SE540315C2 - Method and system for facilitating automatic driving of a vehicle to a certain position - Google Patents

Method and system for facilitating automatic driving of a vehicle to a certain position

Info

Publication number
SE540315C2
SE540315C2 SE1650382A SE1650382A SE540315C2 SE 540315 C2 SE540315 C2 SE 540315C2 SE 1650382 A SE1650382 A SE 1650382A SE 1650382 A SE1650382 A SE 1650382A SE 540315 C2 SE540315 C2 SE 540315C2
Authority
SE
Sweden
Prior art keywords
vehicle
certain position
image
configuration
surroundings
Prior art date
Application number
SE1650382A
Other languages
Swedish (sv)
Other versions
SE1650382A1 (en
Inventor
Eriksson Markus
Callenryd Fredrik
SCHILDT Håkan
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1650382A priority Critical patent/SE540315C2/en
Priority to CN201780017386.9A priority patent/CN109070878A/en
Priority to EP17770706.4A priority patent/EP3433150A4/en
Priority to PCT/SE2017/050228 priority patent/WO2017164793A1/en
Publication of SE1650382A1 publication Critical patent/SE1650382A1/en
Publication of SE540315C2 publication Critical patent/SE540315C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Description

METHOD AND SYSTEM FOR FACILITATING AUTOMATIC DRIVING OF A VEHICLE TO A CERTAIN POSITION TECHNICAL FIELD The invention relates to a method for facilitating automatic driving of a vehicle to a certain position according to the preamble of claim 1. The invention also relates to a system for facilitating automatic driving of a vehicle to a certain position. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer program product.
BACKGROUND ART Heavy vehicles such as trucks require relatively skilled drivers in order to manually drive and position the vehicle at certain positions such as loading and/or unloading stations for loading and/or unloading said vehicle. Such loading/unloading stations may require certain positioning such as docking of the vehicle. A less skilled driver may in such situations cause damages to the vehicle and/or the loading station in connection to driving and positioning the vehicle.
In order to facilitate parking for vehicles different solutions for autonomous parking have been suggested. Such solutions normally relate to parking of cars.
US2014058613 and US2015127208 disclose systems for automatic parking wherein positioning of the vehicle is based upon a specification comprising an image of the surroundings of in connection to the location where the vehicle is intended to park.
There is however a need for improving automatic driving of a vehicle to a certain position.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method for facilitating automatic driving of a vehicle to a certain position which provides safe and efficient automatic driving and positioning of a vehicle at positions requiring good driving skills in order to avoid damage of vehicle and/or position by the driver if the driving and positioning would be carried out manually.
Another object of the present invention is to provide a system for facilitating automatic driving of a vehicle to a certain position for facilitating automatic driving of a vehicle to a certain position which provides safe and efficient automatic driving and positioning of a vehicle at positions requiring good driving skills by the driver in order to avoid damage of vehicle and/or position if the driving and positioning would be carried out manually.
SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer program product, as set out in the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.
Specifically an object of the invention is achieved by a method for facilitating automatic driving of a vehicle to a certain position. Positioning of said vehicle is based upon a specification comprising an image of the surroundings of said certain position. The method comprises the steps of: determining the current position of said vehicle; prior to automatically driving said vehicle to said certain position, providing an image of said vehicle in said certain position in said image of the surroundings; and automatically driving said vehicle to the position of said image of said vehicle.
The step of determining the current position of the vehicle comprises according to an embodiment using a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the vehicle. The specification comprising an image of the surroundings of said certain position is according to an embodiment obtained by means of extracting map information about the surroundings comprising the position, e.g. a loading/unloading station, at which the vehicle is intended to position itself. Thus, according to an embodiment the method comprises the step of extracting map information about the surrounding comprising map information about said certain position such that an image of the surroundings of said certain position is obtained.
The specification comprising an image of the surroundings of said certain position is a view generally from above. The image of the surroundings of said certain position may be a map view or an earth view.
The image of said vehicle may be accessible from any suitable storage means such as an external storage means such as a server unit, a tablet, a laptop and/or a smartphone or the like, and/or an internal storage means for storing image data arranged in the vehicle, such an internal storage means being comprised in or connected to an electronic control unit of the vehicle.
The step of providing an image of said vehicle in said certain position in said image of the surroundings may be performed by means of dragging and dropping and positioning the image at the certain position. Providing the image of said vehicle in said certain position in said image of the surroundings may be performed by an operator of the vehicle or externally or automatically.
By providing an image of said vehicle in said certain position in said image of the surroundings a safe and efficient automatic driving and positioning of the vehicle said position is facilitated, where said position can be a position such as a loading/unloading station which would have required good driving skills by the driver in order to avoid damage of vehicle and/or position if the driving and positioning would be carried out manually.
According to an embodiment the method comprises the step of determining an image of the configuration of said certain position as a basis for driving said vehicle to said certain position.
