motor vehicle, by means of control unit; and - transmitting the signal including information that the in-vehicle control system controls the motor vehicle, from the in-vehicle control system to the external control system via the data interface.

In cases where the pre-determined authorization requirement is not met, the signal is stopped from the external control system of the control unit and thus does not transfer to the control systems. The control unit then generates a signal that the in-vehicle control system controls the motor vehicle and to that signal to the external control system. In this way, the external control system receives information that it does not control the motor vehicle.

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 for 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.

The above objects are also achieved with a motor vehicle comprising a system for autonomous operation and / or external control. The motor vehicle can be a 24 truck, bus or passenger car. Said motor vehicle can be anything from a truck, bus, forestry machine, mining machine, wheel loader or car.

According to one aspect of the invention, there is provided a computer program, wherein said computer program comprises program code for performing the procedure steps according to any of claims 9-13, then said computer program. of patent claims 9-13, when said program code is crossed on a computer.

According to one aspect of the invention, there is provided a computer program, wherein said computer program includes program code may perform any of the said steps in said procedure, when said computer program is run 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 capable of performing any of the above-mentioned method steps when said program code is crossed on an electronic control unit.

According to one aspect of the present invention, there is provided a computer software product comprising a program code stored on a computer readable medium performing some of the above-mentioned procedures when said program code. memory of a computer, comprising a computer program comprising program code arranged to perform any of the above-mentioned method steps, then said computer program 'cars on an electronic control unit.

Further objects, advantages and novel features of the present invention will become apparent to those skilled in the art from the following details, as well as via practice of the invention. While the invention has been described below, it has been stated that the invention is not limited to the specific details described. Those skilled in the art having access to Idrorna hari will again appreciate further applications, modifications and incorporations within other fields which are within the scope of the invention.

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. 3a Fig. 3b shows a flow chart of a procedure for accelerating autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention. shows a surface diagram of a procedure for the automation of autonomous operation and / or external steering of a motor vehicle according to an embodiment of the present invention.

Fig. 4 schematically shows a computer, according to an embodiment of the invention. DETAILED DESCRIPTION OF THE INVENTION 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. 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. The motor vehicle 100 may, according to one embodiment, be a hybrid vehicle. The motor vehicle 100 may, according to one embodiment, be an eleven vehicle with an electric motor. The invention is advantageously applicable to vehicles in connection with mining operations.

Fig. 2 schematically shows a system 200 for enabling 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.

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 operation and / or external control of said motor vehicle 100. The external control system 205 and the internal vehicle control system 270 can communicate with each other by arranging the data interface 210 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 2 dr arranged for communication via a lank L205 and the data interface 2 and the vehicle internal control system 210 are arranged for communication via a lank L210. The in-vehicle control system 270 comprises a control unit 220 and operating systems 230, 240, 250. The control unit 220 is arranged in communicative communication 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, among other things, 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 the signal Si to the control unit 220 via the lane L210.

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 provides a control which can be manually operated by the operator when the operator is located inside the towing vehicle 110 of the motor vehicle 100. Examples of operator controls 290 are steering wheel, accelerator pedal, brake pedal, gear lever / paddle, signaling means etc. the power supply 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 control is arranged to send a signal S4 to the control unit 220 via the line L290 during use. The signal S4 comprises control parameters corresponding to the operator's unintended operation of the motor vehicle 100. The control unit 220 is configured with a certain authorization level including at least one pre-determined authorization requirement of the control unit 220 to allow autonomous operation and / or external control, whereby the authorization level can be by reconfiguring the control unit 220. The authorization level may be based on the vehicle and / or the experience of an intended operator of the motor vehicle. The in-vehicle control system 270 is arranged to determine whether the at least one predetermined authorization requirement for allowing autonomous operation and / or external control of the motor vehicle 100 is met.

Preferably, the control unit 220 is arranged to determine whether the predetermined authorization requirement for allowing autonomous operation and / or external control of the motor vehicle 100 is met. According to one embodiment, the predetermined authorization requirement refers to a requirement for the control parameter for autonomous operation and / or external control of the signal Si from the external control system 205.

