SE541041C2

SE541041C2 - Method and system for controlling a vehicle on a road with wheel grooves

Info

Publication number: SE541041C2
Application number: SE1650237A
Authority: SE
Inventors: Samuel Malinen
Original assignee: Scania Cv Ab
Priority date: 2016-02-24
Filing date: 2016-02-24
Publication date: 2019-03-19
Also published as: DE102017001288A1; SE1650237A1

Abstract

The present invention relates to a method for controlling driving of a vehicle (1) along a road (R), comprising the step of determining wheel grooves (GL, GR) in the surface (RS) of the road along which the vehicle is travelling. The method comprises the steps of: determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road (R); and, taking measures based upon said determined external conditions so as to facilitate controlling driving along said road (R) taking said determined wheel grooves (GL, GR) into account.The present invention also relates to a system for controlling driving of a vehicle along a road. The present invention also relates to a vehicle. The present invention also relates to a computer program and a computer program product.

Description

METHOD AND SYSTEM FOR CONTROLLING A VEHICLE ON A ROAD WITH WHEEL GROOVES TECHNICAL FIELD The invention relates to a method for controlling driving of a vehicle along a road according to the preamble of claim 1. The invention also relates to a system for controlling driving of a vehicle along a road. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer program product.

BACKGROUND ART When many vehicles such as trucks, buses, cars etc. travel along a road eventually wheel grooves are created on the surface of the road due to wear caused by said vehicles. Such wheel groves may affect driving of the vehicles.

It is known to detect wheel tracks on the road caused by vehicles travelling on the road.

EP2325064 discloses a method in which wheel tracks/grooves are detected and wherein it is calculated such that the vehicle is generally driving on the wheel tracks.

JP2015184747 also discloses detection of wheel tracks and determining how to drive on theses wheel tracks.

There is however a need for improving controlling driving of a vehicle along a road taking wheel grooves into account.

OBJECTS OF THE INVENTION An object of the present invention is to provide a method for controlling driving of a vehicle along a road which improves safety.

Another object of the present invention is to provide a system for controlling driving of a vehicle along a road which improves safety.

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 controlling driving of a vehicle along a road. The method comprises the step of determining wheel grooves in the surface of the road along which the vehicle is travelling. The method further comprises the steps of: determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road; and, taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account, the method further comprises that if said determined external conditions involves weather conditions comprising rain fall on the road along which the vehicle is travelling and/or road conditions comprising water in the grooves, the step of taking measures comprises changing the lateral position of the vehicle so that the vehicle wheels are driving on the side of the wheel grooves and/or warning the operator of the vehicle of risk of aquaplaning comprising recommended actions comprising positioning the vehicle such that it is not driven in the wheel grooves.

The thus determined wheel grooves are grooves made by wear on the surface of the road caused by a large number of vehicles having travelled along the road.

The wheel grooves may be determined continuously or intermittently by means of detecting the surface of the road along which the vehicle is travelling by means of any suitable detection means comprising one or more Lidar units, i.e. laser scanner units, and/or one or more camera units and/or one or more radar units arranged on the vehicle. Information regarding wheel grooves along the road on which the vehicle is travelling obtained from detecting the surface of the road may be used/processed during drive of the vehicle. Information regarding wheel grooves along the road on which the vehicle is travelling obtained from detecting the surface of the road may be stored in any suitable storage means comprising any suitable internal storage means of the particular vehicle and/or any suitable external storage means such as a server unit or the like. Other vehicles may also provide information about the wheel grooves to an external storage means being accessible to other vehicles. Such stored information about wheel grooves is stored as map data together with map data for the particular road and the extension of the particular road. Such stored information about wheel grooves is according to an embodiment accessible for other vehicles through map data.

The determined wheel grooves may comprise information about the extent of the grooves, i.e. whether the grooves are relatively deep e.g. due to long time since new asphalt or the like was put on the road and due to many vehicle having worn out the road, or whether the grooves are not particularly deep or somewhere in-between.

Weather conditions may be determined by means of weather sensors comprising any suitable rain sensor e.g. arranged in connection to the windshield, any suitable temperature sensor, any suitable wind sensor. Weather conditions may be determined by means of external weather data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.

Road conditions may be determined by means of any suitable detector means comprising any suitable detector unit for detecting the surface of the road along which the vehicle is travelling such as one or more camera units and/or one or more laser scanner units and/or one or more radar units. Road conditions may be determined by means of external data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.

Thus determined weather conditions may comprise rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like. Thus determined road conditions may comprise slippery road due to e.g. ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, curves of the road or other road conditions that may affect driving along the road.

By thus determining wheel grooves of the road along which the vehicle is travelling and determining weather conditions and/or road conditions and taking measure based upon the wheel grooves and the current conditions safety is improved in that the risk of accident such as aquaplaning due to water in the grooves may be prevented.

The measures taken may vary due to the current conditions.