According to an embodiment of the method the step of determining an image of the configuration of said certain position comprises the step of creating a current image of said configuration of said certain position and/or providing a stored image of the configuration of said certain position. Such an image is an image viewed generally from the ground in an essentially horizontal direction, i.e. an image taken from a ground position by a person standing on the ground in front of the position, e.g. loading/unloading station, or by means of said vehicle or other vehicle taken in front of the of the position, e.g. loading/unloading station.
The step of creating a current image of said configuration of said certain position may be obtained by means of any suitable image detection unit comprising one or more camera units arranged on the vehicle and/or one or more external camera units such as a camera unit comprised in a smart phone used by an operator of the vehicle. Said one or more camera units arranged on the vehicle may be arranged in connection to the back of the vehicle, in connection to the front of the vehicle, in connection to one or both sides of the vehicle and/or in connection to the roof of the vehicle.
The configuration of said certain position, e.g. loading/unloading station, may comprise the dimensions of the certain position such as possible walls between which the vehicle is intended to be positioned, the height of and distance between such possible walls, possible end wall constituting a stop at which the vehicle is intended to be positioned a certain distance from, a possible platform and the height of such a possible platform, a possible roof portion and the height of the roof portion, i.e. the distance from the ground to the sealing of the roof portion.
By thus determining an image of the configuration of said certain position as a basis for driving said vehicle to said certain position additional information about position is provided thus further improving the automatic driving and positioning of the vehicle. If said image is created by means of an operator of the vehicle and/or by means of a camera unit arranged on said vehicle in connection to the actual driving and positioning of the vehicle at the certain position information about possible changes of the configuration of the certain position, e.g. loading/unloading station, and/or obstacles in connection to the certain position which is not present in the image of the surroundings may be detected and adapted to when automatically positioning the vehicle.
According to an embodiment the method comprises the step of adapting positioning of said vehicle based upon the thus determined image of the configuration of said certain position and the configuration of said vehicle.
The configuration of said vehicle comprises any information relevant for positioning the vehicle in said certain position comprising the dimensions, e.g. height, width and length, of the vehicle, if the vehicle comprises a tractor and a trailer the dimensions comprises dimensions of tractor and trailer, possible tail lift, and the like.
By thus adapting positioning of said vehicle based upon the thus determined image of the configuration of said certain position and the configuration of said vehicle the automatic positioning of said vehicle is further improved in that more detailed information is taken into consideration including the configuration of the position, and the configuration of the vehicle.
According to an embodiment of the method said vehicle is a distribution vehicle and wherein said certain position comprises a loading and/or unloading station for loading and/or unloading said vehicle.
The vehicle may be an autonomous vehicle. The vehicle may be a vehicle in a platoon, wherein the vehicle is intended to be position at a certain position and other vehicles in the platoon are intended to be positioned in other certain positions of a specified surrounding, the different positions according to an embodiment being different loading/unloading stations. The vehicle may be a leading vehicle in a platoon having a driver, wherein the rest of the vehicles are autonomous vehicles intended to trail the leading vehicle, wherein the driver of the leading vehicle of the platoon may provide images of the respective vehicles in the platoon in positions in said image intended for the respective vehicle including the leading vehicle.
Specifically an object of the invention is achieved by a system for facilitating automatic driving of a vehicle to a certain position. Positioning of said vehicle is arranged to be based upon a specification comprising an image of the surroundings of said certain position. The system comprises means for determining the current position of said vehicle; means for providing an image of said vehicle in said certain position in said image of the surroundings prior to automatically driving said vehicle to said certain position; and means for automatically driving said vehicle to the position of said image of said vehicle.
According to an embodiment the system comprises means for determining an image of the configuration of said certain position as a basis for driving said vehicle to said certain position.
According to an embodiment of the system the means for determining an image of the configuration of said certain position comprises means for creating a current image of said configuration of said certain position and/or means for providing a stored image of the configuration of said certain position.
According to an embodiment the system comprises means for adapting positioning of said vehicle based upon the thus determined image of the configuration of said certain position and the configuration of said vehicle.
According to an embodiment of the system said vehicle is a distribution vehicle and wherein said certain position comprises a loading and/or unloading station for loading and/or unloading said vehicle.
The system for facilitating automatic driving of a vehicle to a certain position is adapted to perform the method as set out herein.
The system according to the invention has the advantages according to the corresponding method.
Specifically an object of the invention is achieved by a vehicle comprising a system according to the invention as set out herein.
Specifically an object of the invention is achieved by a computer program for facilitating automatic driving of a vehicle to a certain position, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform the method according to the invention.
Specifically an object of the invention is achieved by a computer program product comprising a digital storage medium storing the computer program.
BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a side view of a vehicle according to the present invention; Fig. 2 schematically illustrates a system for facilitating automatic driving of a vehicle to a certain position according to an embodiment of the present invention; Fig. 3a schematically illustrates a plan view of the position of the vehicle in a surrounding, an image of the surroundings, and an image of said vehicle provided in a certain position in said image of the surroundings according to an embodiment of the present invention; Fig. 3b schematically illustrates a side view of a configuration of a certain position and the vehicle positioned at said certain position; Fig. 3c schematically illustrates a front view of the configuration certain position; Fig. 4 schematically illustrates a block diagram of a method for facilitating automatic driving of a vehicle to a certain position according to an embodiment of the present invention; and Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.
DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a nonphysical connector such as a wireless connection, for example a radio or microwave link.
Hereinafter the term “facilitating automatic driving of a vehicle to a certain position” refers to automatically operating the vehicle from a position to the certain position by propelling and steering the vehicle so as to correctly approach the certain position and positioning the vehicle at the certain position in a safe and efficient manner avoiding damage to the vehicle and configuration of the certain position.
Hereinafter the term “certain position” refers to any location at which a vehicle such as a truck may be positioned. The term “certain position” may comprise the area of the ground on which the vehicle is intended to be positioned and certain additional area of the ground around the vehicle when positioned on the certain position. The term “certain position” may comprise the space of the around the vehicle in which the vehicle is intended to be positioned and certain additional space of the ground around the vehicle when positioned on the certain position. The term “certain position” may comprise a loading/unloading station intended for a distribution vehicle for loading and/or unloading. The term “certain position” may comprise a fuel station intended for a fuel truck to be filled with fuel or deliver fuel.
Hereinafter the term “configuration of the certain position” refers to any construction of the certain position being relevant when driving the vehicle to the certain position and positioning the vehicle in connection to the certain position. The term “configuration of the certain position” may refer to the dimensions of the certain position such as possible walls between which the vehicle is intended to be positioned, the height of and distance between such possible walls, possible end wall constituting a stop at which the vehicle is intended to be positioned a certain distance from, a possible platform and the height of such a possible platform, a possible roof portion and the height of the roof portion, i.e. the distance from the ground to the sealing of the roof portion.
Hereinafter the term “configuration of the vehicle” refers to any information regarding the vehicle relevant for positioning the vehicle in said certain position. The term “configuration of the vehicle” may the dimensions, e.g. height, width and length, of the vehicle, if the vehicle comprises a tractor and a trailer the dimensions comprises dimensions of tractor and trailer, possible tail lift and the extension of such a tail lift from the back of the vehicle in a lowered position and level of the tail lift in a lowered position, possible back doors and their extension in an open state, possible side door/doors which may be sliding doors, the level of the vehicle body and hence level of loading/unloading surfaces at the back of the vehicle and/or side of the vehicle.
According to an embodiment the term “providing an image of said vehicle in said certain position in said image of the surroundings” refers to providing an image of the vehicle in the image of the certain position of the surroundings where the image of the vehicle and the image of the surroundings are the made to the same scale.
The image of said vehicle and image of the surroundings of said certain position are according to an embodiment viewed generally from above. The image of the surroundings of said certain position may be a map view or an earth view.
The image of said vehicle and image of the surroundings of said certain position are according to an embodiment 3D-views.
Fig. 1 schematically illustrates a side view of a vehicle 1 according to the present invention. The exemplified vehicle 1 is a heavy vehicle in the shape of a truck. The vehicle according to the present invention could be any suitable vehicle such as a bus or a car. The vehicle according to the present invention could be an autonomous vehicle. The vehicle comprises a system I for facilitating automatic driving of a vehicle to a certain position.
Fig. 2 schematically illustrates a system I for facilitating automatic driving of a vehicle to a certain position according to an embodiment of the present invention.
The vehicle is according to an embodiment a distribution vehicle and the certain position comprises according to an embodiment a loading and/or unloading station for loading and/or unloading said vehicle.
The system I comprises an electronic control unit 100.
The system I comprises means 110 for determining a specification comprising an image of the surroundings of said certain position.
The means 110 for determining a specification comprising an image of the surroundings of said certain position comprises means 112 for extracting map information of a specification comprising an image of the surroundings of said certain position.
The means 112 for extracting map information specification comprising an image of the surroundings comprises according to an embodiment a map information unit comprising map data comprising information about the surroundings of said certain position and possible specification of the certain position.
The specification comprising an image of the surroundings of said certain position is a view generally from above. The image of the surroundings of said certain position may be a map view or an earth view.
The system I comprises means 120 for determining the current position of said vehicle. The means 120 for determining the current position of said vehicle comprises according to an embodiment a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the vehicle.
The system I comprises according to an embodiment storage means 130 for storing data of said vehicle. The data of said vehicle comprises data of an image of said vehicle. The storage means 130 is according to an embodiment configured to store data of an image of said vehicle viewed from above. Such stored of an image of said vehicle is accessible for providing, e.g. copying, moving, dragging and dropping, to another image such as an image of the surrounding in the form of a map view/earth view. The data of said vehicle comprises data of the configuration of the vehicle comprising data of information relevant for positioning the vehicle in said certain position comprising the dimensions, e.g. height, width and length, of the vehicle, and, where applicable the dimensions of tractor and trailer, data of possible tail lift and the like.
The storage means 130 comprises internal storage means 132 on board the vehicle. The internal storage means 132 may be any suitable means for storing information such as a control unit, a computer or the like. The internal storage means 132 is according to an embodiment comprised in the electronic control unit 100.