According to one embodiment, the pre-determined eligibility requirement refers to a period of time during which the motor vehicle 100 may be driven autonomously and / or externally. According to one embodiment, the pre-determined authorization requirement refers to the validity of a certificate issued to an operator of the motor vehicle 100.

The control unit 220 is further arranged to, when the authorization requirements are met, allow autonomous operation and / or external control of the motor vehicle 100 by processing / processing / processing / converting the signal Si from the external control system 205, so that the processed signal Sib has a format which can is interpreted by the maneuvering systems 230, 240, 250. The control unit 220 sends the processed signal Si b via the line L220 to the maneuvering systems 230, 240, 250.

The control unit 220 can also send the signal S1b via the line L280 to the power unit 280. The said signal Sib comprises at least one control parameter for autonomous operation and / or external control of the maneuvering systems 230, 240, 250 and / or the power unit 280. On such salt autonomous operation and / or external control of the motor vehicle 100. 29 The control unit 220 is further arranged to, in the event of non-compliance with authorization requirements, prevent autonomous operation and / or external control of the motor vehicle 100 by stopping the signal Si Iran the external control system 205. The control unit 220 is also arranged to does not meet the authorization requirements, 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.

Alternatively, the control unit 220 is arranged to, if the authorization requirement is not met, lower the authorization level with which the control unit 220 is configured. Accordingly, the lowering of the authorization level comprises a limitation of the functionality of the autonomous operation and / or the external control of the motor vehicle 100. Preferably, the functionality of the autonomous operation and / or the external control of the motor vehicle 100 is limited by at least that stored at the control unit 220 at least one authorization requirement, so that it entails stricter restrictions regarding, for example, the control parameter for automatic operation and / or external control of the signal Si from the external control system 205.

Alternatively, if the control unit 220 is arranged to, in case of non-compliance requirements, modify the signal S1 from the external control system 205, so that the modified signal S1m meets the pre-determined authorization requirement. The control unit is further arranged to transmit the modified signal S1m to the operating systems 230, 240, 250 via the line L220.

Control unit 220 is arranged to, in the event of prevented autonomous operation and / or external control, generate a signal S3 comprising information that the in-vehicle control system 270 controls the motor vehicle 100. The control unit 220 is further arranged to send said signal S3 to the data interface 210 via the line L210.

The data interface 210 is arranged to, in the event of prevented autonomous operation and / or external control, send the signal S3 including information that the vehicle control system 270 controls the motor vehicle 100 via the line L205 to the external control system 205.

The control unit 220 is further arranged to, upon receipt of 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 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 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 maneuvering systems 230, 240, 250. The data interface 210 is arranged in communicative connection with the external control system 205 and the the in-vehicle control system 270. The control unit 220 is configured with a certain level of authorization including at least one prerequisite stored by the control unit 220 to allow autonomous operation and / or external control, whereby the authorization level can be changed by reconfiguring the control unit 220. the external control system 205 and the data interface 210 are suitably made via a long L205. the transfer between the data interface 210 and the external control system is suitably performed via a long L210. After the procedure step s301, the procedure is terminated.

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 at least one 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 method step s320 is performed. Method step s320 comprises transmitting via a data interface 210 the signal Si ft from the 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 being arranged in communicative connection with the external control system 205. and the in-vehicle control system 270, and wherein the control unit 220 is configured with a certain level of authority including at least one prerequisite of the control unit 220 stored in the control unit 220 to allow autonomous operation and / or external control, wherein the level of authority can be changed by reconfiguring the control unit 220. The transmission between the external control system 205 and the data interface 210 is suitably performed via a long L205. The transfer between the data interface 210 and the in-vehicle control system is suitably performed via a long L210. After the step step s320, one step step s330 is performed.

