WO2014129962A1 - Arrangement and method for threat management for ground-based vehicles - Google Patents

Arrangement and method for threat management for ground-based vehicles Download PDF

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Publication number
WO2014129962A1
WO2014129962A1 PCT/SE2014/050218 SE2014050218W WO2014129962A1 WO 2014129962 A1 WO2014129962 A1 WO 2014129962A1 SE 2014050218 W SE2014050218 W SE 2014050218W WO 2014129962 A1 WO2014129962 A1 WO 2014129962A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
threat
instruction
operator
automatically
Prior art date
Application number
PCT/SE2014/050218
Other languages
French (fr)
Inventor
Ronny BACKSTRÖM
Gösta SVENSSON
Dan LINDELL
Original Assignee
BAE Systems Hägglunds Aktiebolag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BAE Systems Hägglunds Aktiebolag filed Critical BAE Systems Hägglunds Aktiebolag
Publication of WO2014129962A1 publication Critical patent/WO2014129962A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H13/00—Means of attack or defence not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/02—Land vehicles with enclosing armour, e.g. tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • G05D1/80—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0635—Risk analysis of enterprise or organisation activities
    • G05D2101/10—
    • G05D2105/35—
    • G05D2109/10—

Definitions

  • the present invention relates to a method for threat handling of ground based vehicles.
  • the invention also relates to a computer program product comprising program code for a computer for implementing a method according to the invention.
  • the invention also relates to a device for threat handling of ground based vehicles and a motor vehicle which is equipped with the device.
  • Military ground vehicles of today may be exposed for various kinds of threats.
  • Said threats may be real threats during for example a combat situation.
  • Said threat may constitute fictive threats during for example a combat exercise.
  • the threats may be of various kinds.
  • the threats may for example be other hostile ground military vehicles, helicopters, various weapon systems or troops.
  • Such vehicles may be equipped with a counter-measure system for neutralizing threats or avoiding to be defeated or in any other way be negatively affected by for example interference of own systems.
  • These counter-measure systems are today quite effective but do not always provide full worthy protection for own vehicles.
  • Some combat progresses are relatively fast, why it is desired to provide decision support for an operator of said military ground vehicle for handling of determined threats in a satisfying manner so as to increase life length of own vehicle and increase safety for operators on board said vehicle.
  • An object of the present invention is to provide a novel and advantageous method for threat handling of ground based vehicles. Another object of the invention is to provide a novel and advantageous device and a novel and advantageous computer program for threat handling of ground based vehicles.
  • Yet another object of the invention is to provide a method, a device and a computer program for achieving a safer ground based vehicle.
  • a method for threat handling of ground based vehicles comprising the steps of:
  • it may continuously automatically be determined presence of a number of different threats simultaneously.
  • a method for threat handling of ground based vehicles comprising the steps of:
  • Symbols may comprise for example arrows, geometrical figures or similar illustrations which in a simple way is guiding the operator without the need of using text or letters.
  • By automatically presenting said at least one instruction in the shape of symbols the operator may quickly and easy be paying attention to the suggested instruction and may therefore act in a quick way to handle the determined threat.
  • By presenting instructions in the form of symbols the risk of that the operator is misapprehending the instruction is minimized at the same time as a language independent solution is achieved. In such a way there is achieved a safe and effective way for threat handling of ground based vehicles.
  • Such ground based vehicles may be a combat vehicle, for example an armoured vehicle or amphibian vehicle.
  • Said ground based vehicle may be an arbitrary suitable vehicle.
  • Said vehicle may be arranged to be operated by means of wheels, caterpillars, or legs or any suitable combination thereof.
  • Said threat characteristics may comprise kind of threat.
  • Said kind of threat may comprise at least one of the types tank, missile, grenade, robot, laser illumination, aircraft, grenade gun, grenade launcher and hostile troop.
  • Said type may comprise at least one of the types helicopter, UAV (Unmanned Aerial Vehicle), boat, water craft or any combat vehicle which may fire grenades, missiles or other types of projectiles.
  • Said threat characteristics may comprise information about platform as well as associated affective part or affective parts.
  • Said threat characteristics may comprise information about performance of the platform as well as performance of said affective part or affective parts.
  • Said threat characteristics may comprise information about kind of ammunition and
  • calibre and explosion force of said ammunition may be determined according to an aspect of the invention.
  • Said threat characteristics may comprise information about if the ammunition of said threat is direct affecting, target seeking or target control.
  • Said at least one instruction may be presented in form of symbols on a screen accessible for an operator and/or in the form of spoken instructions via an audio equipment available for said operator and/or in the form of tactile feed back for an operator and/or in the form of a suitable audio signal via an audio equipment available for said operator.
  • Said screen may be a screen arranged to only present said instructions. According to an alternative said screen may be a screen for illustrating for example a video stream from a camera located on board, where said camera is arranged to take pictures of an environment of the vehicle.
  • said screen may be arranged to present said instructions in form of overlaid information.
  • the overlaid information is suitably such that it in a simple and evident way illustrates for the operator how he should act so as to avoid the determined threat.
  • the overlaid information may be presented as symbols. In that way the operator is instructed without the need of text or letters.
  • the overlaid presentation is presented as a picture, a letter, a word or similar.
  • a versatile and robust method for threat handling is achieved a user friendly means for in an effective and intuitive way presenting said at least one instruction.
  • Said at least one instruction may comprise vehicle speed, change of speed and/or change of direction regarding the propulsion of the vehicle.
  • the method may comprise the steps of:
  • the method may further comprise the step of:
  • the vehicle may provide a function for concealing the vehicle by means of smoke.
  • the vehicle may provide a function for blinding the threat or threats.
  • the vehicle may provide function for camouflaging the vehicle, for example by means of an active optical camouflage which is applied on the vehicle body.
  • the vehicle may provide a function for neutralizing or reducing the affect ability of said threat. This may for example be performed by means of a suitable so called hard-kill system of the vehicle.
  • Said hard-kill system may comprise equipment for neutralizing the threat or an incoming missile, robot or grenade.
  • the vehicle may provide a function for in a suitable manner interfere with said threat so as to reduce said threats ability to perform.
  • the method may further comprise the step of:
  • an operator of the vehicle may make an active decision about which suggested instruction should be followed and actively perform a thereto associated movement manoeuvre for avoiding negative effect of said threat, such as being hit by a projectile from said threat or to be tracked or followed by said threat.
  • the method may further comprise the step of:
  • said method comprises the step of automatically performing a vehicle concealing protective function and presenting an instruction regarding the propulsion of the vehicle. In such a way a fast and reliable threat handling is achieved where the operator only has to focus on driving the vehicle to a safe location.
  • the method is easy to implement in existing vehicles.
  • Software for threat handling of ground based vehicles according to the invention may be installed in a control unit of the vehicle during manufacturing. A buyer of the vehicle may thus get the possibility to choose the function of the method as an additional choice.
  • software comprising program code for performing the innovative method for threat handling of ground based vehicles may be installed in a control unit of the vehicle when upgrading is performed at a service station. In this case the software may be loaded into a memory in the control unit. Implementing of the innovative method is thus cost effective.
  • Software comprising program code for threat handling of ground based vehicles may be easily upgraded or exchanged. Further, various parts of the software comprising program code for threat handling of ground based vehicles may be exchanged independently of each other. This modular configuration is advantageous from a maintenance perspective.
  • the device may comprise:
  • a device for threat handling of ground based vehicles may comprise:
  • said device comprises means adapted to present said at least one instruction as symbols in the form of overlaid information of a video stream on said screen.
  • said device comprises means adapted to present said at least one instruction in the form of overlaid information of a video stream on a screen.
  • said device comprises means for automatically determining at least one suitable counter-measure.
  • Said counter-measure may for example comprise to in a suitable manner feed a vehicles concealing smoke screen.
  • said device comprises means adapted to determine said at least one instruction on the basis of said automatically determined counter-measure.
  • a determined instruction may comprise information about moving the vehicle in such a way that it advantageously may enjoy said effect of the vehicle concealing smoke screen.
  • said threat characteristics may comprise kind of threat.
  • said type may comprise at least one of the armoured vehicle, combat vehicle military terrain vehicle, missile, grenade, robot, projectile, laser illumination, aircraft, grenade gun, grenade launcher and hostile troops.
  • the device may comprise:
  • the device may comprise:
  • said at least one instruction may comprise vehicle speed, change of speed and/or change of direction regarding the propulsion of the vehicle.
  • said at least one instruction may comprise symbols, signs, letters and/or numbers.
  • said at least one instruction may be presented in the form of audio signals and/ or synthesized speech by means of suitable equipment, such as for example head phones of at least one operator of the vehicle and/or loudspeakers of the vehicle.
  • said at least one instruction may be presented as a symbol, in the form of overlaid information of a video stream generated by an operator camera of the vehicle.
  • Said operator camera may be arranged to continuously record a surrounding of said vehicle.
  • a symbol may be in the form of overlaid information, of an area recorded by said camera is provided.
  • Said symbol is hereby determined to present an area where it is relatively safe to position and/or drive the vehicle.
  • the symbol illustrates how the vehicle should be driven within the area recorded by said camera, for avoiding said threat, hereby an operator of the vehicle may be instructed in an intuitive way to minimize risk for example being shot on by said threat.
  • said at least one instruction on a screen in form of symbols for driving the vehicle to a safe area and in form of overlaid information of a video stream, for example in the form of symbols, in such a way the operator receives information about how the vehicle should be driven and the operator may also easily see via the video stream when the vehicle is positioned on a desired location.
  • the vehicle may comprise:
  • an instruction for handling a determined threat may be determined on by for example topology and ground characteristics of the surrounding terrain.
  • an operator of the vehicle may be instructed to drive the vehicle so it may be positioned behind a hill or bushes or in dense forest.
  • an operator of the vehicle may be instructed to drive the vehicle so it is not stuck in too deep mud or driven down in water terrain.
  • Said surrounding characteristics may comprise information about topology of a surrounding of said vehicle.
  • Said surrounding characteristics may comprise information about terrain in an area around said vehicle.
  • Said surrounding characteristics may be stored in a memory of a control unit of the vehicle.
  • Said surrounding characteristics may according to an embodiment continuously or intermittently be determined by means of suitable means of vehicles.
  • Example of said means may be a camera, video camera or suitable sensor configuration.
  • Said means may comprise an image processing device.
  • Said surrounding characteristics may be comprised in an electronic map, which may be stored in a memory of a control unit of the vehicle.
  • Said electronic map may be a so called 2-D map.
  • Said electronic map may be a so called 3-D map, comprising information about for example altitude.
  • the device may further comprise:
  • - means adapted to preferably automatically activate a vehicle concealing function for vehicle.