The storage means comprises external storage means 134 external to the vehicle. The external storage means 134 may be any suitable external storage means such as a server unit, a personal computer, a tablet, a laptop, a smartphone and/or a so called storage-cloud or the like.
The system I comprises means 140 means for providing an image of said vehicle in said certain position in said image of the surroundings prior to automatically driving said vehicle to said certain position. The means 140 means for providing an image of said vehicle in said certain position in said image of the surroundings comprises means for facilitating dragging and dropping and positioning the image at the certain position such as a smartphone, a table, a laptop or computer having a display arranged to display the image of the vehicle at said certain position. The means 140 means for providing the image of said vehicle in said certain position in said image of the surroundings may be manually operated by an operator of the vehicle or externally or automatically operated.
The system I comprises means 150 for automatically driving said vehicle to the position of said image of said vehicle. The means 150 for automatically driving said vehicle to the position of said image of said vehicle may comprise any suitable drive means for driving the vehicle comprising propelling the vehicle, steering the vehicle, braking the vehicle and controlling drive of the vehicle. The drive means may comprise any suitable drive member such as an internal combustion engine for driving the vehicle, electric drive member comprising an electric motor for electric drive of the vehicle, or a hybrid drive arrangement for hybrid drive of vehicle.
The means 150 for automatically driving said vehicle to the position of said image of said vehicle means 152 for adapting positioning of said vehicle based upon the thus determined image of the configuration of said certain position and the configuration of said vehicle.
The system I thus comprises means 152 for adapting positioning of said vehicle based upon the thus determined image of the configuration of said certain position and the configuration of said vehicle.
The system I comprises means 160 for determining an image of the configuration of said certain position as a basis for driving said vehicle to said certain position.
The means 160 for determining an image of the configuration of said certain position comprises means 162 for creating a current image of said configuration of said certain position. The means 162 for creating a current image of said configuration of said certain position may comprise any suitable image detection unit comprising one or more camera units arranged on the vehicle and/or one or more external camera units such as a camera unit comprised in a smart phone used by an operator of the vehicle. Said one or more camera units arranged on the vehicle may be arranged in connection to the back of the vehicle, in connection to the front of the vehicle, in connection to one or both sides of the vehicle and/or in connection to the roof of the vehicle.
The means 160 for determining an image of the configuration of said certain position comprises means 164 for providing a stored image of the configuration of said certain position.
The system I comprises means 170 for determining the distance from the vehicle to the configuration of the certain position. The means 170 for determining the distance from the vehicle to the configuration of the certain position may comprise one or more detector units arranged on in connection to the back of the vehicle, in connection to the front of the vehicle, in connection to one or both sides of the vehicle and/or in connection to the roof of the vehicle and/or the certain position, e.g. loading/unloading station. The means 170 for determining the distance from the vehicle to the configuration of the certain position may comprise one or more radar units, one or more camera units and/or one or more Lidar units.
The configuration of said certain position, e.g. loading/unloading station, may comprise the dimensions of the certain position such as possible walls between which the vehicle is intended to be positioned, the height of and distance between such possible walls, possible end wall constituting a stop at which the vehicle is intended to be positioned a certain distance from, a possible platform and the height of such a possible platform, a possible roof portion and the height of the roof portion, i.e. the distance from the ground to the sealing of the roof portion. The means 170 for determining the distance from the vehicle to the configuration of the certain position hereby is configured to determine such distances.
The electronic control unit 100 is operably connected to the means 110 for determining a specification comprising an image of the surroundings of said certain position via a link 10. The electronic control unit 100 is via the link 10 arranged to receive a signal from said means 110 representing data for specification comprising an image of the surroundings of said certain position.
The electronic control unit 100 is operably connected to the means 112 for extracting map information specification comprising an image of the surroundings comprises according to an embodiment a map information unit comprising map data comprising information about the surroundings of said certain position and possible specification of the certain position via a link 12. The electronic control unit 100 is via the link 12 arranged to receive a signal from said means 112 representing map data for map information specification comprising an image of the surroundings of said certain position.
The electronic control unit 100 is operably connected to the means 120 for determining the current position of said vehicle via a link 20. The electronic control unit 100 is via the link 20 arranged to receive a signal from said means 120 representing data for current position of said vehicle.
The electronic control unit 100 is operably connected to the storage means 130 for storing data of said vehicle via a link 30. The electronic control unit 100 is via the link 30 arranged to receive a signal from said storage means 130 representing storage data for said vehicle comprising data of an image of said vehicle and data of information relevant for positioning the vehicle in said certain position comprising data of the dimensions of the vehicle.
The electronic control unit 100 is operably connected to the internal storage means 132 on board the vehicle via a link 32. The electronic control unit 100 is via the link 32 arranged to receive a signal from said internal storage means 132 representing storage data for said vehicle comprising data of an image of said vehicle and data of information relevant for positioning the vehicle in said certain position comprising data of the dimensions of the vehicle.