By rainfall to a certain degree the measure taken may involve reducing the speed of the vehicle, changing the lateral position of the vehicle such that the wheels of the vehicle are not travelling in the grooves but beside the grooves, such a measure being dependent on the width of the lane, the lane having to be wide enough to be able to safely travel beside the wheel grooves. For a non-autonomous vehicle, i.e. a vehicle having an operator driving the vehicle, a warning may also be provided to the operator of the vehicle of the risk of aquaplaning and possible recommended actions such as lowering the vehicle speed and/or positioning the vehicle such that it is not driven in the wheel grooves.

By slippery road and/or heavy side wind and/or heavy curves the measure taken may involve reducing the speed of the vehicle, having a lateral position of the vehicle such that the wheels of the vehicle are travelling in the grooves, the grooves in such a situation assisting in keeping the vehicle on the road. For a non-autonomous vehicle, i.e. a vehicle having an operator driving the vehicle, a warning may also be provided to the operator of the vehicle of the risk of slippery road and/or heavy side wind and/or heavy curves and possible recommended actions such as lowering the vehicle speed and/or positioning the vehicle such that it is driven in the wheel grooves.

The vehicle may be any vehicle driving on a road comprising a truck, a bus or a car. The vehicle could also be a motor cycle, where a motor cycle may require other measures to be taken, e.g. avoid wheel grooves to a greater extent.

According to an embodiment of the method the step of determining wheel grooves in the surface of the road along which the vehicle is travelling comprises the step of detecting the surface of the road so as to determine wheel grooves. Detecting the surface of the road comprises according to an embodiment detecting the width of the lane of the road along which the vehicle is travelling. Detecting the surface of the road and the width of the lane of the road along which the vehicle is travelling comprises detecting the relative position of the wheel grooves along the lane and the possibility for the vehicle to safely drive on the left side of the wheel grooves, i.e. position the vehicle such that the left wheels are on the left side of the left wheel groove and right wheels are on the left side of the right wheel groove, and/or on the right side of the wheel grooves, i.e. position the vehicle such that the left wheels are on the right side of the left wheel groove and right wheels are on the right side of the right wheel groove. Detecting the surface of the road and thus detecting possible existence of wheel grooves is a very efficient way of determining the existence of the wheel grooves with high accuracy of the position of the wheel grooves. Detecting of the wheel grooves may be performed by means of any suitable detection means as mentioned above. Information/data about thus detected wheel grooves may be stored in any suitable internal and/or external storage means as mentioned above. By thus detecting the surface of the road it may be possible to detect road conditions such as ice on the road, snow on the road, water on the road or the like, and it is according to an embodiment also possible to detect water in the wheel grooves, i.e. possible to detect the wheel grooves even when they are filled with water.

According to an embodiment of the method the step of determining wheel grooves in the surface of the road along which the vehicle is travelling comprises the steps of: determining the current position of the vehicle; and extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling. Hereby information about wheel grooves may be obtained for a vehicle which is not equipped with detection means for detecting wheel grooves. Hereby information about wheel grooves may be obtained at an earlier stage, e.g. prior to when it possible to detect the wheel grooves by means of detection means arranged on the vehicle, such that measures may be taken earlier and thus further reducing the risk for incidents/accidents such as aquaplaning due to heavy rainfall and water in the grooves.

According to an embodiment of the method the step of taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account comprises one or more of: adapting the speed of the vehicle, adapting the lateral position of the vehicle relative to the determined wheel grooves, warning a possible operator of the vehicle. Such measures will improve safety and control of the driving of the vehicle along the road.

According to an embodiment the method further comprises the step of communicating information about possible risk due to current external conditions and said wheel grooves on the road to other vehicles within a vehicle-to-vehicle communication arrangement and/or to infrastructure within a vehicle-to-infrastructure communication arrangement. By communicating information about possible risk due to current external conditions and said wheel grooves on the road to other vehicles within a vehicle-to-vehicle communication arrangement other vehicle equipped with such vehicle-tovehicle arrangement are informed about the risk and may take proper measures such as reducing speed and/or changing lateral position relative to the wheel grooves in the case of risk of aquaplaning due to rainfall. The vehicle-to-vehicle communication may be to vehicles behind the vehicle but also oncoming vehicles. Thus safety is improved. By communicating information about possible risk due to current external conditions and said wheel grooves on the road to infrastructure within a vehicle-to-infrastructure communication arrangement other vehicles may be informed via infrastructure about the risk. Infrastructure may comprise electronic signs arranged in connection to the road along which the vehicle is travelling. Infrastructure may comprise external servers or the like configured to provide infrastructure-tovehicle information about the current risk to other vehicles. Infrastructure may comprise external servers or the like configured to provide traffic warning via radio.

According to an embodiment of the method, if said determined external conditions involves weather conditions comprising rain fall on the road along which the vehicle is travelling, the step of taking measures comprises reducing the speed of the vehicle, and/or warning the operator of the vehicle of risk of aquaplaning comprising recommended actions comprising lowering the vehicle speed. Hereby safer driving of the vehicle is facilitated in that the risk for aquaplaning is reduced.

Specifically an object of the invention is achieved by a system for controlling driving of a vehicle along a road. The system comprises means for determining wheel grooves in the surface of the road along which the vehicle is travelling.