  • means which are adapted to conceal the vehicle by means of smoke According to an embodiment there is provided means which are adapted to blind the threat or threats. According to an embodiment there is provided means which are adapted to camouflage the vehicle, for example comprising an active optical camouflage which is applied to the vehicle body. According to an embodiment there is provided means which are adapted to neutralize or reduce the affective performance of said threat. Said means may for example comprise a so called hard-kill system of the vehicle. Said hard-kill system may comprise equipment for neutralizing the threat or an incoming missile, robot or grenade. According to an embodiment there is provided means which are adapted to in a suitable way interfere with said threat and in such a way reduce the ability to work of the threat.
  • the device may further comprise:
  • the device may further comprise:
  • a motor vehicle comprising the device for threat handling of ground based vehicles.
  • Said motor vehicle may be a suitable ground vehicle.
  • Said motor vehicle may be a suitable terrain vehicle.
  • a computer program for threat handling of ground based vehicles where said computer program comprises program code stored on a, by a computer readable, medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of claims 1-10.
  • a computer program for threat handling of ground based vehicles comprising program code for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of claims 1-10.
  • a computer program product comprising a program code stored on a, by a computer readable, medium for performing the method steps according to any of claims 1-10, when said computer program is run on an electronic control unit or another computer connected to the electronic control unit.
  • Figure 1 schematically illustrates a vehicle, according to an embodiment of the invention
  • Figure 2 schematically illustrates a device of the vehicle shown in Figure 1, according to an embodiment of the invention
  • Figure 3 schematically illustrates instructions for an operator of the vehicle of a ground based vehicle, according to an embodiment of the invention
  • Figure 4a schematically illustrates a flow chart of a method, according to an embodiment of the invention
  • Figure 4b schematically in greater detail illustrates a flow chart of a method, according to an embodiment of the invention.
  • Figure 5 schematically illustrates a computer, according to an embodiment of the invention.
  • the vehicle 100 is a ground based vehicle.
  • the vehicle 100 may be of any suitable kind. According to an
  • said vehicle 100 is a military vehicle. According to an embodiment said vehicle 100 is a terrain vehicle. According to an embodiment the vehicle 100 is chosen from the group tank, tracked vehicle, infantry vehicle, amphibian vehicle, artillery vehicle and command centre vehicle.
  • the vehicle 100 may comprise caterpillar and/or wheels for propulsion of said vehicle.
  • link refers to a communication link which may be a physical wire, such as an opto-electronic communication wire, or a non-physical wire, such as a wireless connection, for example a radio- or microwave link.
  • symbol refers to an illustration which in an easy and intuitive way without use of text or letters shows how an operator should act for avoiding a determined threat.
  • the device 299 for threat handling of ground based vehicles.
  • the device 299 is provided at the vehicle 100.
  • the device 299 comprises a first control unit 200.
  • Said first control unit 200 is arranged to continuously determine presence of threat.
  • Said threat may be of various kinds, for example tank, missile, grenade, robot, laser illumination, aircraft, grenade rifle, grenade launcher or hostile troops.
  • Said first control unit 200 may be arranged to automatically determine presence of threat on the basis of information determined by a first sensor configuration, second sensor
  • the first control unit 200 is arranged to automatically determine information about threat characteristics. Said threat characteristics are associated with said threat. Said threat characteristics may be of any suitable kind. For example said threat characteristics may comprise information about equipment, performance and weapons of a hostile vehicle or an individual soldier.
  • Said first control unit 200 is arranged to automatically determine information about said threat characteristics on the basis of information determined of said first sensor configuration, second sensor configuration, third sensor configuration, support means configuration and/or radar unit, which are depicted in greater detail below.
  • information about threat characteristics may be associated with a certain threat being stored in a memory of said first control unit 200.
  • information about for example equipment, performance and weapons for certain threats for example specific military vehicles may be stored in a memory of said first control unit 200.
  • Said first control unit 200 is arranged to, based on said threat, automatically determine at least one instruction for en operator of said vehicle for handling said threat.
  • Said first control unit 200 is arranged to, based on said threat and said determined and thereto associated threat characteristics, automatically determine at least one instruction for an operator of said vehicle for handling of said threat.
  • Said first control unit 200 may be arranged to, based on determined threat characteristics, automatically determine at least one instruction for an operator of said vehicle for handling of said threat.
  • Said instruction may comprise information about suitable operation and propulsion of the vehicle for minimizing exposed risk from said threat. Said risk may for example pay regard to being fired upon or interference with equipment, for example communication systems, counter-measure systems or weapon systems of the vehicle 100.
  • Said instruction may comprise information about suitable counter-measure action.
  • Said first control unit 200 is arranged to automatically present said at least one instruction for said operator. This may be performed by means of suitable means, which are described in greater detail below.
  • the first control unit 200 is arranged for communication with a first presentation means 220 via a link L220.
  • Said first presentation means 220 may comprise a presentation screen.
  • Said screen may be a so called touch screen.
  • Said first presentation means 220 may be arranged to, where applicable, present a visual representation of one or more instructions for an operator of said vehicle 100 for handling of said threat.
  • Said visual representation of at least one instruction may be presented during a suitable time frame, such as 1, 5, 10 or 20 seconds.
  • Said visual representation of said at least one instruction may be presented during under a time frame exceeding 20 seconds.
  • Said visual representation of said at least one instruction may be presented until an operator inactivates or disregards presentation thereof.
  • instructions may be illustrated sequentially at a suitable pace.
  • instructions may be presented sequentially on a suitably intermittent way.
  • the instructions which are to be presented manually is fed by suitable means, for example said touch screen.
  • an operator of the vehicle 100 may determine for example a suitable pace for presenting a series of instructions for handling of said threat.
  • different instructions may be presented on the basis of how the vehicle is operated and/or on the basis of counter-measure actions which are performed or have been performed.
  • a whole sequence of instructions may first be presented at a higher pace, and separate instructions may thereafter be presented in a suitable sequential pace.
  • said first presentation means 220 is arranged to present instructions in the form of symbols.
  • said first presentation means 220 is arranged to present a video stream from a camera on board the vehicle, which camera is arranged to present a surrounding of the vehicle 100.
  • said first presentation means 220 is arranged to in real time present a video stream from a camera on board the vehicle, which camera is arranged to present a surrounding of the vehicle 100.
  • the first control unit may be arranged to continuously present said instructions by means of symbols in form of overlaid information of said video stream, of said first presentation means 220.
  • the first control unit 200 is arranged for communication with a second presentation means 230 via a link L230.
  • Said second presentation means 230 may comprise a loudspeaker configuration.
  • Said loudspeaker configuration may be arranged to present synthesized speech.
  • Said second presentation means 230 is arranged to, where applicable, provide an audio representation of one or more instructions for an operator of said vehicle 100 for handling of said threat.
  • Said audio representation of said at least one instruction may comprise word or phrases of synthesized speech. Said words or phrases may be repeated a suitable number of times alternatively be presented with a proper pace. According to an example an instruction in the form of a synthesized speech may be: "brake the vehicle to 20 km/h, thereafter perform an S turn to the right and accelerate the vehicle to 50 km/h".
  • an instruction in the form of a synthesized speech may be: "stop the vehicle immediately and arrange a smoke screen in front of the vehicle".
  • an instruction in the form of a synthesized speech may be: "brake the vehicle heavily and activate counter-measure in form of heat torches".
  • said second presentation means may be arranged to provide one or more instructions in the form of one or more audio tones.
  • One short audio signal may for example mean “turn to the right”
  • two short audio signals may for example mean “turn to the left”
  • one long audio signal may for example mean “brake the vehicle” or “stop the vehicle immediately ", two long audio signals may mean “accelerate the vehicle” etc.
  • Presented audio tones may comprise different duration configurations and may be repeated if necessary.
  • a volume of said second presentation means 230 may be chosen on the basis of how serious the threat is determined to be. For example the volume may be set higher when a threat is determined to be of a more serious kind. The volume may for example be set lower when said threat is not determined to be of a more serious kind.
  • the first control unit 200 is arranged for communication with a third presentation means 240 via a link L240.
  • Said third presentation means 240 may comprise a device for tactile stimulation of an operator of the vehicle 100.
  • Said device for tactile stimulation may be arranged to provide for example vibrations or pressure changes of suitable means connected to said operator.
  • Said device for tactile stimulation may be arranged to provide for example vibrations or pressure changes of suitable means of components or equipment of the vehicle 100, to which an operator is in physical contact, for example a chair or an activator mean such as a steering wheel or steering stick.
  • Said third presentation means 240 is arranged to, where applicable, provide a tactile representation of one or more instructions for an operator of said vehicle 100 for handling of said threat.
  • Said tactile representation of said at least one instruction may comprise vibrations or pressure changes of suitable means carried by said operator.
  • Said vibrations or pressure changes may be repeated a suitable number of times and/or be provided at different points separated by a suitable time period.
  • an instruction in the form of at least one vibration or pressure pulse may mean: "brake the vehicle until 200 km/h and turn 90 degrees to the right, thereafter stop and apply a smoke screen on both sides of the vehicle, wait for at least 10 seconds and accelerate thereafter the vehicle until 30 km/h heading north west".
  • said third presentation means may be arranged to present one or more instructions in the form of more vibration intervals.
  • One short vibration interval may for example mean “turn to the right”
  • two short vibration intervals may for example mean “turn to the left”
  • a long vibration interval may according to an example mean "brake the vehicle” or “stop the vehicle immediately ", two long vibration intervals may mean “accelerate the vehicle” etc.
  • intensity of said tactile feed back of said second presentation 230 may be chosen on the basis how serious said threat is determined to be. For example a vibration intensity may be set higher when said threat is determined to be of a more serious kind. For example the vibration intensity may be set lower when said threat is not determined to be of a more serious kind.
  • a driver of the vehicle 100 may be an operator which has access to said first presentation means 220, said second present mean 230 and said third presentation means 240 in a close proximity.
  • the first control unit 200 is arranged for communication with at least one fourth presentation means 250 via a link L250.
  • Said fourth presentation means 250 may comprise a device for illustrating a visual representation of one or more instructions for an operator of said vehicle 100 for handling said threat.
  • Said fourth presentation means 250 may comprise a device for providing an audio representation of one or more instructions for an operator of said vehicle 100 for handling of said threat.
  • Said fourth presentation means 250 may comprise a device for providing a tactile stimulation representation of one or more instructions for an operator of said vehicle 100 for handling of said threat.
  • Said fourth presentation means 250 may comprise at least one of said first presentation means 220, said second presentation means 230 and said third presentation means 240 which is depicted herein.
  • a vehicle manager of the vehicle 100 may be an operator which has access to said fourth presentation means 250 in a close proximity.
  • a suitable operator for example a gunner, loader, navigator or communication responsible person of the vehicle 100 may be an operator which has access to said fourth presentation means 250 in a close proximity.
  • said instructions may be presented on at least two of said first, second, third and fourth presentation means simultaneously in a suitable way.
  • an instruction may be presented for an operator by means of a first presentation means 220 and simultaneously, earlier or later, be presented in the form of synthesized speech for another operator by means of said fourth presentation means 250.
