SE542679C2 - Method and a control device for remotely controlling driving of a vehicle - Google Patents
Method and a control device for remotely controlling driving of a vehicleInfo
- Publication number
- SE542679C2 SE542679C2 SE1850437A SE1850437A SE542679C2 SE 542679 C2 SE542679 C2 SE 542679C2 SE 1850437 A SE1850437 A SE 1850437A SE 1850437 A SE1850437 A SE 1850437A SE 542679 C2 SE542679 C2 SE 542679C2
- Authority
- SE
- Sweden
- Prior art keywords
- vehicle
- control device
- deceleration
- acceleration
- change
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims abstract description 111
- 238000004590 computer program Methods 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 85
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
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- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with signals other than visual, e.g. acoustic, haptic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/22—Command input arrangements
- G05D1/221—Remote-control arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/22—Command input arrangements
- G05D1/221—Remote-control arrangements
- G05D1/222—Remote-control arrangements operated by humans
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/048—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles a model being viewed and manoeuvred from a remote point
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Acoustics & Sound (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a method performed by a control device (100) for remotely controlling driving of a vehicle (V1). A driving control arrangement (DA) for controlling drive of the vehicle is provided. The driving control arrangement (DA) is remotely located from the vehicle (V1). The driving control arrangement (DA) comprises a steering member (SM) for steering the vehicle (V1) by a remotely located driver (D) of the vehicle during drive of the vehicle (V1). The method comprises the steps of: determining change in vehicle movement; and moving the steering member (SM) based on the thus determined change in vehicle movement.The present invention also relates to a control device for remotely controlling driving of a vehicle. The present invention also relates to a vehicle. The present invention also relates to a computer program and a computer readable medium.
Description
|\/IETHOD AND A CONTROL DEVICE FOR REIVIOTELY CONTROLLINGDRIVING OF A VEHICLE TECHNICAL FIELD The invention relates to a method performed by a control device for remotelycontrolling driving of a vehicle. The invention also relates to a control devicefor remotely controlling driving of a vehicle. The invention further relates to avehicle. The invention in addition relates to a computer program and a computer readable medium.
BACKG ROUND ART ln the near future automation in vehicles will increase. lf a vehicle isautonomously driven there is no need for a driver and thus no need for a driverseat. That means that the space that is now taken by the driver may be usedfor e.g. more goods, more passengers or the like. Until vehicles, such as trucksand buses, are fully autonomous it may be required that a human driver drives such a vehicle for at least part of the trip. ln order to take advantage of the space made available of having no driver inthe vehicle, the vehicle would need to be remotely controlled. This remotecontrol may be performed from within a control room or the like. This meansthat the driver is no longer in the vehicle but remotely located in such a control room.However, such remote control of a vehicle needs to be performed safely.
There is thus a need to facilitate remotely controlling driving of a vehicle.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method performed by acontrol device for remotely controlling driving of a vehicle which facilitates improved driving performance.
Another object of the present invention is to provide a control device forremotely controlling driving of a vehicle which facilitates improved driving performance.
Another object of the present invention is to provide a vehicle being operablyconnectable to such a control device.
SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achievedby a method, a control device, a vehicle, a computer program and a computerreadable medium, as set out in the appended independent claims. Preferredembodiments of the method and the control device are defined in appendeddependent claims.
Specifically an object of the invention is achieved by a method performed by acontrol device for remotely controlling driving of a vehicle. A driving controlarrangement for controlling drive of the vehicle is provided. The driving controlarrangement is remotely located from the vehicle. The driving controlarrangement comprises a steering member for steering the vehicle by aremotely located driver of the vehicle during drive of the vehicle. The methodcomprising the steps of: determining change in vehicle movement; and movingthe steering member based on the thus determined change in vehicle mOVement.
Hereby driving performance may be improved and thus positively affect safety for other road users. Hereby change in vehicle movement, i.e. acceleration and deceleration, may be efficiently perceived by the remotely located driver,facilitating improved driving performance of the driver. Thus, the drivingexperience is hereby improved in an efficient way. Hereby a cost effectivesolution is obtained. Hereby biodynamic feedthrough is minimized. Biodynamicfeedthrough happens when a person experiences acceleration through avehicle or simulator. Biodynamic feedthrough can cause involuntary limb motions, which in turn result in involuntary control inputs.
According to an embodiment of the method the step of determining change invehicle movement comprises determining one or more of: acceleration anddeceleration in the driving direction of the vehicle; turn of the vehicle; verticalacceleration and deceleration of the vehicle, lateral acceleration anddeceleration of the vehicle, and yaw rate of the vehicle. Hereby drivingperformance may be improved and thus positively affect safety for other road USGFS.