The electronic control unit 100 is operably connected to the external storage means 134 on board the vehicle via a link 34. The electronic control unit 100 is via the link 34 arranged to receive a signal from said external storage means 134 representing storage data for said vehicle comprising data of an image of said vehicle and data of information relevant for positioning the vehicle in said certain position comprising data of the dimensions of the vehicle.
The electronic control unit 100 is operably connected to the means 140 for providing an image of said vehicle in said certain position in said image of the surroundings prior to automatically driving said vehicle to said certain position via a link 40a. The electronic control unit 100 is via the link 40a arranged to send a signal to said means 140 representing data for an image of the surroundings of said certain position.
The electronic control unit 100 is operably connected to the means 140 means for providing an image of said vehicle in said certain position in said image of the surroundings prior to automatically driving said vehicle to said certain position via a link 40b. The electronic control unit 100 is via the link 40b arranged to send a signal to said means 140 representing data for an image of the vehicle.
The electronic control unit 100 is operably connected to the means 140 means for providing an image of said vehicle in said certain position in said image of the surroundings prior to automatically driving said vehicle to said certain position via a link 40c. The electronic control unit 100 is via the link 40c arranged to receive a signal from said means 140 representing data for the image of said vehicle in said certain position in said image of the surroundings.
The electronic control unit 100 is operably connected to means 150 for automatically driving said vehicle to the position of said image of said vehicle via a link 50a. The electronic control unit 100 is via the link 50a arranged to send a signal to said means 150 representing data for the image of said vehicle in said certain position in said image of the surroundings.
The electronic control unit 100 is operably connected to means 150 for automatically driving said vehicle to the position of said image of said vehicle via a link 50b. The electronic control unit 100 is via the link 50b arranged to send a signal to said means 150 representing data for an image of the configuration of said certain position.
The electronic control unit 100 is operably connected to means 150 for automatically driving said vehicle to the position of said image of said vehicle via a link 50c. The electronic control unit 100 is via the link 50c arranged to send a signal to said means 150 representing data for the configuration of said vehicle.
The electronic control unit 100 is operably connected to means 150 for automatically driving said vehicle to the position of said image of said vehicle via a link 50d. The electronic control unit 100 is via the link 50d arranged to send a signal to said means 150 representing data for distance/distances between the vehicle and the configuration of the certain position.
The electronic control unit 100 is operably connected to the means 160 for determining an image of the configuration of said certain position via a link 60. The electronic control unit 100 is via the link 60 arranged to receive a signal from said means 160 representing data for image of the configuration of said certain position.
The electronic control unit 100 is operably connected to the means 162 for creating a current image of said configuration of said certain position via a link 62. The electronic control unit 100 is via the link 62 arranged to receive a signal from said means 162 representing data for image of the configuration of said certain position.
The electronic control unit 100 is operably connected to the means 164 for providing a stored image of the configuration of said certain position via a link 64. The electronic control unit 100 is via the link 64 arranged to receive a signal from said means 164 representing data for image of the configuration of said certain position.
The electronic control unit 100 is operably connected to the means 170 for determining the distance from the vehicle to the configuration of the certain position via a link 70. The electronic control unit 100 is via the link 70 arranged to receive a signal from said means 170 representing data for distance from the vehicle to the configuration of the certain position.
Fig. 3a schematically illustrates a plan view of the position of the vehicle 1 in a surrounding L, an image of the surroundings L, and an image 1i of said vehicle provided in a certain position P4 in said image of the surroundings L according to an embodiment of the present invention.
The surroundings L according to this example is a location where distribution vehicles are intended to drive to certain positions P1 , P2, P3, P4, P5, P6 for loading and/or unloading. The certain positions P1, P2, P3, P4, P5, P6 thus comprises loading and/or unloading stations for loading and/or unloading said vehicle 1. The loading and/or unloading stations are here part of a loading and/or unloading site LS.
Here one vehicle 1 is shown, the vehicle according to this example being a distribution vehicle in the form of a truck. The vehicle 1 may be an autonomous vehicle. The vehicle 1 may according to an embodiment not shown be a vehicle in a platoon, wherein the vehicle is intended to be positioned at any of the certain positions P1 , P2, P3, P4, P5, P6 and other vehicles in the platoon are intended to be positioned any of the remaining certain positions P1 , P2, P3, P4, P5, P6 in the surrounding L.
According to an embodiment of the invention the vehicle arrives to the surroundings L with the intention to drive to a certain position P4, here a loading/unloading station. The current position of the vehicle 1 is determined e.g. by means of a Global Navigation satellite System, GNSS, e.g. of the vehicle. An image of the surrounding is determined, the image according to an embodiment being extracted by means of map information. Hereby an image of the surrounding of the certain position P4, the image being illustrated by the surroundings L in fig. 3a. The image is thus a view from above of the surrounding L of the certain position P4, i.e. loading/unloading station. The image is in the form of a map or an earth view with a desired scale so as to cover the loading site LS and the current position of the vehicle 1.