The system further comprises means for determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road; and means for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account. The system further comprises that if said determined external conditions involves weather conditions comprising rain fall on the road along which the vehicle is travelling and/or road conditions comprising water in the grooves, the means for taking measures comprises means changing the lateral position of the vehicle so that the vehicle wheels are driving on the side of the wheel grooves and/or means for warning the operator of the vehicle of risk of aquaplaning comprising recommended actions comprising positioning the vehicle such that it is not driven in the wheel grooves According to an embodiment of the system the means for determining wheel grooves in the surface of the road along which the vehicle is travelling comprises means for detecting the surface of the road so as to determine wheel grooves.

According to an embodiment of the system the means for determining wheel grooves in the surface of the road along which the vehicle is travelling comprises means for determining the current position of the vehicle; and means for extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling.

According to an embodiment of the system the means for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account comprises one or more of: means for adapting the speed of the vehicle, means for adapting the position of the vehicle relative to the determined wheel grooves, means for warning a possible operator of the vehicle.

According to an embodiment the system further comprises means for communicating information about possible risk due to current external conditions and said wheel grooves on the road to other vehicles within a vehicle-to-vehicle communication arrangement and/or means for communicating information about possible risk due to current external conditions and said wheel grooves on the road to infrastructure within a vehicle-to-infrastructure communication arrangement.

According to an embodiment of the system, wherein, if said determined external conditions involves weather conditions comprising rain fall on the road along which the vehicle is travelling, the means for taking measures comprises means for reducing the speed of the vehicle and/or means for warning the operator of the vehicle of risk of aquaplaning comprising recommended actions comprising lowering the vehicle speed.

The system for controlling driving of a vehicle along a road is adapted to perform the methods as set out herein.

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

Specifically an object of the invention is achieved by a vehicle comprising a system as set out herein.

Specifically an object of the invention is achieved by a computer program for controlling driving of a vehicle along a road, 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 methods as set out herein.

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. 2a schematically illustrates a plan view of a road with two lanes with wheel grooves in the surface of the road; Fig. 2b schematically illustrates a profile of a lane of the road in fig. 2a; Fig. 2c schematically illustrates the profile of the lane in fig 2b with a vehicle laterally positioned within wheel grooves; Fig. 2d schematically illustrates the profile of the lane in fig 2b with a vehicle laterally positioned beside the wheel grooves; Fig. 3 schematically illustrates a block diagram of a system for controlling driving of a vehicle along a road according to an embodiment of the present invention; Fig. 4 schematically illustrates a block diagram of a method for controlling driving of a vehicle along a road 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 “wheel grooves” refers to grooves along lanes of the road generally caused by multiple vehicles having travelled along the road on within essentially the same lateral position causing wear on the road surface resulting in grooves along the road, i.e. along the respective lane of a road. The term “wheel grooves” refers to essentially parallel grooves running along the road, i.e. a lane of a road, the distance between the essentially parallel grooves generally corresponding to the distance between the wheels of the vehicles having travelled along the road. The term “wheel grooves” refers to concave wearing outs on the surface of the road.

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 or a motor cycle. The vehicle according to the present invention could be an autonomous vehicle. The vehicle comprises a system I for controlling driving of the vehicle 1 along a road R according to the present invention.

Fig. 2a schematically illustrates a plan view of a road R with two lanes L1, L2 with wheel grooves GL, GR in the surface RS of the road R.

The respective lane L1, L2 have wheel grooves created in the surface of the road due to wear caused by driving of vehicles along said road R over time. The lane L1 of the road has a left groove GL and a right groove GR, the left and right grooves GL, GR corresponding to left and right wheels of the vehicles having created the wheel grooves.

A vehicle 1 is driving along the road R in the lane L1 . The vehicle comprises a system I for controlling driving of the vehicle 1 along the road R according to the present invention. The vehicle 1 is laterally positioned in the lane L1 such that the wheels of the vehicle are running in the wheel grooves.

The vehicle 1, i.e. the system I, comprises means for determining the wheel grooves GL, GR. The means for determining the wheel grooves GL, GR may comprise means 112 for detecting the road R and hence the grooves. The vehicle 1, i.e. the system I, comprises means for determining weather conditions such as rainfall and road conditions in connection to the road along which the vehicle 1 is travelling. The vehicle 1, i.e. the system I, comprises means for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account.

The vehicle is according to an embodiment provided with detection means for detecting the surface of the road so as to detect wheel grooves. The detection means may comprises any suitable detector unit comprising any suitable camera unit and/or any suitable laser scanner unit and/or any suitable radar unit. The detector unit is according to an embodiment also configured to detect the width of the lane L1.

Fig. 2b schematically illustrates a profile of a lane L1 of the road in fig. 2a. The lane L1 has a width W, which may be determined by means of the detector unit of the vehicle 1.

Fig. 2c schematically illustrates the profile of the lane in fig 2b with a vehicle laterally positioned within wheel grooves.

Fig. 2d schematically illustrates the profile of the lane in fig 2b with a vehicle laterally positioned beside the wheel grooves.

Fig. 3 schematically illustrates a system I for controlling driving of a vehicle along a road according to an embodiment of the present invention.

The system I comprises an electronic control unit 100.

The system I comprises means 110 for determining wheel grooves in the surface of the road along which the vehicle is travelling.