  • the first control unit 200 may be arranged to determine if an instruction is followed or not. This may be performed on the basis of information determined of for example a velocity sensor, GPS unit and/or one or more gyros of the vehicle 100. For the case where an instruction is not followed by an operator of the vehicle 100 the same or new instructions may be determined and presented for an operator of the vehicle by means of said first, second, third and/or fourth presentation means.
  • the first control unit 200 may be arranged to determine or present one or more instructions if a suitable counter-measure action for neutralizing or avoiding a threat, such as an incoming grenade. Said counter-measure action may comprise to by means of a so called hard-kill system neutralize said threat. Said counter measure action may comprise to provide smoke and/or in another suitable way interfere with said threat.
  • operators of the vehicle 100 may use suitable communication equipment for communicating with each other on board said vehicle.
  • Said communication equipment may comprise a number of headsets carried by each and one of said operators.
  • an operator may inform other operators for example about that a certain instruction will be performed.
  • the first control unit 200 is arranged for communication with a first sensor configuration 260 via a link L260.
  • Said first sensor configuration 260 may comprise a light illuminating detecting configuration.
  • Said first sensor configuration 260 may comprise a laser warner unit.
  • Said first sensor configuration 260 is arranged to continuously determine if the vehicle is illuminated by a threat by means of a light signal, for example laser light for positioning determination.
  • Said first sensor configuration 260 may further be arranged to determine a threat on the basis of said detected light illumination. This may for example be performed by means of frequency analysis and amplitude analysis of the detected light.
  • Said determination of threat may comprise determination of information about kind of threat.
  • Said determination of threat may be performed by means of said first sensor configuration and/or first control unit 200.
  • Said determination of threat may be performed by means of said first sensor configuration and/or said first control unit 200 together with information which is stored in advance in a memory in the first control unit 200.
  • the first control unit 200 is arranged for communication with a second sensor configuration 270 via a link L270.
  • Said second sensor configuration 270 may comprise an audio detecting configuration.
  • Said second sensor configuration 270 may comprise an acoustic sensor.
  • Said second sensor configuration 270 is arranged to continuously determine if the vehicle is hit by one from a threat sent audio signal, for example ultrasound for positioning determination.
  • Said second sensor configuration 270 may further be arranged to determine a threat on the basis of said detected audio signal. This may for example be performed by means of frequency analysis and amplitude analysis of the detected sound.
  • Said determination of threat may comprise determination of information about type of threat.
  • Said determination of threat may be performed by means of said second sensor configuration 270 and/or said first control unit 200.
  • Said determination of threat may be performed by means of said second sensor configuration 270 and/or said first control unit 200 together with information which is stored in advance in a memory in the first control unit 200.
  • Said second sensor configuration 270 may alternatively or complementary comprise a visual sensor, for an example a camera, video camera or IR camera.
  • Said visual sensor may comprise a light amplifier.
  • Said second sensor configuration 270 is arranged to continuously determine surrounding pictures for the vehicle. Said surrounding pictures may be used for determining positioning information for a possible threat.
  • Said second sensor configuration 270 may be further arranged to determine a threat on the basis of said detected surrounding pictures. This may for example be performed by means of image processing of the determined surrounding pictures.
  • Said determination of threat may comprise determining information about type of threat.
  • Said determination of threat may be performed by means of said second sensor configuration 270 and/or said first control unit 200.
  • Said determination of threat may be performed by means of said second sensor configuration 270 and/or said first control unit 200 together with information which is stored in advance in a memory of the first control unit 200.
  • the first control unit 200 is arranged for communication with a support means configuration 280 via a link L280.
  • Said support means configuration may comprise navigation equipment of suitable kind.
  • Said navigation equipment may comprise a suitable number of gyros.
  • Said navigation equipment may comprise a GPS unit.
  • the first control unit 200 may be arranged to continuously receive signals comprising information from said support means configuration.
  • the first control unit 200 may be arranged to determine at least one instruction for an operator of said vehicle for handling of said threat on the basis of said signals from said support means equipment 280.
  • the first control unit 200 is arranged for communication with a radar unit 290 via a link L290.
  • Said radar unit 290 may comprise a radar emitter for sending radar waves for determination of positioning information for a threat and/or changes of positioning information regarding a threat.
  • Said radar unit 290 may comprise a radar receiver for receiving radar waves for determination of positioning information for a threat and/or changes of positioning
  • Said threat may be a mobile threat or a fixed positioned threat.
  • Said mobile threat may be for example a tank, ship.
  • Said fixed positioned threat may be a mounted artillery device or a bunker.
  • the first control unit 200 is arranged for communication with a counter-measure configuration 295 via a link L250.
  • Said counter measure configuration may comprise a system for active counter-measures and/or system for passive-counter measures.
  • Said counter-measure configuration may comprise a smoke projectile configuration.
  • the first control unit 200 is arranged to fire at least one smoke projectile for achieving a camouflaging smoke.
  • a number of smoke projectiles may be fired simultaneously.
  • An operator may control provision of smoke in a suitable manner, for example by deciding in which direction a smoke projectile should be fired.
  • An operator may control provision of smoke in a suitable manner, for example by determining how far a smoke projectile should be fired.
  • a number of smoke projectiles are fired intermittently.
  • the first control unit 200 is arranged to provide camouflaging smoke in the close proximity of the vehicle 100 in a suitable manner.
  • Said at least one smoke projectile may be fired by an operator of the vehicle 100 by means of therefore dedicated equipment.
  • said at least one smoke projectile, where applicable, is fired automatically on the basis of a determined threat and thereto associated threat characteristics.
  • said counter-measure configuration 295 may comprise an active armour.
  • Said control unit 200 may be arranged to activate said active armour. Said activation may be performed on the basis of a determined threat and thereto associated threat characteristics.
  • said counter measure configuration 295 may comprise an automatic or semi-automatic so called hard-kill system.
  • Said hard-kill system may comprise an anti-missile system.
  • said counter-measure configuration 295 may comprise an automatic or semi-automatic system, which is adapted to fool for example incoming heat seeking robots via heat signature.
  • said counter-measure configuration 295 may comprise a suitable optical camouflage.
  • Said optical camouflage may automatically or semi-automatically be activated and deactivated on the basis of said determined threat and thereto associated threat characteristics.
  • said counter-measure configuration 295 may comprise a suitable blinding equipment for blinding a threat.
  • Said threat may be constituted by a hostile soldier having a grenade gun or grenade launcher.
  • said counter measure configuration 295 may comprise a suitable intimidating equipment (non-lethal weapon) to intimidate a threat.
  • Said threat may be a hostile soldier with a grenade gun or grenade launcher.
  • Said intimidating equipment may for example comprise an amplifier and a loudspeaker for generating a very strong sound (so called sonic or ultrasonic weapons, for example LRAD), which may cause discomfort of said threat.
  • said counter measure configuration 295 may comprise a so called laser blinder.
  • said counter-measure configuration 295 may comprise means for providing a water fog. These means may be part of a system for misleading of for example heat seeking robots.
  • said counter-measure configuration 295 may comprise suitable equipment for example electromagnetic interference.
  • said counter-measure configuration 295 may comprise equipment for generating and sending an electromagnetic pulse towards a threat for destroying electronic equipment of said threat.
  • said counter measure configuration 295 may comprise an suitable equipment for example interference of radar units of said threat.
  • said counter-measure configuration 295 may comprise an antiaircraft system, comprising anti-aircraft robots. According to an embodiment said counter-measure configuration 295 may comprise IR torches and/or metal strips to disillusion said threat in a suitable way.
  • the first control unit 200 is arranged to, where applicable, automatically control said counter- measure configuration 295, according to an aspect of the present invention. Different functions of said counter-measure configuration may be used simultaneously, alone or in combination.
  • Said presented instruction may comprise information about suitable counter-measure action, whereby an operator may activate a suitable counter-measure before, during or after a forward movement of the vehicle 100.
  • a second control unit 210 is arranged for communication with the first control unit 200 via a link L210.
  • the second control unit 210 may be detachably connected to the first control unit 200.
  • the second control unit 210 may be on to the vehicle 100 external control unit.
  • the second control unit 210 may be arranged to perform the innovative method steps according to the invention.
  • the second control unit 210 may be used for transferring software to the first control unit 200, in particular software for performing the innovative method.
  • the second control unit 210 may alternatively be arranged for communication with the first control unit 200 via an internal network in the vehicle.
  • the second control unit 210 may be arranged for performing essentially the same function as the first control unit 200, such as:
  • the first control unit 200 is arranged to continuously determine presence of threat.
  • the first control unit 200 is arranged to automatically determine information about threat
  • the first control unit 200 is arranged to, based on such threat, automatically determine at least one instruction for an operator of said vehicle for handling of said threat.
  • the first control unit 200 is arranged to automatically present said at least one instruction for said operator.
  • the first control unit 200 is arranged to present said at least one instruction in the form of symbols and/or overlaid information on a screen 220 accessible for said operator and/or in the form of spoken instruction via an audio equipment 230 available for said operator.
  • the first control unit 200 is arranged to determine surrounding characteristics and
  • the first control unit 200 is arranged to preferably automatically activate a protection function which is vehicle concealing.
  • the first control unit 200 is arranged to automatically present more than one instruction for said operator, preferably mutually graded.
  • Instr. 1-10 and 14 illustrates instructions in the form of symbols which may be presented by means of suitable presentation means.
  • Instr. 1 Accelerate the vehicle and perform an S-turn to the right relative the direction of movement of the vehicle.
  • Instr. 2 Accelerate the vehicle and perform an S-turn to the left relative the direction of movement of the vehicle.
  • Instr. 4 Accelerate the vehicle and turn to the right. Alternatively turn to the right and accelerate the vehicle.
  • Instr. 5 Accelerate the vehicle and turn to the left. Alternatively turn to the left and accelerate the vehicle.
  • Instr. 6 Brake the vehicle and perform an S-turn to the left relative the direction of movement of the vehicle. Alternatively perform an S-turn to the left relative the direction of movement of the vehicle and thereafter brake the vehicle.
  • Instr. 7 Brake the vehicle and perform an S-turn to the right relative the direction of movement of the vehicle. Alternatively perform an S-turn to the right relative the direction of movement of the vehicle and thereafter brake the vehicle.
  • Instr. 8 Brake the vehicle and turn to the right relative the direction of movement of the vehicle. Alternatively turn to the right and thereafter brake the vehicle.
  • Instr. 9 Brake the vehicle and turn to the left relative the direction of movement of the vehicle. Alternatively turn to the left and thereafter brake the vehicle.
  • Instr. 10 Brake the vehicle to standing still and thereafter drive backwards.
  • Instr. 11 Brake the vehicle and perform an S-turn to the right in the direction of movement of the vehicle. Alternatively perform an S-turn to the right relative the direction of movement of the vehicle and thereafter brake the vehicle. Instr. 11 is essentially the same as the Instr. 7 but is written with alphanumerical signs instead of being represented by means of a graphical symbol.