The vehicle is intended to be automatically driven to the certain position P4, i.e. loading/unloading station. Prior to automatically driving said vehicle 1 to the certain position P4 an image 1a of said vehicle 1 is provided in the certain position P4 in said image of the surroundings L.
Further an image of the configuration of said certain position P4 is determined as a basis for driving said vehicle to said certain position. The image of the configuration of said certain position P4 may be obtained by means of any suitable image detection unit comprising one or more camera units arranged on the vehicle and/or one or more external camera units such as a camera unit comprised in a smart phone used by an operator O of the vehicle. Such an operator O may thus take images of the certain position P4. The operator may take images of other certain positions P1 , P2, P3, P5, P6 for storage and use for other vehicles, e.g. vehicles in a platoon.
Determining an image of the configuration of said certain position P4 may thus be obtained by creating a current image of said configuration of said certain position by means of an image detection unit arranged on the vehicle 1 and/or by the operator O.
Determining an image of the configuration of the certain position P4 may also be obtained by providing a stored image of the configuration of said certain position P4. The stored information may be based upon images created by another vehicle and/or another operator having performed driving and positioning at the certain position P4.
The vehicle 1 is then automatically driven to the position of the image 1i of the vehicle, the image of the configuration of the position P4 being used in addition as a basis for driving the vehicle to the certain position. The automatic driving of the vehicle 1 may be initiated by the operator O of the vehicle, e.g. via a smartphone or the like. The automatic driving of the vehicle 1 may be initiated externally, e.g. by a person not at the surrounding L but located at any desired location. The automatic driving of the vehicle 1 may be initiated automatically, e.g. for an autonomous vehicle, when the above information has been retrieved.
Fig. 3b schematically illustrates a side view of a configuration of the certain position P4 and the vehicle 1 positioned at said certain position P4, and fig. 3c schematically illustrates a front view of the configuration certain position P4.
The configuration of said certain position P4, here loading/unloading station, comprises the dimensions of the certain position P4. The configuration of the certain position P4 comprises walls P4a, P4b between which the vehicle is intended to be positioned providing a width W and a roof portion P4c at a height H, the height H constituting the distance from the ground G to the sealing of the roof portion P4c. The configuration of the certain position P4 comprises a platform Pd and the height of such a possible platform. The configuration of the certain position P4 comprises an end wall P4e constituting a stop at which the vehicle 1 is intended to be positioned a certain distance D1 from.
Means 170 for determining the distance from the vehicle 1 to the configuration of the certain position P4 is provided. The means 170 for determining the distance from the vehicle to the configuration of the certain position may comprise one or more detector units arranged on in connection to the back of the vehicle, in connection to the front of the vehicle, in connection to one or both sides of the vehicle and/or in connection to the roof of the vehicle and/or the certain position, e.g. loading/unloading station.
When automatically driving the vehicle 1 to the certain position P4 adapting positioning of the vehicle 1 one approaching the certain position P4 is based upon the thus determined image of the configuration of said certain position P4 and the configuration of said vehicle. The configuration of the vehicle 1 comprises any information relevant for positioning the vehicle in said certain position comprising the dimensions, e.g. height, width and length, of the vehicle. The vehicle 1 in this example comprises a tail lift TL as illustrated in fig. 3b where the tail lift TL is in a lowered position for loading/unloading the vehicle 1. When automatically adapting the positioning of the vehicle 1 the distance from the tail lift TL to the end wall P4e and distance and height of the platform P4d is information received from image of configuration of the certain position P4 and is taken into consideration together with information about the configuration of the vehicle 1 comprising information about the tail lift TL and the extension of the tail lift TL from the back of the vehicle 1 in the lowered position and possible height adjustment of the tail lift with regard to the ramp P4d.
The configuration of the vehicle comprises the level of the vehicle 1 , i.e. the level of the vehicle body of the vehicle 1 relative to the ground, wherein the level of the vehicle 1 may be adjusted with regard to e.g. the platform P4d of the configuration of the certain position P4.
The positioning at the certain position P4 may be denoted docking. Thus the vehicle 1 is according to an embodiment intended to be docked at the certain position P4. Thus, automatically driving the vehicle 1 to the certain position P4, here a loading/unloading station comprises docking the vehicle 1 at said loading/unloading station.
Fig. 4 schematically illustrates a block diagram of a method for facilitating automatic driving of a vehicle to a certain position. Positioning of said vehicle is based upon a specification comprising an image of the surroundings of said certain position.
According to the embodiment the method for facilitating automatic driving of a vehicle to a certain position comprises a step S1. In this step the current position of said vehicle is determined.
According to the embodiment the method for facilitating automatic driving of a vehicle to a certain position comprises a step S2. In this step, prior to automatically driving said vehicle to said certain position, an image of said vehicle in said certain position in said image of the surroundings is provided.
According to the embodiment the method for facilitating automatic driving of a vehicle to a certain position comprises a step S3. In this step the vehicle is automatically driven to the position of said image of said vehicle.