The means 110 for determining wheel grooves in the surface of the road along which the vehicle is travelling comprises means 112 for detecting the surface of the road so as to determine wheel grooves. The means 112 for detecting the surface of the road is arranged to detect wheel grooves in the surface of the road. The means 112 for detecting the surface of the road is according to an embodiment arranged to detect the width of the lane of the road along which the vehicle is travelling.

The means 112 for detecting the surface of the road so as to determine wheel grooves may comprise any suitable detector unit. The means 112 for detecting the surface of the road and hence wheel grooves in the road comprises according to an embodiment one or more Lidar units, i.e. laser scanner units, and/or one or more camera units and/or one or more radar units. The means 112 for detecting the surface of the road and hence wheel grooves in the road is arranged on the vehicle driving along the road.

The means 110 for determining wheel grooves in the surface of the road along which the vehicle is travelling is according to an embodiment based on current position of the vehicle and extracted map information of wheel grooves in the surface of the road along which the vehicle is travelling.

The means 110 for determining wheel grooves in the surface of the road along which the vehicle is travelling comprises means 114 for determining the current position of the vehicle.

The means 114 for determining the position of the vehicle comprises according to an embodiment a global positioning system, GPS, for continuously determining the position of the vehicle along the road on which it is travelling.

The means 110 for determining wheel grooves in the surface of the road along which the vehicle is travelling comprises means 116 for extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling.

The means 116 for extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling comprises according to an embodiment a map information unit comprising map data comprising information about the trajectory of the road on which the vehicle is travelling comprising information about wheel grooves in the surface of the road along which the vehicle is travelling.

The system I comprises according to an embodiment storage means 120 for storing data of detected wheel grooves. The storage means 120 is according to an embodiment configured to store data of the degree of hazard the detected wheel grooves may constitute, e.g. how deep the wheel grooves are.

The storage means 120 comprises internal storage means 122 on board the vehicle. The internal storage means 122 may be any suitable means for storing information such as a control unit, a computer or the like. The internal storage means 122 is according to an embodiment comprised in the electronic control unit 100.

The storage means comprises external storage means 124 external to the vehicle. The external storage means 124 may be any suitable external storage means such as a sever unit, a computer, a tablet or the like. Other vehicles may also provide information about the wheel grooves to the external storage means 124. The external storage means 124 is thus according to an embodiment accessible to other vehicles. Such stored information about wheel grooves is stored as map data together with map data for the particular road and the extension of the particular road. Such stored information about wheel grooves is according to an embodiment accessible for other vehicles through map data.

The means 116 for extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling is according to an embodiment configured to extract map information of wheel grooves in the surface of the road along which the vehicle is travelling from the external storage means 124. The means 116 for extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling is according to an embodiment configured to extract map information of wheel grooves in the surface of the road along which the vehicle is travelling from the internal storage means 122.

The system I further comprises means 130 for determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road.

The means 130 for determining external conditions comprises means 132 for determining weather conditions in connection to the vehicle driving along said road.

The means 132 for determining weather conditions in connection to the vehicle driving along said road may comprise any suitable means for determining weather conditions.

The means 132 for determining weather conditions in connection to the vehicle driving along said road comprises one or more weather sensor units. The weather sensor units may comprise one or more rain sensor units. The weather sensor units may comprise one or more temperature sensor units. The weather sensor units may comprise one or more wind sensor units.

The means 132 for determining weather conditions in connection to the vehicle driving along said road comprises according to an embodiment means for extracting external weather data from one or more external weather data units comprising any suitable external server unit. The means 132 for determining weather conditions in connection to the vehicle driving along said road comprises one or more external weather data units.

Thus determined weather conditions may comprise rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like.

The means 130 for determining external conditions comprises means 134 for determining road conditions in connection to the vehicle driving along said road.

The means 134 for determining road conditions in connection to the vehicle driving along said road comprises means for detecting road conditions in connection to the vehicle driving along said road. The means for detecting road conditions comprises any suitable detector unit for detecting the surface of the road along which the vehicle is travelling such as one or more camera units and/or one or more laser scanner units and/or one or more radar units. The means 134 for determining road conditions in connection to the vehicle driving along said road comprises according to an embodiment the means 112 for detecting the surface of the road. Thus the means 112 for detecting the surface of the road is according to an embodiment arranged to detect road conditions.

The means 134 for determining road conditions in connection to the vehicle driving along said road comprises means for extracting information about road conditions from one or more external units comprising any suitable server unit.

Thus determined road conditions may comprise slippery road due to e.g. ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, curves of the road or other road conditions that may affect driving along the road.

The system I comprises means 140 for determining the speed of the vehicle. The means 140 for determining the speed of the vehicle comprises according to an embodiment the speedometer of the vehicle.

The system I further means 150 for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account.

The means 150 for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account comprises one or more of: means for adapting the speed of the vehicle, means for adapting the position of the vehicle relative to the determined wheel grooves, means for warning a possible operator of the vehicle.

The means 150 for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account comprises means 152 for adapting the speed of the vehicle.

The means 152 for adapting the speed of the vehicle comprises means for reducing the speed.