According to an embodiment of the method the step of moving the steeringmember based on the thus determined change in vehicle movementcomprises the step of moving the steering member away from the driver if anacceleration is determined and moving the steering member closer to the driver if deceleration is determined.
According to an embodiment of the method the step of moving the steeringmember based on the thus determined change in vehicle movementcomprises the step of laterally moving the steering member if a turn, lateralacceleration and deceleration of the vehicle, and/or yaw rate of the vehicle isdetermined.
According to an embodiment of the method the step of moving the steeringmember based on the thus determined change in vehicle movementcomprises the step of vertically moving the steering member if a verticalacceleration and deceleration of the vehicle is determined.
According to an embodiment the method comprises the step of determiningthe extent of acceleration or deceleration in the change of vehicle movement,wherein the degree of movement of the steering member is based on theextent of acceleration or deceleration in the change of vehicle movement.Hereby driving performance may be further improved and thus positively affect safety for other road users.
Specifically an object of the invention is achieved by a control device forremotely controlling driving of a vehicle. A driving control arrangement forcontrolling drive of the vehicle is provided. The driving control arrangement isremotely located from the vehicle. The driving control arrangement comprisesa steering member for steering the vehicle by a remotely located driver of thevehicle during drive of the vehicle. The control device is configured to:determine change in vehicle movement; and move the steering member based on the thus determined change in vehicle movement.
According to an embodiment the control device, when determining change invehicle movement, is configured to determine one or more of: acceleration anddeceleration in the driving direction of the vehicle; turn of the vehicle; verticalacceleration and acceleration and deceleration of the vehicle, lateral deceleration of the vehicle, and yaw rate of the vehicle.
According to an embodiment the control device, when moving the steeringmember based on the thus determined change in vehicle movement, isconfigured to move the steering member away from the driver if anacceleration is determined and configured to move the steering member closer to the driver if deceleration is determined.
According to an embodiment the control device, when moving the steeringmember based on the thus determined change in vehicle movement, isconfigured to laterally move the steering member if a turn, lateral accelerationand deceleration of the vehicle, and/or yaw rate of the vehicle is determined.
According to an embodiment the control device, when moving the steeringmember based on the thus determined change in vehicle movement, isconfigured to vertically move the steering member if a vertical acceleration anddeceleration of the vehicle is determined.
According to an embodiment the control device is configured to determine theextent of acceleration or deceleration in the change of vehicle movement,wherein the control device is configured to control the degree of movement ofthe steering member based on the extent of acceleration or deceleration in the change of vehicle movement.
Specifically an object of the invention is achieved by a vehicle operably connectable to a control device as set out herein.
Specifically an object of the invention is achieved by a computer program forremotely controlling driving of a vehicle, said computer program comprisingprogram code which, when run on an control device or another computerconnected to the control device, causes the control device to perform themethod as set out herein.
Specifically an object of the invention is achieved by a computer readablemedium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.
BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to thefollowing detailed description when read in conjunction with the accompanyingdrawings, 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 an embodiment of the present invention; Fig. 2 schematically illustrates a driving control arrangement for remotely controlling a vehicle according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a control device for remotelycontrolling driving of a vehicle according to an embodiment of the present invenfion; Fig. 4 schematically illustrates a flowchart of a method performed by a controldevice for remotely controlling driving of a vehicle 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 aphysical connector, such as an optoelectronic communication wire, or a non-physical connector such as a wireless connection, for example a radio or microwave link.
Herein the term "remotely controlling driving of a vehicle" may refer to tele- remote driving.
Fig. 1 schematically illustrates a side view of a vehicle V1 according to an embodiment of the present invention.
The vehicle V1 is a remotely controllable vehicle. The vehicle may be a vehicleintended for autonomous drive. The vehicle V1 may be a vehicle which is notintended to have a driver for driving the vehicle located in the vehicle. Theexemplified vehicle V1 is a heavy vehicle in the shape of a truck. The vehicleV1 is travelling on a road Fi. The vehicle according to the present invention may be any suitable vehicle such as a bus or a car.
The vehicle V1 may be operably connected to a control device 100 for remotelycontrolling driving of the vehicle V1. The vehicle V1 may comprise or beoperably connectable to a system I for remotely controlling driving of thevehicle V1. The system l may comprise a control device 100 remotelycontrolling driving of the vehicle V1.
The vehicle V1 is, according to an embodiment, arranged to be operated inaccordance with a method l\/l1 performed by a control device for remotelycontrolling driving of a vehicle according to fig. 4.
Fig. 2 schematically illustrates a driving control arrangement DA for remotelycontrolling a vehicle V1 according to an embodiment of the present invention.The driving control arrangement may also be denoted vehicle operation control arrangement.