  • Instr. 12 Accelerate the vehicle and perform an S-turn to the left relative the direction of movement of the vehicle. Take action:
  • Instr. 13 Hereby is information about an identified threat presented. Hereby is a tank which is positioned at an coordinate X, Y presented, which comprises a canon with calibre 120 mm. Instr. 13 is hereby not a direct instruction to an operator of the vehicle 100, but can be an indirect instruction, which may trigger a crew of the vehicle to perform a suitable manoeuvre and/or take adequate measure. An example of such a manoeuvre may be to accelerate and turn right. An example of such a measure can be to provide smoke for camouflage or activating an active armour of the vehicle. Instr. 14: Drive the vehicle in an essential circular path.
  • Said instructions Instr. 1-lnstr. 14, or other determined instructions may be presented for one or more operators of the vehicle by means of suitable presentation means, for example said first presentation means 220, second presentation means 230, third presentation means 240 and/or fourth presentation means 250.
  • Said instructions may comprise information about suitable turning radius, coordinate, speed, acceleration, time process, counter measure actions, etc for an operator for in a suitable way neutralizing or avoiding a determined threat.
  • FIG. 4a schematically illustrates a flow chart of a method for threat handling of ground based vehicles, according to an embodiment of the invention.
  • the method comprises a first method step s401.
  • the step s401 comprises the steps of:
  • Figure 4b schematically illustrates a flow chart of a method for threat handling of ground based vehicles, according to an embodiment of the invention.
  • the method comprises a first method step s410.
  • the method step s410 comprises a step of continuously determining presence of threat.
  • Said threat may be of various kinds of threat.
  • Said threat may be a number of cooperating threats.
  • Said threat may be determined by means of the first control unit 200 and/or the second control unit 210.
  • Said threat may be determined by means of any or some of the herein depicted systems, for example a first sensor configuration 250, second sensor configuration 260, third sensor configuration 270, support means configuration 280 and/or the radar unit 290.
  • a subsequent method step s420 comprises the step of automatically determining information regarding threat characteristics associated with said threat. Said information regarding threat
  • characteristics may be determined by means of any or some of the herein depicted systems, for example a first sensor configuration 250, second sensor configuration 260, third sensor configuration 270, support means configuration 280 and/or the radar unit 290.
  • a subsequent method step s430 After the method step s410 there is performed a subsequent method step s430.
  • the method step s430 comprises the step of based on said threat automatically determining at least one instruction for at least one operator of said vehicle for handling of said threat. Said instruction may be determined on the basis of said threat and/or said threat characteristics associated with such threat.
  • a subsequent method step s440 is performed.
  • the method step s440 comprises the step of automatically presenting at least one instruction for said operator. Said presentation of said at least one instruction for said operator may be performed by means of at least one of the first presentation means 220, second presentation means 230, third presentation means 240 and fourth presentation means 250.
  • a subsequent method step s450 is performed.
  • the method step s450 comprises the step of performing at least one counter-measure action.
  • Said counter-measure action may be performed by means of said counter-measure
  • the step s450 may comprise the step of determining and presenting said at least one counter measure-action.
  • the counter-measure action may be presented by means of at least one of the first presentation means 220, second presentation means 230, third presentation means 240 and fourth presentation means 250. Said counter- measure action may be performed before, during or after an evasive manoeuvre (according to a subsequent method step s460). After the method step s450 a subsequent method step s460 is performed.
  • the method step s460 comprises the step of performing an evasive manoeuvre on the basis of said presented at least one instruction. This evasive manoeuvre may be performed of an operator of the vehicle 100 in accordance with said presented at least one instruction. After the method step s460 the method ends.
  • the control units 200 and 210 described with reference to Figure 2 may in a version comprise the device 500.
  • the device 500 comprises a non-volatile memory 520, a data processing unit 510 and a read/write memory 550.
  • the non-volatile memory 520 has a first memory element 530 in which a computer program, e.g. an operating system, is stored for controlling the function of the device 500.
  • the device 500 further comprises a bus controller, serial communication port, IO means, an A/D converter, a time- and data input transfer unit, an event counter and an interruption controller (not depicted).
  • the non-volatile memory 520 has also a second memory element 540.
  • the program P may comprise routines for continuously determining presence of threat.
  • the program P may comprise routines for automatically determining information regarding threat characteristics.
  • the program P may comprise routines for, based on said threat, automatically determine at least one instruction for an operator of said vehicle for handling of said threat.
  • the program P may comprise routines for automatically presenting said at least one instruction for said operator.
  • the program P may comprise routines for presenting said at least one instruction in the form of symbols and on a for said operator accessible screen 220 and/or in the form of spoken instructions via a for said operator available audio equipment 230.
  • the program P may comprise routines for determining surrounding characteristics as well as characteristics regarding the operation of the vehicle and routines for considering such determined characteristics when determining said at least one instruction.
  • the program P may comprise routines for preferably automatically activating a protection function which is vehicle concealing.
  • the program P may comprise routines for automatically presenting more than one instruction for said operator, preferably mutually graded.
  • the program P may be stored in an executable form in a compressed form in a memory 560 and/or in a read/write memory 550.
  • the data processing unit 510 is described as performing a certain function it means that the data processing unit 510 affects a certain part of the program stored in the memory 560 or a certain part in the program stored in the read/write memory 550.
  • the data processing device 510 can communicate with a data port 599 via a data bus 515.
  • the non-volatile memory 520 is intended for communication with the data processing unit 510 via a data bus 512.
  • the separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511.
  • the read/write memory 550 is adapted to communicating with the data processing unit 510 via a data bus 514.
  • the data port 599 may for example have the links L210, L220, L230, L240, L250, L260, L270, L280, L290 and L295 connected to it (see Figure 2).
  • the data processing unit 510 When data are received on the data port 599 it is temporarily stored in the second memory element 540. When input data have been temporarily stored the data processing unit 510 is prepared to affect code execution as described above. According to an embodiment the signals received on the data port 599 information about presence of threat. According to an embodiment the signals received on the data port 599 comprises information about threat characteristics. The signals received on the data port 599 may be used by the device 500 for providing instructions for threat handling for an operator of the vehicle 100, according to an aspect of the invention.
  • Parts of the methods herein described may be affected by the device 500 by means of the data processing unit 510 which runs the program stored in the memory 560 or the read/write memory 550. When the device 500 runs the program the methods herein described are executed.

Abstract

The invention relates to a method for threat handling of ground based vehicles, comprising the steps of: - continuously determining (s410) presence of threats; and - automatically determining (s420) information pertaining to threat characteristics; - based on said threat, automatically determining (s430) at least one instruction for at least one operator of said vehicle (100) for handling of said threat; and - automatically presenting (s440) said at least one instruction for said operator. The invention also relates to a computer program product comprising program code (P) for a computer (200; 210) for implementing a method according to the invention. The invention also relates to a device and a motor vehicle (100) which is equipped with the device.

Description

Arrangement and method for threat management for ground-based vehicles
TECHNICAL FIELD
The present invention relates to a method for threat handling of ground based vehicles. The invention also relates to a computer program product comprising program code for a computer for implementing a method according to the invention. The invention also relates to a device for threat handling of ground based vehicles and a motor vehicle which is equipped with the device.
BACKGROUND
Military ground vehicles of today may be exposed for various kinds of threats. Said threats may be real threats during for example a combat situation. Said threat may constitute fictive threats during for example a combat exercise. The threats may be of various kinds. The threats may for example be other hostile ground military vehicles, helicopters, various weapon systems or troops.
Such vehicles may be equipped with a counter-measure system for neutralizing threats or avoiding to be defeated or in any other way be negatively affected by for example interference of own systems. These counter-measure systems are today quite effective but do not always provide full worthy protection for own vehicles.
Some combat progresses are relatively fast, why it is desired to provide decision support for an operator of said military ground vehicle for handling of determined threats in a satisfying manner so as to increase life length of own vehicle and increase safety for operators on board said vehicle.
SUMMARY OF THE INVENTION
An object of the present invention is to provide a novel and advantageous method for threat handling of ground based vehicles. Another object of the invention is to provide a novel and advantageous device and a novel and advantageous computer program for threat handling of ground based vehicles.
Yet another object of the invention is to provide a method, a device and a computer program for achieving a safer ground based vehicle.
Yet another object of the invention is to provide a method, a device and a computer program for achieving a versatile ground based vehicle which may handle various kinds of threats. Yet another object of the invention is to provide an alternative method, an alternative device and an alternative computer program for threat handling of ground based vehicles.
These objects are achieved by a method for threat handling of ground based vehicles according to claim 1.
According to an aspect of the invention there is provided a method for threat handling of ground based vehicles, comprising the steps of:
- continuously determining presence of threats;
- automatically determining information pertaining to threat characteristics;
- based on said threat, automatically determining at least one instruction for at least one operator of said vehicle for handling of said threat; and
- automatically present said at least one instruction for said operator.
Hereby is provided a user friendly method for threat handling of ground based vehicles.
According to an aspect of the present invention it may continuously automatically be determined presence of a number of different threats simultaneously.
According to an aspect of the invention there is provided a method for threat handling of ground based vehicles, comprising the steps of:
- continuously determining presence of threats;
- automatically determining information pertaining to threat characteristics;
- based on said threat, automatically determining at least one instruction for at least one operator of said vehicle for handling of said threat; and - automatically present said at least one instruction for said operator in the shape of symbols on a for the operator accessible screen.
Symbols may comprise for example arrows, geometrical figures or similar illustrations which in a simple way is guiding the operator without the need of using text or letters. By automatically presenting said at least one instruction in the shape of symbols the operator may quickly and easy be paying attention to the suggested instruction and may therefore act in a quick way to handle the determined threat. By presenting instructions in the form of symbols the risk of that the operator is misapprehending the instruction is minimized at the same time as a language independent solution is achieved. In such a way there is achieved a safe and effective way for threat handling of ground based vehicles.
Such ground based vehicles may be a combat vehicle, for example an armoured vehicle or amphibian vehicle. Said ground based vehicle may be an arbitrary suitable vehicle. Said vehicle may be arranged to be operated by means of wheels, caterpillars, or legs or any suitable combination thereof.
Said threat characteristics may comprise kind of threat. Said kind of threat may comprise at least one of the types tank, missile, grenade, robot, laser illumination, aircraft, grenade gun, grenade launcher and hostile troop. Said type may comprise at least one of the types helicopter, UAV (Unmanned Aerial Vehicle), boat, water craft or any combat vehicle which may fire grenades, missiles or other types of projectiles.