The means 152 for adapting the speed of the vehicle comprises means for controlling the brakes of the vehicle. The means for controlling the brakes of the vehicle may comprise one or more electronic control units. The means for controlling the brakes comprises activating brakes to a certain degree so as to reduce the speed of the vehicle. The means for controlling the brakes of the vehicle may comprise or be comprised in the electronic control unit 100.

The means 152 for adapting the speed of the vehicle comprises means for controlling torque demand to the drive means, e.g. internal combustion engine, of the vehicle. The means for controlling the torque demand may comprise one or more electronic control units. The means for controlling the torque demand may comprise or be comprised in the electronic control unit 100.

The means 150 for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account comprises means 154 means for adapting the position of the vehicle relative to the determined wheel grooves.

The means 154 means for adapting the position of the vehicle relative to the determined wheel grooves. The means for adapting the position of the vehicle relative to the determined wheel grooves comprises means for controlling the steering of the vehicle. The means for controlling the steering of the vehicle may comprise one or more electronic control units. The means for controlling the steering of the vehicle may comprise or be comprised in the electronic control unit 100.

The means 150 for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account comprises means 156 for warning a possible operator of the vehicle. The means 156 for warning an operator comprises warning the operator of the risk due to the wheel grooves and the current external conditions comprising weather conditions and/or road conditions. The means 156 for warning an operator comprises according to an embodiment providing recommendations based on the current situation.

The means 156 for warning an operator of the vehicle comprises visual means for visual warning. The visual means for visual warning comprises according to an embodiment one or more display units on e.g. the instrument panel, a head-up-display on the windshield or the like, for displaying said warning comprising information regarding the risk due to the wheel grooves and the current external conditions. The visual means for visual warning comprises according to an embodiment one or more projection units for warning the operator of the vehicle by projection of a light source, said projection according to a variant being on the ground surface in connection to the vehicle. Said projection unit for warning the operator of the vehicle by projection of a light source may be configured to project light sources in the wheel grooves, i.e. a certain extension of the wheel grooves in front of the vehicle and/or light sources next to the wheel grooves constituting recommendation where the vehicle should drive, if the external conditions are such that it is safer to drive on the side of the wheel grooves, e.g. by rainfall and sufficiently wide lane of the road.

The means for warning an operator of the vehicle comprises according to an embodiment sound means for audible warning such as an alarm, a voice message or the like.

The means for warning an operator of the vehicle comprises according to an embodiment tactile means such as vibrating/moving the seat of the operator, the steering wheel, the gas pedal, the brake pedal or the like so as to draw attention to the operator of the risk due to the wheel grooves and the current external conditions. The tactile means may be a complement to the visual means and/or the sound means in order to get the attention of the operator of the vehicle.

According to an embodiment of the system I the means 150 for taking measures comprises the means 152 for reducing the speed of the vehicle and/or the means 154 for changing the lateral position of the vehicle so that the vehicle wheels are driving on the side of the wheel grooves, and/or the means 156 for warning the operator of the vehicle of risk of aquaplaning, if the means 130 for determining external conditions determines weather conditions comprising rain fall on the road along which the vehicle is travelling.

The system I further comprises means 160 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to other vehicles within a vehicle-to-vehicle communication arrangement V2V. The other vehicle may comprise means 200 for receiving and communicating information, e.g. an electronic control unit or the like.

The system I further comprises means 170 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to infrastructure within a vehicle-to-infrastructure communication arrangement V2l. The infrastructure may comprise means 300 for receiving and communicating information, e.g. an electronic control unit, an electronic sign or the like.

The means 170 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to infrastructure within a vehicle-to-infrastructure communication arrangement comprises according to an embodiment communicating the information to an electronic sign arranged in connection to the road along which the vehicle is travelling.

The means 170 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to infrastructure within a vehicle-to-infrastructure communication arrangement comprises according to an embodiment communicating the information to external servers or the like configured to provide infrastructure-to-vehicle information about the current risk to other vehicles. Infrastructure may comprise external servers or the like configured to provide traffic warning via radio.

The electronic control unit 100 is operably connected to the means 110 for determining wheel grooves in the surface of the road along which the vehicle is travelling 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 wheel grooves in the surface of the road along which the vehicle is travelling.

The electronic control unit 100 is operably connected to the means 110 for determining wheel grooves in the surface of the road along which the vehicle is travelling 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 wheel grooves in the surface of the road along which the vehicle is travelling.

The electronic control unit 100 is operably connected to the means 112 for detecting the surface of the road so as to determine wheel grooves via a link 12. The electronic control unit 100 is via the link 12 arranged to receive a signal from said means 112 representing data wheel grooves in the surface of the road along which the vehicle is travelling.

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

The electronic control unit 100 is operably connected to the means 116 for extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling via a link 16a. The electronic control unit 100 is via the link 16a arranged to send a signal to said means 116 representing data for wheel grooves in the surface of the road along which the vehicle is travelling.

The electronic control unit 100 is operably connected to the means 116 for extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling via a link 16b. The electronic control unit 100 is via the link 16b arranged to receive a signal from said means 116 representing data for wheel grooves in the surface of the road along which the vehicle is travelling.