The driving control arrangement DA is remotely located from the vehicle V1.The driving control arrangement DA may be comprised in or constituted by acontrol room or the like. The driving control arrangement DA comprises asteering member Sl\/I for steering the vehicle by a remotely located driver D ofthe vehicle V1 during drive of the vehicle. The steering member Sl\/I accordingto the invention may be any suitable steering member for remotely steering avehicle. The steering member Sl\/I is according to this example a steeringwheel. The steering member Sl\/I comprises or is operably connected to asteering member movement mechanism l\/I for facilitating movement of thesteering member Sl\/l. The steering member movement mechanism l\/I may beconfigured to allow movement of the steering member Sl\/I away from the driverD, illustrated with arrow A1 , and towards the driver D, illustrated with arrow A2.The steering member movement mechanism l\/I may be configured to allowmovement of the steering member Sl\/I in the vertical direction, illustrated witharrow A3. The steering member movement mechanism l\/I may be configuredto allow movement of the steering member in the lateral direction, i.e. lateral tilting of the steering member Sl\/l, illustrated with arrow A4.
The vehicle V1 is here driving on a road R remote from the driving controlarrangement DA. The driver D is thus remotely located relative to the vehicleV1 and is thus not located in the vehicle. The vehicle V1 may be essentially atany distance away from the remotely located driver D, the driver being locatedat the driving control arrangement DA. The driver D is remotely steering thevehicle by means of the steering member Sl\/l, i.e. here by holding at least onehand on the steering member Sl\/l.
The driving control arrangement DA may comprise any relevant additionalmeans for facilitating remotely driving the vehicle V1. The driving controlarrangement DA comprises according to this embodiment a gas pedal G foraccelerating the vehicle V1. The driving control arrangement DA comprisesaccording to this embodiment a brake pedal B for breaking, i.e. decelerating,the vehicle V1. The driving control arrangement DA comprises according tothis embodiment visual means V for providing, for the remotely located driverD, visual information of the surrounding comprising the road R on which thevehicle V1 is driving. Here the driver D has virtual reality glasses for the visualinformation. The visual information may alternatively be provided via a screenor the like.
A control device 100 for remotely controlling driving of the vehicle V1 isprovided. The control device 100 may be a control device in accordance withthe control device 100 described below with reference to fig. 3. The controldevice 100 may be comprised in the driving control arrangement DA oroperably connected to the driving control arrangement DA. The control device100 may be operably connected to the vehicle V1 _ The control device 100 maybe operably connected to the vehicle V1 via a wireless connection.
The control device 100 is configured to determine change in vehicle mOVement.
The vehicle V1 may comprise vehicle movement change determination means 110 arranged to determine change in vehicle movement.
The control device 100 is operably connected to the vehicle movement change determination means 110.
The vehicle movement change determination means 110 may be inaccordance with the vehicle movement change determination means 110 described below with reference to fig. 3.
According to this embodiment of the invention, the control device 100 is, via alink, operably connected to the vehicle movement change determinationmeans 110. The control device 100 is arranged to receive a signal from themeans 110 representing data about change in vehicle movement. The datamay comprise data about extent of acceleration or deceleration.
The control device 100 is configured to move the steering member Sl\/I based on the thus determined change in vehicle movement.
According to this embodiment of the invention, the control device 100 is, via alink, operably connected to the steering member Sl\/I via the steering membermovement mechanism l\/l. The control device 100 is via the link arranged tosend a signal to the steering member movement mechanism l\/I representingdata about moving the steering member Sl\/I based on the thus determinedchange in vehicle movement. The data may comprise data about moving thesteering member away from the driver, data about moving the steeringmember closer to the driver, data about laterally moving the steering memberand/or vertically moving the steering member. The data may comprise dataabout extent of acceleration or deceleration in the change of vehicle mOVement.
The control device 100 is configured to control the degree of movement of thesteering member Sl\/I based on the extent of acceleration or deceleration in the change of vehicle movement.
Fig. 3 schematically illustrates a block diagram of a control device 100 forremotely controlling driving of a vehicle according to an embodiment of the present invention.
A driving control arrangement for controlling drive of the vehicle is provided.The driving control arrangement is remotely located from the vehicle. Thedriving control arrangement comprises a steering member for steering thevehicle by a remotely located driver of the vehicle during drive of the vehicle.The driving control arrangement may be in accordance with the driving control arrangement DA described with reference to fig. 2.
The control device 100 for remotely controlling driving of a vehicle may be comprised in a system l for remotely controlling driving of a vehicle.