The process step s330 comprises determining by means of the control unit 220 whether at least one at least one predetermined authorization requirement for allowing autonomous operation and / or external control of the motor vehicle 100 is met. The authorization requirement may, for example, refer to requirements for the control parameter for autonomous operation and / or external control of the signal Si from the external control system 205. Alternatively, the authorization requirement refers to the validity of a certificate issued to the operator of the motor vehicle 100. The authorization requirement is suitably stored at the control unit 220. After the procedure step s330, a procedure step s340 or s350 is performed.

Procedure step s340 is performed only if it is decided in procedure step s330 that the pre-determined eligibility requirement is met. The process step s340 comprises allowing autonomous operation and / or external control of the motor vehicle 100. The process step s340 comprises allowing autonomous operation and / or external control of the motor vehicle 100 suitably comprises that the control unit 220 processes / processes / processes / converts the signal Si from the external control system 205 and Transmitting the processed signal S1b to the control systems 230, 240, 250. The transmission of the signal Sib from the control unit 220 and the control systems 230, 240, 250 is suitably performed via a long L220. After procedure step s340, the procedure is terminated. Alternatively, the procedure is repeated from the first procedure step s310.

Procedure step s350 is performed only if it is decided in procedure step s330 that the pre-determined eligibility requirement is not met. The process step s350 comprises preventing autonomous operation and / or external control of the motor vehicle 100. The process step s350 comprises preventing autonomous operation and / or external control of the motor vehicle suitably comprises by means of the control unit 220 stopping the signal Si from the external control system 205 and by the control unit 220 generating a signal S2 for internal control of the motor vehicle 100 and to transmit the signal for internal control S2 from the control unit 220 to the operating systems 230, 240, 250. The overpass of the signal S2 for internal control is suitably performed via the line L220. The signal S2 for internal control apparently includes control parameters for controlling the motor vehicle 100, so that the motor vehicle 100 stops. After step s350, the step ends. Alternatively, the procedure is repeated from the first procedure step s310.

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. Furthermore, the device 400 comprises 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.

If the device 400 is provided, a computer program P, which may comprise routines for autonomous operation and / or external control of a motor vehicle 100. The computer program P may comprise routines for generating a signal Si comprising at least one control parameter for autonomous operation and / 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 may include routines for processing / processing / processing / converting 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 at least one predetermined authorization requirement for allowing autonomous operation and / or external control of the motor vehicle is met.

The computer program P may include routines for, if the authorization requirements are met, allowing autonomous operation and / or external control of the motor vehicle 100. The computer program P may include routines for, if the authorization requirements are met, transfer said signal Si to the maneuvering system 230, 240, 250 and thereby allow autonomous operation and / or external control of the motor vehicle 100. The computer program P may include routines to, in the event of non-compliance with the authorization requirements, prevent autonomous operation and / or external control of the motor vehicle. The computer program P may comprise routines for generating a signal S2 for internal control of the motor vehicle 100 in the event of unauthorized requirements and transmitting the said signal S2 to the maneuvering systems 230, 240, 250. The computer program P may comprise routines for, in the event of unauthorized requirements , generating a signal S3 including information that an in-house control system 270 controls the motor vehicle 100, and transmitting said signal S3 from the in-vehicle control system 270 to the external control system 205 via the data interface 210.

The computer program P may be stored in an executable manner or in a compressed manner in a memory 460 and / or in an Ids / write memory 450.

If 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 Ids / write memory 450. The data processing device 410 may communicating with a data port 499 via a data bus 415. The non-volatile memory 420 is intended to communicate 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 / 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).

When data is received on 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.

According to one method, signals received at the data port 499 include parameters for autonomous control of the motor vehicle 100. According to one method, signals received at the data port 499 include control 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. an embodiment includes signals received at the data port 499 for information from a power supply 280.

According to one method, signals received at the data port 499 include information that the in-vehicle control system 270 controls the motor vehicle 100. According to one method, signals received at the data port 499 include information about how long the motor vehicle 100 has been running autonomously and / or externally. According to one method, signals received on include. data port 499 information about a certificate issued to an operator.