The electronic control unit 100 is operably connected to the means 120 for storing data of detected wheel grooves via a link 20. The electronic control unit 100 is via the link 20 arranged to send a signal to said means 120 representing data for detected wheel grooves in the surface of the road along which the vehicle is travelling.

The electronic control unit 100 is operably connected to the internal storage means 122 on board the vehicle via a link 22. The electronic control unit 100 is via the link 22 arranged to send a signal to said internal storage means 122 on board the vehicle representing data for detected wheel grooves in the surface of the road along which the vehicle is travelling.

The electronic control unit 100 is operably connected to the external storage means 124 on board the vehicle via a link 24a. The electronic control unit 100 is via the link 24a arranged to send a signal to said external storage means 124 representing data for detected wheel grooves in the surface of the road along which the vehicle is travelling.

The electronic control unit 100 is operably connected to the external storage means 124 on board the vehicle via a link 24b. The electronic control unit 100 is via the link 24b arranged to receive a signal from said external storage means 124 representing data for wheel grooves in the surface of the road along which the vehicle is travelling.

The electronic control unit 100 is operably connected to the means 130 for determining external conditions via a link 30. The electronic control unit 100 is via the link 30 arranged to receive a signal from said means 130 representing data for external conditions comprising weather conditions and/or road conditions.

The electronic control unit 100 is operably connected to the means 132 for determining weather conditions in connection to the vehicle driving along said road via a link 32. The electronic control unit 100 is via the link 32 arranged to receive a signal from said means 132 representing data for weather conditions such as rain conditions, wind conditions, temperature conditions.

The electronic control unit 100 is operably connected to the means 134 for determining road conditions in connection to the vehicle driving along said road via a link 34. The electronic control unit 100 is via the link 34 arranged to receive a signal from said means 130 representing data for road conditions.

The electronic control unit 100 is operably connected to the means 140 for determining the speed of the vehicle via a link 40. The electronic control unit 100 is via the link 40 arranged to receive a signal from said means 140 representing data for current speed of the vehicle.

The electronic control unit 100 is operably connected to the means 150 for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account via a link 50. The electronic control unit 100 is via the link 50 arranged to send a signal to said means 150 representing data for taking measures comprising data for adapting the speed and/or data for adapting the lateral position and/or data for warning an operator of the vehicle.

The electronic control unit 100 is operably connected to the means 152 for adapting the speed of the vehicle via a link 52. The electronic control unit 100 is via the link 52 arranged to send a signal to said means 152 representing data for adapting the speed of the vehicle.

The electronic control unit 100 is operably connected to the means 154 means for adapting the position of the vehicle relative to the determined wheel grooves via a link 54. The electronic control unit 100 is via the link 54 arranged to send a signal to said means 154 representing data for adapting the lateral position of the vehicle.

The electronic control unit 100 is operably connected to the means 156 for warning a possible operator of the vehicle via a link 56. The electronic control unit 100 is via the link 56 arranged to send a signal to said means 156 representing data for warning an operator of the vehicle comprising data for visual warning and/or data for sound warning and/or data for tactile warning.

The electronic control unit 100 is operably connected to the means 160 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to other vehicles within a vehicle-to-vehicle communication arrangement V2V via a link 60a. The electronic control unit 100 is via the link 60a arranged to send a signal to said means 160 representing data about possible risk due to current external conditions and said wheel grooves on the road to be communicated to other vehicle/vehicles.

The electronic control unit 100 is operably connected to the means 160 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to other vehicles within a vehicle-to-vehicle communication arrangement V2V via a link 60b. The electronic control unit 100 is via the link 60b arranged to receive a signal from said means 160 representing data about possible risk due to current external conditions and said wheel grooves on the road communicated from other vehicle/vehicles.

The means 160 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to other vehicles within a vehicle-to-vehicle V2V communication arrangement is operably connected to means 200 for communicating, i.e. sending and/or receiving information via links, the means 200 being means for one or more vehicles.

The electronic control unit 100 is operably connected to the means 170 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to infrastructure within a vehicle-to-infrastructure communication arrangement V2l via a link 70a. The electronic control unit 100 is via the link 70a arranged to send a signal to said means 170 representing data about possible risk due to current external conditions and said wheel grooves on the road to be communicated to infrastructure.

The electronic control unit 100 is operably connected to the means 170 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to infrastructure within a vehicle-to-infrastructure communication arrangement V2l via a link 70b. The electronic control unit 100 is via the link 70b arranged to receive a signal from said means 170 representing data about possible risk due to current external conditions and said wheel grooves on the road communicated from infrastructure.

The means 170 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to infrastructure within a vehicle-to-infrastructure communication arrangement V2l is operably connected to means 300 for communicating, i.e. sending and/or receiving information via links.

Fig. 4 schematically illustrates a block diagram of a method for facilitating driving of a vehicle along a road according to an embodiment of the present invention.

According to the embodiment the method for facilitating driving of a vehicle along a road comprises a step S1. In this step wheel grooves in the surface of the road along which the vehicle is travelling are determined.

According to the embodiment the method for facilitating driving of a vehicle along a road comprises a step S2. In this step external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road are determined.