The control device may be implemented as a separate entity or distributed intwo or more physical entities. The control device may comprise one or morecomputers. The control device may thus be implemented or realised by thecontrol device comprising a processor and a memory, the memory comprisinginstructions, which when executed by the processor causes the control device to perform the herein disclosed method.
The control device 100 may comprise one or more electronic control units,processing units, computers, server units or the like for determining vehicleoperation of at least one vehicle. The control device 100 may comprise controldevice such as one or more electronic control units arranged on board avehicle. The control device 100 may comprise one or more electronic controlunits, processing units, computers, server units or the like of an off-boardsystem arranged externally to the at least one vehicle and being operablyconnectable to the vehicle to be remotely controlled.
The control device 100 is configured to determine change in vehicle mOVement. 11 The system l may comprise vehicle movement change determination means 110 arranged to determine change in vehicle movement.
The control device 100 may comprise or be operably connectable to the vehicle movement change determination means 110.
The vehicle movement change determination means 110 arranged todetermine change in vehicle movement may be arranged to determineacceleration and deceleration in the direction of travel of the vehicle, i.e. thelongitudinal direction. The vehicle movement change determination means110 arranged to determine change in vehicle movement may be arranged todetermine acceleration and deceleration in the vertical direction. The vehiclemovement change determination means 110 arranged to determine change invehicle movement may be arranged to determine acceleration anddeceleration during drive in a curve. The vehicle movement changedetermination means 110 arranged to determine change in vehicle movementmay be arranged to determine acceleration and deceleration in the lateraldirection of the vehicle. The vehicle movement change determination means110 arranged to determine change in vehicle movement may be arranged todetermine the yaw rate of the vehicle.
The vehicle movement change determination means 110 arranged todetermine change in vehicle movement may comprise any suitablesensor/sensors for detecting change in vehicle movement. Such sensors maycomprise one or more accelerometers, one or more yaw rate sensors, one ormore speedometers or the like. Such sensor may comprise a GlobalNavigation satellite System, GNSS, e.g. a global positioning system, GPS, forcontinuously determining the position of the vehicle along the road on which itis travelling.
The control device 100 is configured to determine acceleration anddeceleration in the driving direction of the vehicle. 12 The vehicle movement change determination means 110 comprises accordingto an embodiment longitudinal acceleration and deceleration determinationmeans 112 for determining acceleration and deceleration in the driving direction of the vehicle.The control device 100 is configured to determine turn of the vehicle.
The vehicle movement change determination means 110 comprises accordingto an embodiment vehicle turn determination means 114 for determining turning movement of the vehicle.
The control device 100 is configured to determine vertical acceleration anddeceleration of the vehicle.
The vehicle movement change determination means 110 comprises accordingto an embodiment vertical acceleration and deceleration determination means 116 for determining acceleration and deceleration in the vertical direction.
The control device 100 is configured to determine lateral acceleration and deceleration of the vehicle.
The vehicle movement change determination means 110 comprises accordingto an embodiment lateral acceleration and deceleration determination means118 for determining acceleration and deceleration in the lateral direction of the vehicle.The control device 100 is configured to determine yaw rate of the vehicle.
The vehicle movement change determination means 110 comprises accordingto an embodiment yaw rate determination means 119 for determining yaw rate of the vehicle.
The control device 100 is configured to move the steering member based on the thus determined change in vehicle movement. 13 According to an embodiment the control device 100, when determining changein vehicle movement, is configured to determine one or more of: accelerationand deceleration in the driving direction of the vehicle; turn of the vehicle;vertical acceleration and deceleration, lateral acceleration and deceleration,and yaw rate of the vehicle.
According to an embodiment the control device 100, when moving the steeringmember based on the thus determined change in vehicle movement, isconfigured to move the steering member away from the driver if anacceleration is determined and configured to move the steering member closer to the driver if deceleration is determined.
According to an embodiment the control device 100, when moving the steeringmember based on the thus determined change in vehicle movement, isconfigured to laterally move the steering member if a turn, lateral accelerationand deceleration, and/or yaw rate of the vehicle is determined.
According to an embodiment the control device 100, when moving the steeringmember based on the thus determined change in vehicle movement, isconfigured to vertically move the steering member if a vertical acceleration anddeceleration is determined.
The control device 100 is configured to determine the extent of acceleration ordeceleration in the change of vehicle movement.
The system I may comprise acceleration and deceleration extentdetermination means 110a arranged to determine the extent of acceleration ordeceleration in the change of vehicle movement. The acceleration anddeceleration extent determination means 110a may be comprised in the vehicle movement change determination means 110.
The control device 100 may comprise or be operably connectable to the acceleration and deceleration extent determination means 110a. 14 The longitudinal acceleration and deceleration determination means 112 isaccording to an embodiment arranged to determine the extent of accelerationor deceleration in the driving direction of the vehicle.