Said threat characteristics may comprise information about platform as well as associated affective part or affective parts. Said threat characteristics may comprise information about performance of the platform as well as performance of said affective part or affective parts. Said threat characteristics may comprise information about kind of ammunition and
effectiveness of said ammunition. For example calibre and explosion force of said ammunition may be determined according to an aspect of the invention. Said threat characteristics may comprise information about if the ammunition of said threat is direct affecting, target seeking or target control. Said at least one instruction may be presented in form of symbols on a screen accessible for an operator and/or in the form of spoken instructions via an audio equipment available for said operator and/or in the form of tactile feed back for an operator and/or in the form of a suitable audio signal via an audio equipment available for said operator. Said screen may be a screen arranged to only present said instructions. According to an alternative said screen may be a screen for illustrating for example a video stream from a camera located on board, where said camera is arranged to take pictures of an environment of the vehicle. Hereby said screen may be arranged to present said instructions in form of overlaid information. The overlaid information is suitably such that it in a simple and evident way illustrates for the operator how he should act so as to avoid the determined threat. For example the overlaid information may be presented as symbols. In that way the operator is instructed without the need of text or letters. Alternatively the overlaid presentation is presented as a picture, a letter, a word or similar. Hereby is achieved a versatile and robust method for threat handling. Hereby is achieved a user friendly means for in an effective and intuitive way presenting said at least one instruction.
Said at least one instruction may comprise vehicle speed, change of speed and/or change of direction regarding the propulsion of the vehicle.
The method may comprise the steps of:
- determining surrounding characteristics as well as characteristics pertaining to the propulsion of the vehicle; and
- considering the thus determined characteristics when determining said at least one instruction.
The method may further comprise the step of:
- preferably automatically activating a vehicle concealing protection function.
According to an embodiment the vehicle may provide a function for concealing the vehicle by means of smoke. According to one embodiment the vehicle may provide a function for blinding the threat or threats. According to an embodiment the vehicle may provide function for camouflaging the vehicle, for example by means of an active optical camouflage which is applied on the vehicle body. According to an embodiment the vehicle may provide a function for neutralizing or reducing the affect ability of said threat. This may for example be performed by means of a suitable so called hard-kill system of the vehicle. Said hard-kill system may comprise equipment for neutralizing the threat or an incoming missile, robot or grenade.
According to an embodiment the vehicle may provide a function for in a suitable manner interfere with said threat so as to reduce said threats ability to perform.
The method may further comprise the step of:
- choosing and performing one of said presented instructions. Hereby an operator of the vehicle may make an active decision about which suggested instruction should be followed and actively perform a thereto associated movement manoeuvre for avoiding negative effect of said threat, such as being hit by a projectile from said threat or to be tracked or followed by said threat.
The method may further comprise the step of:
- automatically presenting more than one instruction for said operator preferably mutually graded. Hereby is provided an effective decision support for an operator of the vehicle. Further there is provided a versatile method for threat handling, where an operator of the vehicle may make an active decision regarding kind of evasive manoeuvre. By automatically mutually grade instructions an operator of the vehicle may prioritize and choose which instruction should be followed in a time effective manner.
According to an aspect of the invention said method comprises the step of automatically performing a vehicle concealing protective function and presenting an instruction regarding the propulsion of the vehicle. In such a way a fast and reliable threat handling is achieved where the operator only has to focus on driving the vehicle to a safe location.
The method is easy to implement in existing vehicles. Software for threat handling of ground based vehicles according to the invention may be installed in a control unit of the vehicle during manufacturing. A buyer of the vehicle may thus get the possibility to choose the function of the method as an additional choice. Alternatively software comprising program code for performing the innovative method for threat handling of ground based vehicles may be installed in a control unit of the vehicle when upgrading is performed at a service station. In this case the software may be loaded into a memory in the control unit. Implementing of the innovative method is thus cost effective. Software comprising program code for threat handling of ground based vehicles may be easily upgraded or exchanged. Further, various parts of the software comprising program code for threat handling of ground based vehicles may be exchanged independently of each other. This modular configuration is advantageous from a maintenance perspective.
According to an aspect of the invention there is provided a device for threat handling of ground based vehicles. The device may comprise:
- means adapted to continuously determining presence of threat; and
- means adapted to automatically determine information about threat characteristics;
- means adapted to, based on said threat, automatically determine at least one instruction for at least one operator of said vehicle for handling said threat; and
- means adapted to automatically present said at least one instruction for said operator. According to an aspect of the invention there is provided a device for threat handling of ground based vehicles. The device may comprise:
- means adapted to continuously determining presence of threat;
- means adapted to automatically determine information about threat characteristics;
- means adapted to, based on said threat, automatically determine at least one instruction for at least one operator of said vehicle for handling of said threat;
- a presentation screen available for said operator; and
- means adapted to automatically present said at least one instruction in the form of symbols on said screen for said operator. According to an embodiment there is presented said symbols in the form of overlaid information of a video stream on said screen.
According to an embodiment said device comprises means adapted to present said at least one instruction as symbols in the form of overlaid information of a video stream on said screen.
According to an embodiment said device comprises means adapted to present said at least one instruction in the form of overlaid information of a video stream on a screen. According to an embodiment said device comprises means for automatically determining at least one suitable counter-measure. Said counter-measure may for example comprise to in a suitable manner feed a vehicles concealing smoke screen. According to an embodiment said device comprises means adapted to determine said at least one instruction on the basis of said automatically determined counter-measure. According to an example a determined instruction may comprise information about moving the vehicle in such a way that it advantageously may enjoy said effect of the vehicle concealing smoke screen.
At the device said threat characteristics may comprise kind of threat.
At the device said type may comprise at least one of the armoured vehicle, combat vehicle military terrain vehicle, missile, grenade, robot, projectile, laser illumination, aircraft, grenade gun, grenade launcher and hostile troops. The device may comprise:
- a screen available for said operator and/or an audio equipment available to said operator;
- means adapted to present said at least one instruction in the form of symbols on said screen and/or means adapted to present said at least one instruction in the form of spoken
instructions via said audio equipment and/or means adapted to present said at least one instruction in the form of a suitable audio signal via said audio equipment.
The device may comprise:
- means arranged to provide a tactile representation of said at least one instruction for said operator.
At the device said at least one instruction may comprise vehicle speed, change of speed and/or change of direction regarding the propulsion of the vehicle.
At the device said at least one instruction may comprise symbols, signs, letters and/or numbers.
At the device said at least one instruction may be presented in the form of audio signals and/ or synthesized speech by means of suitable equipment, such as for example head phones of at least one operator of the vehicle and/or loudspeakers of the vehicle. At the device said at least one instruction may be presented as a symbol, in the form of overlaid information of a video stream generated by an operator camera of the vehicle. Said operator camera may be arranged to continuously record a surrounding of said vehicle. Hereby a symbol may be in the form of overlaid information, of an area recorded by said camera is provided. Said symbol is hereby determined to present an area where it is relatively safe to position and/or drive the vehicle. Alternatively the symbol illustrates how the vehicle should be driven within the area recorded by said camera, for avoiding said threat, hereby an operator of the vehicle may be instructed in an intuitive way to minimize risk for example being shot on by said threat.
According to an aspect of the present invention there is presented said at least one instruction on a screen in form of symbols for driving the vehicle to a safe area and in form of overlaid information of a video stream, for example in the form of symbols, in such a way the operator receives information about how the vehicle should be driven and the operator may also easily see via the video stream when the vehicle is positioned on a desired location.
The vehicle may comprise:
- means adapted to determine surrounding characteristics as well as characteristics regarding the propulsion of the vehicle; and
- means adapted to consider said such determined characteristics when determining said at least one instruction.
Hereby an instruction for handling a determined threat may be determined on by for example topology and ground characteristics of the surrounding terrain. For example an operator of the vehicle may be instructed to drive the vehicle so it may be positioned behind a hill or bushes or in dense forest. For example an operator of the vehicle may be instructed to drive the vehicle so it is not stuck in too deep mud or driven down in water terrain. Said surrounding characteristics may comprise information about topology of a surrounding of said vehicle. Said surrounding characteristics may comprise information about terrain in an area around said vehicle. Said surrounding characteristics may be stored in a memory of a control unit of the vehicle. Said surrounding characteristics may according to an embodiment continuously or intermittently be determined by means of suitable means of vehicles. Example of said means may be a camera, video camera or suitable sensor configuration. Said means may comprise an image processing device. Said surrounding characteristics may be comprised in an electronic map, which may be stored in a memory of a control unit of the vehicle. Said electronic map may be a so called 2-D map. Said electronic map may be a so called 3-D map, comprising information about for example altitude.
The device may further comprise:
- means adapted to preferably automatically activate a vehicle concealing function for vehicle.
According to an embodiment there is provided means which are adapted to conceal the vehicle by means of smoke. According to an embodiment there is provided means which are adapted to blind the threat or threats. According to an embodiment there is provided means which are adapted to camouflage the vehicle, for example comprising an active optical camouflage which is applied to the vehicle body. According to an embodiment there is provided means which are adapted to neutralize or reduce the affective performance of said threat. Said means may for example comprise a so called hard-kill system of the vehicle. Said hard-kill system may comprise equipment for neutralizing the threat or an incoming missile, robot or grenade. According to an embodiment there is provided means which are adapted to in a suitable way interfere with said threat and in such a way reduce the ability to work of the threat.
The device may further comprise:
- means adapted to provide a choice regarding said presented instructions and means adapted to, on the basis of operator commands, perform manoeuvres associated with said presented instructions.
The device may further comprise:
- means adapted to automatically present more than one instruction for said operator, preferably mutually graded.
The objects may also be achieved by a motor vehicle comprising the device for threat handling of ground based vehicles. Said motor vehicle may be a suitable ground vehicle. Said motor vehicle may be a suitable terrain vehicle. According to an aspect of the invention there is provided a computer program for threat handling of ground based vehicles, where said computer program comprises program code stored on a, by a computer readable, medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of claims 1-10.
According to an aspect of the invention there is provided a computer program for threat handling of ground based vehicles, where said computer program comprises program code for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of claims 1-10.
According to an aspect of the invention there is provided a computer program product comprising a program code stored on a, by a computer readable, medium for performing the method steps according to any of claims 1-10, when said computer program is run on an electronic control unit or another computer connected to the electronic control unit.
Further objects, advantages and novel features of the present invention will become apparent to one skilled in the art from the following details, and also by putting the invention into practice. Where the invention is described below it should be noted that it is not restricted to the specified details described. Specialists having access to the teaching herein will recognize further applications, modifications and incorporations within other fields, which are within the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS
For a complete understanding the present invention and further objects and advantages of it, the detailed description set out below should be read together with the accompanying drawings, in which the same reference notations denote similar items in the various diagrams, and in which:
Figure 1 schematically illustrates a vehicle, according to an embodiment of the invention; Figure 2 schematically illustrates a device of the vehicle shown in Figure 1, according to an embodiment of the invention;
Figure 3 schematically illustrates instructions for an operator of the vehicle of a ground based vehicle, according to an embodiment of the invention;
Figure 4a schematically illustrates a flow chart of a method, according to an embodiment of the invention;
Figure 4b schematically in greater detail illustrates a flow chart of a method, according to an embodiment of the invention; and
Figure 5 schematically illustrates a computer, according to an embodiment of the invention.