The received signals on the data port 499 may be used by the device 400 to decide whether said motor vehicle 100 should be allowed to drive autonomously and / or externally or prevented from being driven autonomously and / or externally. The received signals on the data port 499 may be used by the device 400 to determine if the autonomous operation and / or the external control of the motor vehicle 100 is to be limited.

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 read / write memory 450. The device 400 in the program is executed in the methods described.

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 one skilled in the art to make the first invention for different embodiments and with the various modifications which are appropriate to the intended use. 36

Claims (17)

Patent claims 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, the steering parameter comprising instructions at a low level and relating to at least some of a speed gearing, a steering angle gearing, a braking gearing or a gearing gearing; 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 maneuvering systems (230; 240; 250), [ (drawn by: - a data interface (210) arranged in communicative connection with the external control system (205) and the in-vehicle control system (270), the data interface (210) being arranged to transmit the signal (S1) from the external control system (205) to the control unit (220), and wherein the control unit (220) is configured with a certain level of authorization including at least one hash control unit (220) stored in a predetermined authorization requirement to allow autonomous operation and / or external control, the authorization level being changed to configure the control unit (220). System according to claim 1, used in the level of authorization based on the vehicle and / or the experience of having an operator of the motor vehicle. A system according to claim 1 or 2, wherein at least one predetermined authorization requirement comprises a requirement for the control parameter to have the signal (Si) from the external control system (205). A system according to any one of claims 1-3, wherein the at least one pre-determined eligibility requirement comprises validity of a certificate issued to an operator of the motor vehicle. 37 A system according to any one of claims 1-4, used in the control unit (220) is arranged to check whether the pre-determined authorization requirement is met. System according to any one of claims 1-5, used in the control unit (220) is arranged to, when the authorization requirements are met, allow autonomous operation and / or external control of the motor vehicle. System according to any one of claims 1-5, used in the control unit (220) is arranged to, in the event of unauthorized requirements, prevent autonomous operation and / or external control of the motor vehicle. System according to any one of claims 1-5, used in the control unit (220) is arranged to, in the event of non-fulfillment of authorization requirements, lower the authorization level. A 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 control of said motor vehicle by means of an external control system (205), the control parameter comprising instructions at a low level and relates to at least one of a speed control, a steering angle control, a brake control or a gear control, characterized by the step of: - via a data interface (210) transmitting the signal (Si) from the external control system (205) to an in-house control system (270), comprising a control unit (220) and an operating system (230; 240; 250), the data interface (210) being arranged in communicative connection with the external control system (205) and the in-vehicle control system (270), the control unit (220) is configured with a certain level of authorization including at least one of the control unit (220) stored in a predetermined authorization requirement to allow a autonomous operation and / or external control, whereby the authorization level can be changed by reconfiguring the control unit (220). 38 The method of claim 9, further comprising the step of: - determining whether the at least one predetermined authorization requirement for allowing autonomous operation and / or external control of the motor vehicle is met, by means of the control unit (220). A method according to claim 10, further comprising the step of: upon fulfillment of eligibility requirements: - allowing autonomous operation and / or external control of the motor vehicle. A method according to claim 10, further comprising the step of: in case of non-fulfillment of authorization requirements: - preventing autonomous operation and / or external control of the motor vehicle. The method of claim 10, further comprising the step of, in case of non-compliance requirements: - lowering the authorization level with which the control unit (220) is configured. A motor vehicle (100; 110) comprising a system according to any one of claims 1-8. A motor vehicle (100; 110) according to claim 14, wherein the motor vehicle is any of a truck, bus, forestry machine, mining machine, wheel loader or passenger car. Computer program (P), wherein said computer program (P) comprises program code for performing the procedure steps according to any of claims 9-13, wherein said computer program runs on a computer (205; 220). A computer program product comprising a program code for performing the method steps of any of claims 9-13, said program code being run on a computer (205; 220). 39