The turn determination means 114 is according to an embodiment arranged todetermine the extent of acceleration or deceleration when the vehicle is driving in a curve.
The vertical acceleration and deceleration determination means 116 isaccording to an embodiment arranged to determine the extent of accelerationor deceleration in the vertical direction.
The lateral acceleration and deceleration determination means 118 isaccording to an embodiment arranged to determine the extent of accelerationor deceleration in the lateral direction of the vehicle.
The yaw rate determination means 119 is according to an embodimentarranged to determine the extent of acceleration or deceleration of the yaw rate of the vehicle.
The control device 100 is configured to control the degree of movement of thesteering member based on the extent of acceleration or deceleration in thechange of vehicle movement. For example, a higher acceleration in the drivingdirection of the vehicle will result in a greater degree of movement of the steering member away from the driver.
According to an embodiment of the invention, the control device 100 is, via alink 10, operably connected to the vehicle movement change determinationmeans 110. According to an embodiment of the invention, the control device100 is via the link 10 arranged to receive a signal from the means 110representing data about change in vehicle movement. The data may comprisedata about extent of acceleration or deceleration.
According to an embodiment of the invention, the control device 100 is, via alink 12, operably connected to the longitudinal acceleration and deceleration determination means 112. According to an embodiment of the invention, thecontrol device 100 is via the link 12 arranged to receive a signal from themeans 112 representing data about longitudinal acceleration and deceleration.The data may comprise data about extent of acceleration or deceleration inthe driving direction of the vehicle.
According to an embodiment of the invention, the control device 100 is, via alink 14, operably connected to the vehicle turn determination means 114.According to an embodiment of the invention, the control device 100 is via thelink 14 arranged to receive a signal from the means 114 representing dataabout turning movement of the vehicle. The data may comprise data about extent of acceleration or deceleration when the vehicle is driving in a curve.
According to an embodiment of the invention, the control device 100 is, via alink 16, operably connected to the vertical acceleration and decelerationdetermination means 116. According to an embodiment of the invention, thecontrol device 100 is via the link 16 arranged to receive a signal from themeans 116 representing data about vertical acceleration and deceleration ofthe vehicle. The data may comprise data about extent of acceleration ordeceleration in the vertical direction.
According to an embodiment of the invention, the control device 100 is, via alink 18, operably connected to the lateral acceleration and decelerationdetermination means 118. According to an embodiment of the invention, thecontrol device 100 is via the link 18 arranged to receive a signal from themeans 118 representing data about lateral acceleration and deceleration ofthe vehicle. The data may comprise data about extent of acceleration ordeceleration in the lateral direction of the vehicle.
According to an embodiment of the invention, the control device 100 is, via alink 19, operably connected to the yaw rate determination means 119.According to an embodiment of the invention, the control device 100 is via thelink 19 arranged to receive a signal from the means 119 representing data 16 about lateral acceleration and deceleration of the vehicle. The data maycomprise data about extent of acceleration or deceleration of the yaw rate ofthe vehicle.
According to an embodiment of the invention, the control device 100 is, via alink L, operably connected to the steering member Sl\/I of the driving controlarrangement. According to an embodiment of the invention, the control device100 is via the link L arranged to send a signal to the steering member Sl\/Irepresenting data about moving the steering member based on the thusdetermined change in vehicle movement. The data may comprise data aboutmoving the steering member away from the driver, data about moving thesteering member closer to the driver, data about laterally moving the steering member and/or vertically moving the steering member.
The control device 100 for remotely controlling driving of a vehicle is, accordingto an embodiment, adapted to perform the method l\/l1 described below with reference to fig. 4.
Fig. 4 schematically illustrates a flowchart of a method l\/l1 performed by acontrol device for remotely controlling driving of a vehicle according to an embodiment of the present inventionš A driving control arrangement for controlling drive of the vehicle is provided.The driving control arrangement is remotely located from the vehicle. Thedriving control arrangement comprises a steering member for steering thevehicle by a remotely located driver of the vehicle during drive of the vehicle.
According to the embodiment the method for remotely controlling driving of avehicle comprises a step S1. ln this step change in vehicle movement isdetermined. The method is configured to be performed by a control devicesuch as a control device 100 described with reference to fig. 3. The change invehicle movement is according to an embodiment arranged to be determinedby means of the vehicle movement change determination means 110 described with reference to according to fig. 3. 17 According to an embodiment of the method the step of determining change invehicle movement comprises determining one or more of: acceleration anddeceleration in the driving direction of the vehicle; turn of the vehicle; verticalacceleration and deceleration, lateral acceleration and deceleration, and yawrate of the vehicle.