DETAILED DESCRIPTION OF THE DRAWINGS
With reference to Figure 1 there is shown a side view of a vehicle 100. The vehicle 100 is a ground based vehicle. The vehicle 100 may be of any suitable kind. According to an
embodiment said vehicle 100 is a military vehicle. According to an embodiment said vehicle 100 is a terrain vehicle. According to an embodiment the vehicle 100 is chosen from the group tank, tracked vehicle, infantry vehicle, amphibian vehicle, artillery vehicle and command centre vehicle. The vehicle 100 may comprise caterpillar and/or wheels for propulsion of said vehicle. Herein the term "link" refers to a communication link which may be a physical wire, such as an opto-electronic communication wire, or a non-physical wire, such as a wireless connection, for example a radio- or microwave link.
Herein the term "symbol" refers to an illustration which in an easy and intuitive way without use of text or letters shows how an operator should act for avoiding a determined threat.
With reference to Figure 2 there is shown a device 299 for threat handling of ground based vehicles. The device 299 is provided at the vehicle 100. The device 299 comprises a first control unit 200.
Said first control unit 200 is arranged to continuously determine presence of threat. Said threat may be of various kinds, for example tank, missile, grenade, robot, laser illumination, aircraft, grenade rifle, grenade launcher or hostile troops. Said first control unit 200 may be arranged to automatically determine presence of threat on the basis of information determined by a first sensor configuration, second sensor
configuration, third sensor configuration, support means configuration and/or radar unit, which are depicted in greater detail below. The first control unit 200 is arranged to automatically determine information about threat characteristics. Said threat characteristics are associated with said threat. Said threat characteristics may be of any suitable kind. For example said threat characteristics may comprise information about equipment, performance and weapons of a hostile vehicle or an individual soldier.
Said first control unit 200 is arranged to automatically determine information about said threat characteristics on the basis of information determined of said first sensor configuration, second sensor configuration, third sensor configuration, support means configuration and/or radar unit, which are depicted in greater detail below. According to an embodiment information about threat characteristics may be associated with a certain threat being stored in a memory of said first control unit 200. According to an embodiment said information about for example equipment, performance and weapons for certain threats for example specific military vehicles, may be stored in a memory of said first control unit 200. Said first control unit 200 is arranged to, based on said threat, automatically determine at least one instruction for en operator of said vehicle for handling said threat. Said first control unit 200 is arranged to, based on said threat and said determined and thereto associated threat characteristics, automatically determine at least one instruction for an operator of said vehicle for handling of said threat. Said first control unit 200 may be arranged to, based on determined threat characteristics, automatically determine at least one instruction for an operator of said vehicle for handling of said threat. Said instruction may comprise information about suitable operation and propulsion of the vehicle for minimizing exposed risk from said threat. Said risk may for example pay regard to being fired upon or interference with equipment, for example communication systems, counter-measure systems or weapon systems of the vehicle 100. Said instruction may comprise information about suitable counter-measure action. Said first control unit 200 is arranged to automatically present said at least one instruction for said operator. This may be performed by means of suitable means, which are described in greater detail below. The first control unit 200 is arranged for communication with a first presentation means 220 via a link L220. Said first presentation means 220 may comprise a presentation screen. Said screen may be a so called touch screen. Said first presentation means 220 may be arranged to, where applicable, present a visual representation of one or more instructions for an operator of said vehicle 100 for handling of said threat. Said visual representation of at least one instruction may be presented during a suitable time frame, such as 1, 5, 10 or 20 seconds. Said visual representation of said at least one instruction may be presented during under a time frame exceeding 20 seconds. Said visual representation of said at least one instruction may be presented until an operator inactivates or disregards presentation thereof.
According to an example embodiment different, or the same instructions may be illustrated sequentially at a suitable pace. According to an example embodiment different, or same, instructions may be presented sequentially on a suitably intermittent way. According to an example embodiment the instructions which are to be presented manually is fed by suitable means, for example said touch screen. Hereby an operator of the vehicle 100 may determine for example a suitable pace for presenting a series of instructions for handling of said threat. According to an example embodiment different instructions may be presented on the basis of how the vehicle is operated and/or on the basis of counter-measure actions which are performed or have been performed. According to an example embodiment a whole sequence of instructions may first be presented at a higher pace, and separate instructions may thereafter be presented in a suitable sequential pace.
According to an example embodiment said first presentation means 220 is arranged to present instructions in the form of symbols.
According to an example embodiment said first presentation means 220 is arranged to present a video stream from a camera on board the vehicle, which camera is arranged to present a surrounding of the vehicle 100. According to example embodiment said first presentation means 220 is arranged to in real time present a video stream from a camera on board the vehicle, which camera is arranged to present a surrounding of the vehicle 100. Hereby the first control unit may be arranged to continuously present said instructions by means of symbols in form of overlaid information of said video stream, of said first presentation means 220. The first control unit 200 is arranged for communication with a second presentation means 230 via a link L230. Said second presentation means 230 may comprise a loudspeaker configuration. Said loudspeaker configuration may be arranged to present synthesized speech. Said second presentation means 230 is arranged to, where applicable, provide an audio representation of one or more instructions for an operator of said vehicle 100 for handling of said threat. Said audio representation of said at least one instruction may comprise word or phrases of synthesized speech. Said words or phrases may be repeated a suitable number of times alternatively be presented with a proper pace. According to an example an instruction in the form of a synthesized speech may be: "brake the vehicle to 20 km/h, thereafter perform an S turn to the right and accelerate the vehicle to 50 km/h".
According to an example an instruction in the form of a synthesized speech may be: "stop the vehicle immediately and arrange a smoke screen in front of the vehicle".
According to an example an instruction in the form of a synthesized speech may be: "brake the vehicle heavily and activate counter-measure in form of heat torches". According to an embodiment said second presentation means may be arranged to provide one or more instructions in the form of one or more audio tones. One short audio signal may for example mean "turn to the right", two short audio signals may for example mean "turn to the left", one long audio signal may for example mean "brake the vehicle" or "stop the vehicle immediately ", two long audio signals may mean "accelerate the vehicle" etc.
Presented audio tones may comprise different duration configurations and may be repeated if necessary.
According to an example a volume of said second presentation means 230 may be chosen on the basis of how serious the threat is determined to be. For example the volume may be set higher when a threat is determined to be of a more serious kind. The volume may for example be set lower when said threat is not determined to be of a more serious kind. The first control unit 200 is arranged for communication with a third presentation means 240 via a link L240. Said third presentation means 240 may comprise a device for tactile stimulation of an operator of the vehicle 100. Said device for tactile stimulation may be arranged to provide for example vibrations or pressure changes of suitable means connected to said operator. Said device for tactile stimulation may be arranged to provide for example vibrations or pressure changes of suitable means of components or equipment of the vehicle 100, to which an operator is in physical contact, for example a chair or an activator mean such as a steering wheel or steering stick. Said third presentation means 240 is arranged to, where applicable, provide a tactile representation of one or more instructions for an operator of said vehicle 100 for handling of said threat. Said tactile representation of said at least one instruction may comprise vibrations or pressure changes of suitable means carried by said operator. Said vibrations or pressure changes may be repeated a suitable number of times and/or be provided at different points separated by a suitable time period. According to an example an instruction in the form of at least one vibration or pressure pulse may mean: "brake the vehicle until 200 km/h and turn 90 degrees to the right, thereafter stop and apply a smoke screen on both sides of the vehicle, wait for at least 10 seconds and accelerate thereafter the vehicle until 30 km/h heading north west". According to an embodiment said third presentation means may be arranged to present one or more instructions in the form of more vibration intervals. One short vibration interval may for example mean "turn to the right", two short vibration intervals may for example mean "turn to the left", a long vibration interval may according to an example mean "brake the vehicle" or "stop the vehicle immediately ", two long vibration intervals may mean "accelerate the vehicle" etc.
According to an example intensity of said tactile feed back of said second presentation 230 may be chosen on the basis how serious said threat is determined to be. For example a vibration intensity may be set higher when said threat is determined to be of a more serious kind. For example the vibration intensity may be set lower when said threat is not determined to be of a more serious kind. According to an embodiment a driver of the vehicle 100 may be an operator which has access to said first presentation means 220, said second present mean 230 and said third presentation means 240 in a close proximity. The first control unit 200 is arranged for communication with at least one fourth presentation means 250 via a link L250. Said fourth presentation means 250 may comprise a device for illustrating a visual representation of one or more instructions for an operator of said vehicle 100 for handling said threat. Said fourth presentation means 250 may comprise a device for providing an audio representation of one or more instructions for an operator of said vehicle 100 for handling of said threat. Said fourth presentation means 250 may comprise a device for providing a tactile stimulation representation of one or more instructions for an operator of said vehicle 100 for handling of said threat. Said fourth presentation means 250 may comprise at least one of said first presentation means 220, said second presentation means 230 and said third presentation means 240 which is depicted herein.
According to an embodiment a vehicle manager of the vehicle 100 may be an operator which has access to said fourth presentation means 250 in a close proximity. According to an embodiment a suitable operator for example a gunner, loader, navigator or communication responsible person of the vehicle 100 may be an operator which has access to said fourth presentation means 250 in a close proximity.
According to an embodiment said instructions may be presented on at least two of said first, second, third and fourth presentation means simultaneously in a suitable way. According to an example an instruction may be presented for an operator by means of a first presentation means 220 and simultaneously, earlier or later, be presented in the form of synthesized speech for another operator by means of said fourth presentation means 250.
According to an embodiment the first control unit 200 may be arranged to determine if an instruction is followed or not. This may be performed on the basis of information determined of for example a velocity sensor, GPS unit and/or one or more gyros of the vehicle 100. For the case where an instruction is not followed by an operator of the vehicle 100 the same or new instructions may be determined and presented for an operator of the vehicle by means of said first, second, third and/or fourth presentation means. According to an embodiment the first control unit 200 may be arranged to determine or present one or more instructions if a suitable counter-measure action for neutralizing or avoiding a threat, such as an incoming grenade. Said counter-measure action may comprise to by means of a so called hard-kill system neutralize said threat. Said counter measure action may comprise to provide smoke and/or in another suitable way interfere with said threat.
According to an embodiment, operators of the vehicle 100 may use suitable communication equipment for communicating with each other on board said vehicle. Said communication equipment may comprise a number of headsets carried by each and one of said operators. Hereby an operator may inform other operators for example about that a certain instruction will be performed.
The first control unit 200 is arranged for communication with a first sensor configuration 260 via a link L260. Said first sensor configuration 260 may comprise a light illuminating detecting configuration. Said first sensor configuration 260 may comprise a laser warner unit. Said first sensor configuration 260 is arranged to continuously determine if the vehicle is illuminated by a threat by means of a light signal, for example laser light for positioning determination. Said first sensor configuration 260 may further be arranged to determine a threat on the basis of said detected light illumination. This may for example be performed by means of frequency analysis and amplitude analysis of the detected light. Said determination of threat may comprise determination of information about kind of threat. Said determination of threat may be performed by means of said first sensor configuration and/or first control unit 200. Said determination of threat may be performed by means of said first sensor configuration and/or said first control unit 200 together with information which is stored in advance in a memory in the first control unit 200.