According to the embodiment the method for facilitating driving of a vehicle along a road comprises a step S3. In this step measures based upon said determined external conditions are taken so as to facilitate controlling driving along said road taking said determined wheel grooves into account.

The wheel grooves may be determined continuously or intermittently by means of detecting the surface of the road along which the vehicle is travelling by means of any suitable detection means.

Information regarding wheel grooves along the road on which the vehicle is travelling obtained from detecting the surface of the road may be stored in internal storage means on board the vehicle and/or external storage means such as a server unit or the like. Other vehicles may also provide information about the wheel grooves to an external storage means.

The step of determining the wheel grooves may comprise determining the extent of the grooves, i.e. whether the grooves are relatively deep e.g. due to long time since new asphalt or the like was put on the road and due to many vehicle having worn out the road, or whether the grooves are not particularly deep or somewhere in-between.

Weather conditions may be determined by means of weather sensors. Weather conditions may be determined by means of external weather data from any external provider/server.

Road conditions may be determined by means of any suitable detector means. Road conditions may be determined by means of external data from any external provider/server.

By thus determining wheel grooves of the road along which the vehicle is travelling and determining weather conditions and/or road conditions and taking measure based upon the wheel grooves and the current conditions safety is improved in that the risk of accident such as aquaplaning due to water in the grooves may be prevented. The measures taken may vary due to the current conditions.

According to an embodiment of the method the step S1 of determining wheel grooves in the surface of the road along which the vehicle is travelling comprises the step of detecting the surface of the road so as to determine wheel grooves. Detecting the surface of the road comprises according to an embodiment detecting the width of the lane of the road along which the vehicle is travelling. By thus detecting the surface of the road it may be possible to detect road conditions such as ice on the road, snow on the road, water on the road or the like, and it is according to an embodiment also possible to detect water in the wheel grooves, i.e. possible to detect the wheel grooves even when they are filled with water.

According to an embodiment of the method the step S1 of determining wheel grooves in the surface of the road along which the vehicle is travelling comprises the steps of: determining the current position of the vehicle; and extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling. Hereby information about wheel grooves may be obtained for a vehicle which is not equipped with detection means for detecting wheel grooves. Hereby information about wheel grooves may be obtained at an earlier stage, e.g. prior to when it possible to detect the wheel grooves by means of detection means arranged on the vehicle, such that measures may be taken earlier and thus further reducing the risk for incidents/accidents such as aquaplaning due to heavy rainfall and water in the grooves.

According to an embodiment of the method the step S3 of taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account comprises one or more of: adapting the speed of the vehicle, adapting the lateral position of the vehicle relative to the determined wheel grooves, warning a possible operator of the vehicle. Such measures will improve safety and control of the driving of the vehicle along the road.

According to an embodiment of the method, if said determined external conditions involves weather conditions comprising rain fall on the road along which the vehicle is travelling, the step S3 of taking measures comprises reducing the speed of the vehicle and/or changing the lateral position of the vehicle so that the vehicle wheels are driving on side of the wheel grooves, and/or warning the operator of the vehicle of risk of aquaplaning. Hereby safer driving of the vehicle is facilitated in that the risk for aquaplaning is reduced.

With reference to figure 5, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 3 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, l/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 controlling driving of a vehicle along a road according to an embodiment of the present invention. The program P comprises routines for determining wheel grooves in the surface of the road along which the vehicle is travelling. The program P comprises routines for determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road. The program P comprises routines for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account. The routines for determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road comprises routines for detecting the surface of the road so as to determine wheel grooves. The routines for determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road comprises routines for determining the current position of the vehicle; and extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling. Hereby information about wheel grooves may be obtained for a vehicle which is not equipped with detection means for detecting wheel grooves. The routines for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account comprises one or more of routines for: adapting the speed of the vehicle, adapting the lateral position of the vehicle relative to the determined wheel grooves, warning a possible operator of the vehicle. The program P comprises routines for communicating information about possible risk due to current external conditions and said wheel grooves on the road to other vehicles within a vehicle-to-vehicle communication arrangement and/or to infrastructure within a vehicle-to-infrastructure communication arrangement. 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 516. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 513. 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 515. 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 for determining wheel grooves in the surface of the road along which the vehicle is travelling. The signals received on data port 599 can be used by apparatus 500 for determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road. The signals received on data port 599 can be used by apparatus 500 for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account. The signals used for determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road comprises signals used for detecting the surface of the road so as to determine wheel grooves. The signals used for determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road comprises signals used for determining the current position of the vehicle; and extracting map information of wheel grooves in the surface of the road along which the vehicle is travelling. Hereby information about wheel grooves may be obtained for a vehicle which is not equipped with detection means for detecting wheel grooves. The signals used for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road taking said determined wheel grooves into account comprises one or more of signals used for: adapting the speed of the vehicle, adapting the lateral position of the vehicle relative to the determined wheel grooves, warning a possible operator of the vehicle. The signals received on data port 599 can be used by apparatus 500 for communicating information about possible risk due to current external conditions and said wheel grooves on the road to other vehicles within a vehicle-to-vehicle communication arrangement and/or to infrastructure within a vehicle-to-infrastructure communication arrangement.