According to the embodiment the method comprises a step S2. ln this step thesteering member is moved based on the thus determined change in vehicle mOVement.
According to an embodiment of the method the step of moving the steeringmember based on the thus determined change in vehicle movementcomprises the step of moving the steering member away from the driver if anacceleration is determined and moving the steering member closer to thedriver if deceleration is determined.
According to an embodiment of the method the step of moving the steeringmember based on the thus determined change in vehicle movementcomprises the step of laterally moving the steering member if a turn, lateralacceleration and deceleration, and/or yaw rate of the vehicle is determined.
According to an embodiment of the method the step of moving the steeringmember based on the thus determined change in vehicle movementcomprises the step of vertically moving the steering member if a vertical acceleration and deceleration is determined.
According to an embodiment of the method the degree of movement of thesteering member is based on the extent of acceleration or deceleration in the change of vehicle movement.
The method l\/l1 performed by a control device for remotely controlling drivingof a vehicle is according to an embodiment adapted to be performed by the system l described above with reference to fig. 3. 18 With reference to figure 5, a diagram of a computer 500/apparatus 500 isshown. The control device 100 described with reference to fig. 3 may accordingto an embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory550. Non-volatile memory 520 has a first memory portion 530 wherein acomputer program, such as an operating system, is stored for contro||ing thefunction of apparatus 500. Further, apparatus 500 comprises a bus controller,a serial communication port, l/O-means, an A/D-converter, a time date entryand 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 remotely contro||ingdriving of a vehicle. A driving control arrangement for contro||ing drive of thevehicle is provided. The driving control arrangement is remotely located fromthe vehicle. The driving control arrangement comprises a steering member forsteering the vehicle by a remotely located driver of the vehicle during drive ofthe vehicle.
The program P comprises routines for determining change in vehiclemovement. The program P comprises routines for moving the steering member based on the thus determined change in vehicle movement.
The routines for determining change in vehicle movement comprises routinesfor determining one or more of: acceleration and deceleration in the drivingdirection of the vehicle; turn of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
The routines for moving the steering member based on the thus determinedchange in vehicle movement comprises routines for moving the steeringmember away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
The routines for moving the steering member based on the thus determined change in vehicle movement comprises routines for laterally moving the 19 steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined.
The routines for moving the steering member based on the thus determinedchange in vehicle movement comprises routines for vertically moving the steering member if a vertical acceleration and deceleration is determined.
The program P may comprise routines for determining the extent ofacceleration or deceleration in the change of vehicle movement, the degree ofmovement of the steering member being based on the extent of acceleration or deceleration in the change of vehicle movement.
The computer program P may be stored in an executable manner or in acompressed condition in a separate memory 560 and/or in read/write memory550.
When it is stated that data processing device 510 performs a certain functionit should be understood that data processing device 510 performs a certainpart of the program which is stored in separate memory 560, or a certain partof the program which is stored in read/write memory 550.
Data processing device 510 may communicate with a data communicationsport 599 by means of a data bus 515. Non-volatile memory 520 is adapted forcommunication with data processing device 510 via a data bus 512. Separatememory 560 is adapted for communication with data processing device 510via a data bus 511. Read/write memory 550 is adapted for communication withdata processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control unit 100 may be connected.
When data is received on data port 599 it is temporarily stored in secondmemory portion 540. When the received input data has been temporarilystored, data processing device 510 is set up to perform execution of code in a manner described above.
The signals received on data port 599 may be used by apparatus 500 fordetermining change in vehicle movement. The signals received on data port599 may be used by apparatus 500 for moving the steering member based on the thus determined change in vehicle movement.
The signals used for determining change in vehicle movement may comprisesignals used for determining one or more of: acceleration and deceleration inthe driving direction of the vehicle; turn of the vehicle; vertical acceleration anddeceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
The signals used for moving the steering member based on the thusdetermined change in vehicle movement may comprise signals used formoving the steering member away from the driver if an acceleration isdetermined and moving the steering member closer to the driver if deceleration is determined.
The signals used for moving the steering member based on the thusdetermined change in vehicle movement may comprise signals used forlaterally moving the steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined.
The signals used for moving the steering member based on the thusdetermined change in vehicle movement may comprise signals used forvertically moving the steering member if a vertical acceleration and deceleration is determined.
The signals received on data port 599 may be used by apparatus 500 fordetermining the efficiency of the required vehicle operation based on one ormore of the thus stored logged parameters.