The first control unit 200 is arranged for communication with a second sensor configuration 270 via a link L270. Said second sensor configuration 270 may comprise an audio detecting configuration. Said second sensor configuration 270 may comprise an acoustic sensor. Said second sensor configuration 270 is arranged to continuously determine if the vehicle is hit by one from a threat sent audio signal, for example ultrasound for positioning determination. Said second sensor configuration 270 may further be arranged to determine a threat on the basis of said detected audio signal. This may for example be performed by means of frequency analysis and amplitude analysis of the detected sound. Said determination of threat may comprise determination of information about type of threat. Said determination of threat may be performed by means of said second sensor configuration 270 and/or said first control unit 200. Said determination of threat may be performed by means of said second sensor configuration 270 and/or said first control unit 200 together with information which is stored in advance in a memory in the first control unit 200.
Said second sensor configuration 270 may alternatively or complementary comprise a visual sensor, for an example a camera, video camera or IR camera. Said visual sensor may comprise a light amplifier. Said second sensor configuration 270 is arranged to continuously determine surrounding pictures for the vehicle. Said surrounding pictures may be used for determining positioning information for a possible threat. Said second sensor configuration 270 may be further arranged to determine a threat on the basis of said detected surrounding pictures. This may for example be performed by means of image processing of the determined surrounding pictures. Said determination of threat may comprise determining information about type of threat. Said determination of threat may be performed by means of said second sensor configuration 270 and/or said first control unit 200. Said determination of threat may be performed by means of said second sensor configuration 270 and/or said first control unit 200 together with information which is stored in advance in a memory of the first control unit 200.
The first control unit 200 is arranged for communication with a support means configuration 280 via a link L280. Said support means configuration may comprise navigation equipment of suitable kind. Said navigation equipment may comprise a suitable number of gyros. Said navigation equipment may comprise a GPS unit. The first control unit 200 may be arranged to continuously receive signals comprising information from said support means configuration. The first control unit 200 may be arranged to determine at least one instruction for an operator of said vehicle for handling of said threat on the basis of said signals from said support means equipment 280.
The first control unit 200 is arranged for communication with a radar unit 290 via a link L290. Said radar unit 290 may comprise a radar emitter for sending radar waves for determination of positioning information for a threat and/or changes of positioning information regarding a threat. Said radar unit 290 may comprise a radar receiver for receiving radar waves for determination of positioning information for a threat and/or changes of positioning
information for a threat. Said threat may be a mobile threat or a fixed positioned threat. Said mobile threat may be for example a tank, ship. Said fixed positioned threat may be a mounted artillery device or a bunker.
The first control unit 200 is arranged for communication with a counter-measure configuration 295 via a link L250. Said counter measure configuration may comprise a system for active counter-measures and/or system for passive-counter measures.
Said counter-measure configuration may comprise a smoke projectile configuration. The first control unit 200 is arranged to fire at least one smoke projectile for achieving a camouflaging smoke. A number of smoke projectiles may be fired simultaneously. An operator may control provision of smoke in a suitable manner, for example by deciding in which direction a smoke projectile should be fired. An operator may control provision of smoke in a suitable manner, for example by determining how far a smoke projectile should be fired. According to an alternative a number of smoke projectiles are fired intermittently. The first control unit 200 is arranged to provide camouflaging smoke in the close proximity of the vehicle 100 in a suitable manner. Said at least one smoke projectile may be fired by an operator of the vehicle 100 by means of therefore dedicated equipment. According to an embodiment said at least one smoke projectile, where applicable, is fired automatically on the basis of a determined threat and thereto associated threat characteristics.
According to an embodiment said counter-measure configuration 295 may comprise an active armour. Said control unit 200 may be arranged to activate said active armour. Said activation may be performed on the basis of a determined threat and thereto associated threat characteristics.
According to an embodiment said counter measure configuration 295 may comprise an automatic or semi-automatic so called hard-kill system. Said hard-kill system may comprise an anti-missile system. According to an embodiment said counter-measure configuration 295 may comprise an automatic or semi-automatic system, which is adapted to fool for example incoming heat seeking robots via heat signature. According to an embodiment said counter-measure configuration 295 may comprise a suitable optical camouflage. Said optical camouflage may automatically or semi-automatically be activated and deactivated on the basis of said determined threat and thereto associated threat characteristics. According to an embodiment said counter-measure configuration 295 may comprise a suitable blinding equipment for blinding a threat. Said threat may be constituted by a hostile soldier having a grenade gun or grenade launcher.
According to an embodiment said counter measure configuration 295 may comprise a suitable intimidating equipment (non-lethal weapon) to intimidate a threat. Said threat may be a hostile soldier with a grenade gun or grenade launcher. Said intimidating equipment may for example comprise an amplifier and a loudspeaker for generating a very strong sound (so called sonic or ultrasonic weapons, for example LRAD), which may cause discomfort of said threat. According to an example said counter measure configuration 295 may comprise a so called laser blinder. According to an example said counter-measure configuration 295 may comprise means for providing a water fog. These means may be part of a system for misleading of for example heat seeking robots.
According to an embodiment said counter-measure configuration 295 may comprise suitable equipment for example electromagnetic interference. Hereby said counter-measure configuration 295 may comprise equipment for generating and sending an electromagnetic pulse towards a threat for destroying electronic equipment of said threat.
According to an embodiment said counter measure configuration 295 may comprise an suitable equipment for example interference of radar units of said threat.
According to an embodiment said counter-measure configuration 295 may comprise an antiaircraft system, comprising anti-aircraft robots. According to an embodiment said counter-measure configuration 295 may comprise IR torches and/or metal strips to disillusion said threat in a suitable way. The first control unit 200 is arranged to, where applicable, automatically control said counter- measure configuration 295, according to an aspect of the present invention. Different functions of said counter-measure configuration may be used simultaneously, alone or in combination.
Said presented instruction may comprise information about suitable counter-measure action, whereby an operator may activate a suitable counter-measure before, during or after a forward movement of the vehicle 100.
A second control unit 210 is arranged for communication with the first control unit 200 via a link L210. The second control unit 210 may be detachably connected to the first control unit 200. The second control unit 210 may be on to the vehicle 100 external control unit. The second control unit 210 may be arranged to perform the innovative method steps according to the invention. The second control unit 210 may be used for transferring software to the first control unit 200, in particular software for performing the innovative method. The second control unit 210 may alternatively be arranged for communication with the first control unit 200 via an internal network in the vehicle.
The second control unit 210 may be arranged for performing essentially the same function as the first control unit 200, such as:
- continuously determining presence of threat; and
- automatically determining information concerning threat characteristics;
- based on said threat automatically determine at least one instruction for an operator of said vehicle for handling of said threat; and
- automatically presenting said at least one instruction for said operator. The first control unit 200 is arranged to continuously determine presence of threat. The first control unit 200 is arranged to automatically determine information about threat
characteristics. The first control unit 200 is arranged to, based on such threat, automatically determine at least one instruction for an operator of said vehicle for handling of said threat. The first control unit 200 is arranged to automatically present said at least one instruction for said operator. The first control unit 200 is arranged to present said at least one instruction in the form of symbols and/or overlaid information on a screen 220 accessible for said operator and/or in the form of spoken instruction via an audio equipment 230 available for said operator. The first control unit 200 is arranged to determine surrounding characteristics and
characteristics regarding the propulsion of the vehicle as well as routines for considering such determined characteristics when determining said at least one instruction. The first control unit 200 is arranged to preferably automatically activate a protection function which is vehicle concealing. The first control unit 200 is arranged to automatically present more than one instruction for said operator, preferably mutually graded.
With reference to Figure 3 there is shown a number of examples of visual instructions for handling said threat, which visual instructions may be presented for an operator of the vehicle 100 by means of said first presentation means 220. Hereby are exemplified 14 different instructions, denoted Instr. 1-14.
Below comments for each respective instruction Instr. 1-14 is presented. Instr. 1-10 and 14 illustrates instructions in the form of symbols which may be presented by means of suitable presentation means.
Instr. 1: Accelerate the vehicle and perform an S-turn to the right relative the direction of movement of the vehicle.
Instr. 2: Accelerate the vehicle and perform an S-turn to the left relative the direction of movement of the vehicle.
Instr. 3: Break the vehicle to standing still.
Instr. 4: Accelerate the vehicle and turn to the right. Alternatively turn to the right and accelerate the vehicle.
Instr. 5: Accelerate the vehicle and turn to the left. Alternatively turn to the left and accelerate the vehicle. Instr. 6: Brake the vehicle and perform an S-turn to the left relative the direction of movement of the vehicle. Alternatively perform an S-turn to the left relative the direction of movement of the vehicle and thereafter brake the vehicle.
Instr. 7: Brake the vehicle and perform an S-turn to the right relative the direction of movement of the vehicle. Alternatively perform an S-turn to the right relative the direction of movement of the vehicle and thereafter brake the vehicle. Instr. 8: Brake the vehicle and turn to the right relative the direction of movement of the vehicle. Alternatively turn to the right and thereafter brake the vehicle.
Instr. 9: Brake the vehicle and turn to the left relative the direction of movement of the vehicle. Alternatively turn to the left and thereafter brake the vehicle.
Instr. 10: Brake the vehicle to standing still and thereafter drive backwards.
Instr. 11: Brake the vehicle and perform an S-turn to the right in the direction of movement of the vehicle. Alternatively perform an S-turn to the right relative the direction of movement of the vehicle and thereafter brake the vehicle. Instr. 11 is essentially the same as the Instr. 7 but is written with alphanumerical signs instead of being represented by means of a graphical symbol.
Instr. 12: Accelerate the vehicle and perform an S-turn to the left relative the direction of movement of the vehicle. Take action:
Instr. 13: Hereby is information about an identified threat presented. Hereby is a tank which is positioned at an coordinate X, Y presented, which comprises a canon with calibre 120 mm. Instr. 13 is hereby not a direct instruction to an operator of the vehicle 100, but can be an indirect instruction, which may trigger a crew of the vehicle to perform a suitable manoeuvre and/or take adequate measure. An example of such a manoeuvre may be to accelerate and turn right. An example of such a measure can be to provide smoke for camouflage or activating an active armour of the vehicle. Instr. 14: Drive the vehicle in an essential circular path.
Said instructions Instr. 1-lnstr. 14, or other determined instructions may be presented for one or more operators of the vehicle by means of suitable presentation means, for example said first presentation means 220, second presentation means 230, third presentation means 240 and/or fourth presentation means 250.
Said instructions may comprise information about suitable turning radius, coordinate, speed, acceleration, time process, counter measure actions, etc for an operator for in a suitable way neutralizing or avoiding a determined threat.