The step of determining the current position of the vehicle comprises according to an embodiment using a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the vehicle. The specification comprising an image of the surroundings of said certain position is according to an embodiment obtained by means of extracting map information about the surroundings comprising the position, e.g. a loading/unloading station, at which the vehicle is intended to position itself. Thus, according to an embodiment the method comprises the step of extracting map information about the surrounding comprising map information about said certain position such that an image of the surroundings of said certain position is obtained.
The specification comprising an image of the surroundings of said certain position is a view generally from above. The image of the surroundings of said certain position may be a map view or an earth view.
The image of said vehicle may be accessible from any suitable storage means such as an external storage means such as a server unit, a tablet, a laptop and/or a smartphone or the like, and/or an internal storage means for storing image data arranged in the vehicle, such an internal storage means being comprised in or connected to an electronic control unit of the vehicle.
The step of providing an image of said vehicle in said certain position in said image of the surroundings may be performed by means of dragging and dropping and positioning the image at the certain position. Providing the image of said vehicle in said certain position in said image of the surroundings may be performed by an operator of the vehicle or externally or automatically.
By providing a providing an image of said vehicle in said certain position in said image of the surroundings a safe and efficient automatic driving and positioning of the vehicle said position is facilitated, where said position can be a position such as a loading/unloading station which would have required good driving skills by the driver in order to avoid damage of vehicle and/or position if the driving and positioning would be carried out manually.
According to an embodiment the method comprises the step of determining an image of the configuration of said certain position as a basis for driving said vehicle to said certain position.
According to an embodiment of the method the step of determining an image of the configuration of said certain position comprises the step of creating a current image of said configuration of said certain position and/or providing a stored image of the configuration of said certain position. Such an image is an image viewed generally from the ground in an essentially horizontal direction, i.e. an image taken from a ground position by a person standing on the ground in front of the position, e.g. loading/unloading station, or by means of said vehicle or other vehicle taken in front of the of the position, e.g. loading/unloading station.
The step of creating a current image of said configuration of said certain position may be obtained by means of any suitable image detection unit comprising one or more camera units arranged on the vehicle and/or one or more external camera units such as a camera unit comprised in a smart phone used by an operator of the vehicle. Said one or more camera units arranged on the vehicle may be arranged in connection to the back of the vehicle, in connection to the front of the vehicle, in connection to one or both sides of the vehicle and/or in connection to the roof of the vehicle.
The configuration of said certain position, e.g. loading/unloading station, may comprise the dimensions of the certain position such as possible walls between which the vehicle is intended to be positioned, the height of and distance between such possible walls, possible end wall constituting a stop at which the vehicle is intended to be positioned a certain distance from, a possible platform and the height of such a possible platform, a possible roof portion and the height of the roof portion, i.e. the distance from the ground to the sealing of the roof portion.
By thus determining an image of the configuration of said certain position as a basis for driving said vehicle to said certain position additional information about position is provided thus further improving the automatic driving and positioning of the vehicle. If said image is created by means of an operator of the vehicle and/or by means of a camera unit arranged on said vehicle in connection to the actual driving and positioning of the vehicle at the certain position information about possible changes of the configuration of the certain position, e.g. loading/unloading station, and/or obstacles in connection to the certain position which is not present in the image of the surroundings may be detected and adapted to when automatically positioning the vehicle.
According to an embodiment the method comprises the step of adapting positioning of said vehicle based upon the thus determined image of the configuration of said certain position and the configuration of said vehicle.
The configuration of said vehicle comprises any information relevant for positioning the vehicle in said certain position comprising the dimensions, e.g. height, width and length, of the vehicle, if the vehicle comprises a tractor and a trailer the dimensions comprises dimensions of tractor and trailer, possible tail lift, and the like.
By thus adapting positioning of said vehicle based upon the thus determined image of the configuration of said certain position and the configuration of said vehicle the automatic positioning of said vehicle is further improved in that more detailed information is taken into consideration including the configuration of the position, and the configuration of the vehicle.
According to an embodiment of the method said vehicle is a distribution vehicle and wherein said certain position comprises a loading and/or unloading station for loading and/or unloading said vehicle.
The vehicle may be an autonomous vehicle. The vehicle may be a vehicle in a platoon, wherein the vehicle is intended to be position at a certain position and other vehicles in the platoon are intended to be positioned in other certain positions of a specified surrounding, the different positions according to an embodiment being different loading/unloading stations. The vehicle may be a leading vehicle in a platoon having a driver, wherein the rest of the vehicles are autonomous vehicles intended to trail the leading vehicle, wherein the driver of the leading vehicle of the platoon may provide images of the respective vehicles in the platoon in positions in said image intended for the respective vehicle including the leading vehicle.
The method and the method steps described above with reference to fig. 4 are according to an embodiment performed with the system I according to fig. 2.
With reference to figure 5, a diagram of an apparatus 500 is shown. The system I described with reference to fig. 2 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, I/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.