Parts of the methods described herein may be performed by apparatus 500 bymeans of data processing device 510 running the program stored in separatememory 560 or read/write memory 550. When apparatus 500 runs theprogram, parts of the methods described herein are executed. 21 The foregoing description of the preferred embodiments of the presentinvention has been provided for the purposes of illustration and description. ltis not intended to be exhaustive or to limit the invention to the precise formsdisclosed. Obviously, many modifications and variations will be apparent topractitioners skilled in the art. The embodiments were chosen and describedin order to best explain the principles of the invention and its practicalapplications, thereby enabling others skilled in the art to understand theinvention for various embodiments and with the various modifications as are suited to the particular use contemplated.
Claims (15)
1. A method performed by a control device (100) for remotely controllingdriving of a vehicle (V1), a driving control arrangement (DA) for controlling driveof the vehicle (V1) being provided, the driving control arrangement (DA) beingremotely located from the vehicle (V1), the driving control arrangement (DA)comprising a steering member (Sl\/l) for steering the vehicle by a remotelylocated driver (D) of the vehicle during drive of the vehicle (V1), the methodcomprising the steps of: - determining (S1) change in vehicle movement; and - moving (S2) the steering member based on the thus determined change in vehicle movement.
2. The method according to claim 1, wherein the step of determining changein vehicle movement comprises determining one or more of: acceleration anddeceleration in the driving direction of the vehicle; turn of the vehicle; verticalacceleration and acceleration and deceleration of the vehicle, lateral deceleration of the vehicle, and yaw rate of the vehicle (V1).
3. The method according to claim 2, wherein the step of moving the steeringmember (Sl\/l) based on the thus determined change in vehicle movementcomprises the step of moving the steering member (Sl\/l) away from the driverif an acceleration is determined and moving the steering member closer to thedriver if deceleration is determined.
4. The method according to claim 2 or 3, wherein the step of moving thesteering member (Sl\/l) based on the thus determined change in vehiclemovement comprises the step of laterally moving the steering member (SM) ifa turn, lateral acceleration and deceleration of the vehicle, and/or yaw rate ofthe vehicle is determined.
5. The method according to any of claims 2-4, wherein the step of moving the steering member (Sl\/l) based on the thus determined change in vehicle 23 movement comprises the step of vertically moving the steering member (SNI) if a vertical acceleration and deceleration of the vehicle is determined.
6. The method according to any of claims 1-5, comprising the step ofdetermining the extent of acceleration or deceleration in the change of vehiclemovement, wherein the degree of movement of the steering member (SM) isbased on the extent of acceleration or deceleration in the change of vehicle mOVement.
7. A control device (100) for remotely controlling driving of a vehicle (V1), adriving control arrangement (DA) for controlling drive of the vehicle beingprovided, the driving control arrangement (DA) being remotely located fromthe vehicle (V1), the driving control arrangement (DA) comprising a steeringmember (SM) for steering the vehicle by a remotely located driver (D) of thevehicle during drive of the vehicle, the control device (100) being configuredto: - determine change in vehicle movement; and - move the steering member (SM) based on the thus determined change in vehicle movement.
8. The control device according to claim 7, wherein the control device (100),when determining change in vehicle movement, is configured to determine oneor more of: acceleration and deceleration in the driving direction of the vehicle;turn of the vehicle; vertical acceleration and deceleration of the vehicle, lateralacceleration and deceleration of the vehicle, and yaw rate of the vehicle.
9. The control device according to claim 8, wherein the control device (100),when moving the steering member (SM) based on the thus determined changein vehicle movement, is configured to move the steering member (SM) awayfrom the driver (D) if an acceleration is determined and configured to move thesteering member (SM) closer to the driver if deceleration is determined.
10. The control device according to claim 8 or 9, wherein the control device(100), when moving the steering member (SM) based on the thus determined 24 change in vehicle movement, is configured to laterally move the steeringmember (SM) if a turn, lateral acceleration and deceleration of the vehicle,and/or yaw rate of the vehicle is determined.
11. The control device according to any of claims 8-10, wherein the controldevice (100), when moving the steering member (Sl\/l) based on the thusdetermined change in vehicle movement, is configured to vertically move thesteering member (SNI) if a vertical acceleration and deceleration of the vehicle is determined.
12. The control device according to any of claims 7-11, the control device (100)being configured to determine the extent of acceleration or deceleration in thechange of vehicle movement, the control device being configured to controlthe degree of movement of the steering member (Sl\/l) based on the extent of acceleration or deceleration in the change of vehicle movement.
13.A vehicle (1) being operably connectable to a control device (100) according to any of claims 7-12.
14. A computer program (P) for remotely controlling driving of a vehicle, saidcomputer program (P) comprising program code which, when run on an controldevice (100) or another computer (500) connected to the control device (100), causes the control device to perform the steps according to claim 1-6.