Figure 4a schematically illustrates a flow chart of a method for threat handling of ground based vehicles, according to an embodiment of the invention. The method comprises a first method step s401. The step s401 comprises the steps of:
- continuously determining presence of threat; and
- automatically determining information concerning threat characteristics;
- based on said threat automatically determining at least one instruction for at least one operator of said vehicle for handling of said threat; and
- automatically presenting said at least one instruction for said operator. After the step s401 the method is ended.
Figure 4b schematically illustrates a flow chart of a method for threat handling of ground based vehicles, according to an embodiment of the invention.
The method comprises a first method step s410. The method step s410 comprises a step of continuously determining presence of threat. Said threat may be of various kinds of threat. Said threat may be a number of cooperating threats. Said threat may be determined by means of the first control unit 200 and/or the second control unit 210. Said threat may be determined by means of any or some of the herein depicted systems, for example a first sensor configuration 250, second sensor configuration 260, third sensor configuration 270, support means configuration 280 and/or the radar unit 290. After the method step s410 there is performed a subsequent method step s420. The method step s420 comprises the step of automatically determining information regarding threat characteristics associated with said threat. Said information regarding threat
characteristics may be determined by means of any or some of the herein depicted systems, for example a first sensor configuration 250, second sensor configuration 260, third sensor configuration 270, support means configuration 280 and/or the radar unit 290. After the method step s410 there is performed a subsequent method step s430.
The method step s430 comprises the step of based on said threat automatically determining at least one instruction for at least one operator of said vehicle for handling of said threat. Said instruction may be determined on the basis of said threat and/or said threat characteristics associated with such threat. After the method step s430 a subsequent method step s440 is performed. The method step s440 comprises the step of automatically presenting at least one instruction for said operator. Said presentation of said at least one instruction for said operator may be performed by means of at least one of the first presentation means 220, second presentation means 230, third presentation means 240 and fourth presentation means 250. After the method step s440 a subsequent method step s450 is performed.
The method step s450 comprises the step of performing at least one counter-measure action. Said counter-measure action may be performed by means of said counter-measure
configuration 295 in a suitable way. The step s450 may comprise the step of determining and presenting said at least one counter measure-action. The counter-measure action may be presented by means of at least one of the first presentation means 220, second presentation means 230, third presentation means 240 and fourth presentation means 250. Said counter- measure action may be performed before, during or after an evasive manoeuvre (according to a subsequent method step s460). After the method step s450 a subsequent method step s460 is performed.
The method step s460 comprises the step of performing an evasive manoeuvre on the basis of said presented at least one instruction. This evasive manoeuvre may be performed of an operator of the vehicle 100 in accordance with said presented at least one instruction. After the method step s460 the method ends.
With reference to Figure 5 there is illustrated a diagram of a version of a device 500. The control units 200 and 210 described with reference to Figure 2 may in a version comprise the device 500. The device 500 comprises a non-volatile memory 520, a data processing unit 510 and a read/write memory 550. The non-volatile memory 520 has a first memory element 530 in which a computer program, e.g. an operating system, is stored for controlling the function of the device 500. The device 500 further comprises a bus controller, serial communication port, IO means, an A/D converter, a time- and data input transfer unit, an event counter and an interruption controller (not depicted). The non-volatile memory 520 has also a second memory element 540.
There is provided a computer program P comprising routines for threat handling of ground based vehicles according to the innovative method.
The program P may comprise routines for continuously determining presence of threat. The program P may comprise routines for automatically determining information regarding threat characteristics. The program P may comprise routines for, based on said threat, automatically determine at least one instruction for an operator of said vehicle for handling of said threat. The program P may comprise routines for automatically presenting said at least one instruction for said operator. The program P may comprise routines for presenting said at least one instruction in the form of symbols and on a for said operator accessible screen 220 and/or in the form of spoken instructions via a for said operator available audio equipment 230. The program P may comprise routines for determining surrounding characteristics as well as characteristics regarding the operation of the vehicle and routines for considering such determined characteristics when determining said at least one instruction. The program P may comprise routines for preferably automatically activating a protection function which is vehicle concealing. The program P may comprise routines for automatically presenting more than one instruction for said operator, preferably mutually graded.
The program P may be stored in an executable form in a compressed form in a memory 560 and/or in a read/write memory 550. Where the data processing unit 510 is described as performing a certain function it means that the data processing unit 510 affects a certain part of the program stored in the memory 560 or a certain part in the program stored in the read/write memory 550.
The data processing device 510 can communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. The read/write memory 550 is adapted to communicating with the data processing unit 510 via a data bus 514. The data port 599 may for example have the links L210, L220, L230, L240, L250, L260, L270, L280, L290 and L295 connected to it (see Figure 2).
When data are received on the data port 599 it is temporarily stored in the second memory element 540. When input data have been temporarily stored the data processing unit 510 is prepared to affect code execution as described above. According to an embodiment the signals received on the data port 599 information about presence of threat. According to an embodiment the signals received on the data port 599 comprises information about threat characteristics. The signals received on the data port 599 may be used by the device 500 for providing instructions for threat handling for an operator of the vehicle 100, according to an aspect of the invention.
Parts of the methods herein described may be affected by the device 500 by means of the data processing unit 510 which runs the program stored in the memory 560 or the read/write memory 550. When the device 500 runs the program the methods herein described are executed.
The foregoing description of the preferred embodiments of the present invention is provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to restrict the invention to the variants described. Many modifications and variations will obviously be apparent to one skilled in the art. The embodiments have been chosen and described in order to best explain the principles of the invention and its practical applications and hence make it possible for specialists to understand the invention for various embodiments and with various modifications appropriate to the intended use.

Claims

Claims
1. Method for threat handling of ground based vehicles, comprising the steps of:
- continuously determining (s410) presence of threats; and
- automatically determining (s420) information pertaining to threat characteristics;
characterized by the steps of:
- based on said threat, automatically determining (s430) at least one instruction for at least one operator of said vehicle (100) for handling of said threat; and
- automatically presenting (s440) said at least one instruction for said operator.
2. Method according to claim 1, wherein said vehicle is a combat vehicle, for example a tank.
3. Method according to claim 1 or 2, wherein said thread characteristics comprise kind of threat.
4. Method according to claim 3, wherein said kind comprises at least one of the types tank, missile, grenade, robot, laser illuminating, aircraft, grenade gun, grenade launcher and hostile troops.
5. Method according to any of the proceeding claims, wherein said at least one instruction is presented in the form of symbols on a by an operator accessible presentation screen and/or in the form of spoken instructions via a for said operator available audio equipment and/or in the form of a suitable audio signal via a for the operator accessible audio equipment.
6. Method according to any of the proceeding claims, wherein said at least one instruction comprises vehicle speed, change of speed and/or change of direction regarding the propulsion of the vehicle.
7. Method according to any of the proceeding claims, comprising the steps of:
- determining surrounding characteristics as well as characteristics pertaining to the propulsion of the vehicle; and
- considering the such determined characteristics when determining said at least one instruction.
8. Method according to any of the proceeding claims, further comprising the step of:
- preferably automatically activating a vehicle concealing protection function.
9. Method according to any of the proceeding claims, further comprising the step of:
- choosing and performing one of said presented instructions.
10. Method according to any of the proceeding claims, further comprising the step of:
- automatically presenting more than one instruction for said operator, preferably mutually graded.
11. Device for threat handling of ground based vehicles, comprising:
- means adapted to continuously determine presence of threat; and
- means (200; 210; 250; 260; 270) adapted to automatically determine information about threat characteristics;
characterized by:
- means (200; 210; 250; 260; 270) adapted to, based on said threat, automatically determine at least one instruction for at least one operator of said vehicle (100) for handling of said threat; and
- means (200; 210; 220; 230; 240; 250) adapted to automatically present said at least one instruction for said operator.
12. Device according to claim 11, wherein said vehicle is a combat vehicle, for example a tank.
13. Device according to claim 11 or 12, wherein said thread characteristics comprise kind of threat.
14. Device according to claim 13, wherein said kind comprises at least one of the types tank, missile, grenade, robot, laser illuminating, aircraft, grenade gun, grenade launcher and hostile troops.
15. Device according to any of claims 11-14, comprising:
- a screen (220) available for said operator and/or an audio equipment (230) available to said operator; - means (220; 210) adapted to present said at least one instruction in the form of symbols on said screen and/or means (200; 210) adapted to present said at least one instruction in the form of spoken instructions via said audio equipment and/or means (200; 210) adapted to present said at least one instruction in the form of a suitable audio signal via said audio equipment.
16. Device according to any of claims 11-15, wherein said at least one instruction comprises vehicle speed, change of speed and/or change of direction regarding the propulsion of the vehicle.
17. Device according to any of claims 11-16, comprising:
- means (200; 210; 220; 230; 240; 280) adapted for determining surrounding characteristics as well as characteristics pertaining to the propulsion of the vehicle; and
- means (200; 210) adapted for considering the such determined characteristics when determining said at least one instruction.
18. Device according to any of claims 11-17, further comprising:
- means (200; 210) adapted to preferably automatically activate a vehicle concealing protection function.
19. Device according to any of claims 11-18, further comprising:
- means (200; 210; 220) adapted to provide a choice regarding said presented instructions and means adapted to, on the basis of operator commands, perform manoeuvres associated with said presented instructions.
20. Device according to any of claims 11-19, further comprising:
- means (200; 210; 220; 230; 240; 250) adapted to automatically present more than one instruction for said operator, preferably mutually graded.
21. Motor vehicle (100; 110) comprising a device according to any of claims 11-20.
22. Motor vehicle (100; 110) according to claim 21, wherein the motor vehicle is a military vehicle, for example a tank.
23. Computer program (P) for threat handling of ground based vehicles, where said computer program (P) comprises program code for causing an electronic control unit (200; 500) or another computer (210; 500) connected to the electronic control unit (200; 500) to perform the steps according to any of claims 1-10.
24. Computer program product comprising a program code stored on a, by a computer readable, medium for performing the method steps according to any of claims 1-10, when said computer program is run on an electronic control unit (200; 500) or another computer (210; 500) connected to the electronic control unit (200; 500).
PCT/SE2014/050218 2013-02-25 2014-02-21 Arrangement and method for threat management for ground-based vehicles WO2014129962A1 (en)

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WO2018029665A1 (en) * 2016-08-07 2018-02-15 Finkenberg Mordechay A method for neutralizing a threat
CN108187278A (en) * 2018-04-02 2018-06-22 菏泽学院 A kind of gas station's fire-fighting robot
US11226624B2 (en) 2019-04-11 2022-01-18 Motorola Solutions, Inc. System and method for enabling a 360-degree threat detection sensor system to monitor an area of interest surrounding a vehicle

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CN108187278A (en) * 2018-04-02 2018-06-22 菏泽学院 A kind of gas station's fire-fighting robot
US11226624B2 (en) 2019-04-11 2022-01-18 Motorola Solutions, Inc. System and method for enabling a 360-degree threat detection sensor system to monitor an area of interest surrounding a vehicle

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