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

1. A method for controlling driving of a vehicle (1) along a road (R), comprising the step of determining (S1) wheel grooves (GL, GR) in the surface (RS) of the road along which the vehicle is travelling, said method comprising the steps of: - determining (S2) external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road (R); and - taking measures (S3) based upon said determined external conditions so as to facilitate controlling driving along said road (R) taking said determined wheel grooves (GL, GR) into account, characterized in that, if said determined external conditions involves weather conditions comprising rain fall on the road along which the vehicle is travelling and/or road conditions comprising water in the grooves, the step of taking measures comprises changing the lateral position of the vehicle so that the vehicle wheels are driving on the side of the wheel grooves and/or warning the operator of the vehicle of risk of aquaplaning comprising recommended actions comprising positioning the vehicle such that it is not driven in the wheel grooves.

2. A method according to claim 1, wherein the step of determining wheel grooves (GL, GR) in the surface (RS) of the road (R) along which the vehicle is travelling comprises the step of detecting the surface of the road so as to determine wheel grooves (GL, GR).

3. A method according to claim 1 or 2, wherein the step of determining wheel grooves (GL, GR) in the surface (RS) of the road (R) along which the vehicle is travelling comprises the steps of: determining the current position of the vehicle; and extracting map information of wheel grooves (GL, GR) in the surface of the road along which the vehicle is travelling.

4. A method according to any of claims 1-3, wherein the step of taking measures based upon said determined external conditions so as to facilitate controlling driving along said road (R) taking said determined wheel grooves (GL, GR) into account comprises one or more of: adapting the speed of the vehicle, adapting the lateral position of the vehicle relative to the determined wheel grooves, warning a possible operator of the vehicle.

5. A method according to any of claims 1-4, further comprising the step of communicating information about possible risk due to current external conditions and said wheel grooves (GL, GR) on the road to other vehicles within a vehicle-to-vehicle communication arrangement (V2V) and/or to infrastructure within a vehicle-to-infrastructure communication arrangement.

6. A method according to any of claims 1-5, wherein, if said determined external conditions involves weather conditions comprising rain fall on the road along which the vehicle is travelling, the step of taking measures comprises reducing the speed of the vehicle and/or warning the operator of the vehicle of risk of aquaplaning comprising recommended actions comprising lowering the vehicle speed.

7. A system (I) for controlling driving of a vehicle (1) along a road (R), comprising means (110) for determining wheel grooves (GL, GR) in the surface (RS) of the road (R) along which the vehicle is travelling, said system comprising means (130) for determining external conditions comprising weather conditions and/or road conditions in connection to the vehicle driving along said road (R); and means (150) for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road (R) taking said determined wheel grooves (GL, GR) into account, characterized in that, if said determined external conditions involves weather conditions comprising rain fall on the road along which the vehicle is travelling and/or road conditions comprising water in the grooves, the means (150) for taking measures comprises means (154) changing the lateral position of the vehicle so that the vehicle wheels are driving on the side of the wheel grooves and/or means (156) for warning the operator of the vehicle of risk of aquaplaning comprising recommended actions comprising positioning the vehicle such that it is not driven in the wheel grooves.

8. A system according to claim 7, wherein the means (110) for determining wheel grooves (GL, GR) in the surface (RS) of the road (R) along which the vehicle is travelling comprises means (112) for detecting the surface of the road so as to determine wheel grooves.

9. A system according to claim 7 or 8, wherein the means (110) for determining wheel grooves (GL, GR) in the surface (RS) of the road (R) along which the vehicle is travelling comprises means (114) for determining the current position of the vehicle; and means (116) for extracting map information of wheel grooves (GL, GR) in the surface of the road along which the vehicle is travelling.

10. A system according to any of claims 7-9, wherein the means (150) for taking measures based upon said determined external conditions so as to facilitate controlling driving along said road (R) taking said determined wheel grooves (GL, GR) into account comprises one or more of: means (152) for adapting the speed of the vehicle, means (154) for adapting the position of the vehicle relative to the determined wheel grooves, means (156) for warning a possible operator of the vehicle.

11. A system according to any of claims 7-10, further comprising means (160) for communicating information about possible risk due to current external conditions and said wheel grooves (GL, GR) on the road to other vehicles within a vehicle-to-vehicle communication arrangement (V2V) and/or means (170) for communicating information about possible risk due to current external conditions and said wheel grooves (GL, GR) on the road to infrastructure within a vehicle-to-infrastructure communication arrangement (V2l).

12. A system according to any of claims 7-11, wherein, if said determined external conditions involves weather conditions comprising rain fall on the road along which the vehicle is travelling, the means (150) for taking measures comprises means (152) for reducing the speed of the vehicle and/or means (156) for warning the operator of the vehicle of risk of aquaplaning comprising recommended actions comprising lowering the vehicle speed.

13. A vehicle (1) comprising a system (I) according to any of claims 7-12.

14. A computer program (P) for controlling driving of a vehicle along a road, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-6.

15. A computer program product comprising a digital storage medium storing the computer program according to claim 14.