15.A computer readable medium comprising instructions which, whenexecuted by a computer, cause the computer to carry out the methodaccording to anyone of claim 1-6.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1850437A SE542679C2 (en) | 2018-04-17 | 2018-04-17 | Method and a control device for remotely controlling driving of a vehicle |
| CN201980025063.3A CN111954858B (en) | 2018-04-17 | 2019-04-15 | Method and control device for remotely controlling driving of vehicle |
| DE112019002036.6T DE112019002036T5 (en) | 2018-04-17 | 2019-04-15 | Method and control device for remote-controlled driving of a vehicle |
| PCT/SE2019/050345 WO2019203716A1 (en) | 2018-04-17 | 2019-04-15 | Method and a control device for remotely controlling driving of a vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1850437A SE542679C2 (en) | 2018-04-17 | 2018-04-17 | Method and a control device for remotely controlling driving of a vehicle |
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| Publication Number | Publication Date |
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| SE1850437A1 SE1850437A1 (en) | 2019-10-18 |
| SE542679C2 true SE542679C2 (en) | 2020-06-23 |
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| SE1850437A SE542679C2 (en) | 2018-04-17 | 2018-04-17 | Method and a control device for remotely controlling driving of a vehicle |
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| CN (1) | CN111954858B (en) |
| DE (1) | DE112019002036T5 (en) |
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| US6108031A (en) * | 1997-05-08 | 2000-08-22 | Kaman Sciences Corporation | Virtual reality teleoperated remote control vehicle |
| CN100503319C (en) * | 2005-07-07 | 2009-06-24 | 丰田自动车株式会社 | Remote operation system, remote operation apparatus and service center |
| SE533139C2 (en) * | 2008-11-21 | 2010-07-06 | Scania Cv Abp | System for determining the ability to predict braking |
| CN103879403B (en) * | 2011-03-16 | 2017-01-11 | 丰田自动车株式会社 | Remote vehicle operating device |
| CN102346473B (en) * | 2011-09-05 | 2012-12-19 | 北京航空航天大学 | Remote vehicle driving control device |
| SE537647C2 (en) * | 2012-03-29 | 2015-09-08 | Scania Cv Ab | Procedure and system for assessing driver behavior when braking vehicles |
| US9874964B2 (en) * | 2012-06-04 | 2018-01-23 | Sony Interactive Entertainment Inc. | Flat joystick controller |
| DE102013201168A1 (en) * | 2013-01-24 | 2014-07-24 | Ford Global Technologies, Llc | If necessary activatable remote control system for motor vehicles |
| US20150224979A1 (en) * | 2014-02-07 | 2015-08-13 | GM Global Technology Operations LLC | Drive mode moderator for a vehicle |
| WO2015155557A2 (en) * | 2014-04-10 | 2015-10-15 | Muszka Mihály | Remote controlled simulator system by computer acting experience with devices moving on external site |
| GB201420931D0 (en) * | 2014-11-25 | 2015-01-07 | Nokia Corp | Apparatuses, methods and computer programs for providing vehicle feedback |
| SE541062C2 (en) * | 2015-04-15 | 2019-03-26 | Scania Cv Ab | A system for steering wheels of a motor vehicle |
| WO2017125788A1 (en) * | 2016-01-22 | 2017-07-27 | Devathi Srinivas S | Systems and methods for enabling remotely autonomous transport in real world vehicles on road |
| CN205769271U (en) * | 2016-07-18 | 2016-12-07 | 赵曰强 | Remote control and automobile |
| KR101747375B1 (en) * | 2016-09-12 | 2017-06-15 | 아이피랩 주식회사 | Apparatus and method for vehicle remote controlling and remote driving system |
| US10133270B2 (en) * | 2017-03-28 | 2018-11-20 | Toyota Research Institute, Inc. | Electronic control units, vehicles, and methods for switching vehicle control from an autonomous driving mode |
| CN106950998A (en) * | 2017-05-11 | 2017-07-14 | 高域（北京）智能科技研究院有限公司 | Aerial landscape real-time display system and method |
| CN207389114U (en) * | 2017-08-15 | 2018-05-22 | 天津艾洛克通讯设备科技有限公司 | A kind of multi-functional unmanned remote controlled motor platform |
| CN107672586B (en) * | 2017-09-30 | 2023-05-30 | 中北润良新能源汽车(徐州)股份有限公司 | Intelligent reversing auxiliary system and method for electric automobile |
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| SE1850437A1 (en) | 2019-10-18 |
| DE112019002036T5 (en) | 2021-03-04 |
| WO2019203716A1 (en) | 2019-10-24 |
| CN111954858B (en) | 2024-04-12 |
| CN111954858A (en) | 2020-11-17 |
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