A computer program P is provided comprising routines for facilitating automatic driving of a vehicle to a certain position, positioning of said vehicle being based upon a specification comprising an image of the surroundings of said certain position. According to an embodiment the vehicle is a distribution vehicle and wherein said certain position comprises a loading and/or unloading station for loading and/or unloading said vehicle. The program P comprises routines for determining the current position of said vehicle. The program P comprises routines for prior to automatically driving said vehicle to said certain position, providing an image of said vehicle in said certain position in said image of the surroundings. The program P comprises routines for automatically driving said vehicle to the position of said image of said vehicle. The program P comprises routines for determining an image of the configuration of said certain position as a basis for driving said vehicle to said certain position. The routines for determining an image of the configuration of said certain position comprises routines for creating a current image of said configuration of said certain position and/or providing a stored image of the configuration of said certain position. The program P comprises routines for adapting positioning of said vehicle based upon the thus determined image of the configuration of said certain position and the configuration of said vehicle. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.
Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 511. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100 may be connected.
When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be used by apparatus 500 determining the current position of said vehicle. The signals received on data port 599 can be used by apparatus 500 for, prior to automatically driving said vehicle to said certain position, providing an image of said vehicle in said certain position in said image of the surroundings. The signals received on data port 599 can be used by apparatus 500 for automatically driving said vehicle to the position of said image of said vehicle. The signals received on data port 599 can be used by apparatus 500 for determining an image of the configuration of said certain position as a basis for driving said vehicle to said certain position. The signals received on data port 599 can be used by apparatus 500 for adapting positioning of said vehicle based upon the thus determined image of the configuration of said certain position and the configuration of said vehicle. The signals used by apparatus 500 for determining an image of the configuration of said certain position comprises signals used by apparatus 500 for creating a current image of said configuration of said certain position and/or providing a stored image of the configuration of said certain position.
Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.
The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims (11)

1. A method for facilitating automatic driving of a vehicle to a certain position (P4), positioning of said vehicle (1) being based upon a specification comprising an image of the surroundings (L) of said certain position (P4), comprising the steps of: - determining (S1) the current position of said vehicle; - prior to automatically driving said vehicle (1) to said certain position (P4), providing (S2) an image (1i) of said vehicle in said certain position (P4) in said image of the surroundings (L); and - automatically driving (S3) said vehicle (1 ) to the position of said image (1i) of said vehicle (1), characterized by the step of: - determining an image of the configuration of said certain position (P4) as a basis for driving said vehicle to said certain position (P4), comprising the step of creating a current image of said configuration of said certain position (P4) by means of one or more external camera units used by an operator (O) of the vehicle (1) wherein the operator (O) of the vehicle (1) uses said one or more external camera units for taking one or more images of said configuration of said certain position (P4);
2. A method according to claim 1, wherein the step of determining an image of the configuration of said certain position (P4) comprises the step of providing a stored image of the configuration of said certain position (P4).
3. A method according to claim 1 or 2, comprising the step of adapting positioning of said vehicle (1) based upon the thus determined image of the configuration of said certain position (P4) and the configuration of said vehicle (1).
4. A method according to any of claims 1-3, wherein said vehicle (1) is a distribution vehicle and wherein said certain position comprises a loading and/or unloading station for loading and/or unloading said vehicle (1).
5. A system (I) for facilitating automatic driving of a vehicle (1) to a certain position (P4), positioning of said vehicle (1) being arranged to be based upon a specification comprising an image of the surroundings (L) of said certain position (P4), the system (I) comprising: means (120) for determining the current position of said vehicle; means (140) for providing an image (1i) of said vehicle in said certain position (P4) in said image of the surroundings (L) prior to automatically driving said vehicle (1 ) to said certain position (P4); and means (150) for automatically driving said vehicle to the position of said image of said vehicle, characterized by means (160) for determining an image of the configuration of said certain position (P4) as a basis for driving said vehicle (1) to said certain position (P4), comprising means (162) for creating a current image of said configuration of said certain position (P4), said means (162) for creating a current image of said certain position (P4) comprising one or more external camera units used by an operator (O) of the vehicle (1) wherein the operator (O) of the vehicle (1) uses said one or more external camera units for taking one or more images of said configuration of said certain position (P4).
6. A system according to claim 5, wherein the means (160) for determining an image of the configuration of said certain position (P4) comprises means (164) providing a stored image of the configuration of said certain position (P4).
7. A system according to claim 5 or 6, comprising means (152) for adapting positioning of said vehicle (1) based upon the thus determined image of the configuration of said certain position (P4) and the configuration of said vehicle (1).
8. A system according to any of claims 5-7, wherein said vehicle (1) is a distribution vehicle and wherein said certain position (P4) comprises a loading and/or unloading station for loading and/or unloading said vehicle.
9. A vehicle (1 ) comprising a system (I) according to any of claims 5-8.
10. A computer program (P) for, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-4.
11. A computer program product comprising a digital storage medium storing the computer program according to claim 10.
SE1650382A 2016-03-22 2016-03-22 Method and system for facilitating automatic driving of a vehicle to a certain position SE540315C2 (en)

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EP17770706.4A EP3433150A4 (en) 2016-03-22 2017-03-09 Method and system for facilitating automatic driving of a vehicle to a certain position
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