WO2015076733A1 - System and method to make possible autonomous operation and/or external control of a motor vehicle - Google Patents

System and method to make possible autonomous operation and/or external control of a motor vehicle Download PDF

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Publication number
WO2015076733A1
WO2015076733A1 PCT/SE2014/051371 SE2014051371W WO2015076733A1 WO 2015076733 A1 WO2015076733 A1 WO 2015076733A1 SE 2014051371 W SE2014051371 W SE 2014051371W WO 2015076733 A1 WO2015076733 A1 WO 2015076733A1
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WIPO (PCT)
Prior art keywords
signal
control system
motor vehicle
external control
vehicle
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Application number
PCT/SE2014/051371
Other languages
French (fr)
Inventor
Linus Bredberg
Daniel Frylmark
Original Assignee
Scania Cv Ab
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Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to EP14863247.4A priority Critical patent/EP3072020A4/en
Publication of WO2015076733A1 publication Critical patent/WO2015076733A1/en

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Classifications

    • G05D1/617—
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle
    • G05D1/221—
    • G05D1/248—
    • G05D2101/10—
    • G05D2105/05—

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention concerns a system to make possible autonomous operation and/or external control of a motor vehicle comprising an external control system (205) arranged to generate a signal (S1) comprising at least one control parameter for the control of the said motor vehicle, and a control system (270) that is internal to the vehicle, whereby a computer interface (210) is arranged in communicative connection with the said external control system (205) and the said control system (270) that is internal to the vehicle, whereby the said computer interface (210) is arranged to transfer the said signal (S1) from the said external control system (205) to the said control system (270) that is internal to the vehicle, and whereby the said control system (270) that is internal to the vehicle comprises a control unit (220) that is arranged to validate the said signal (S1) from the said external control system (205), whereby the validation comprises the check of at least one pre-determined criterion with respect to the format and/or frequency, and/or checksum of the signal (S1). The present invention concerns also a method to make possible autonomous operation and/or external control of a motor vehicle, and a motor vehicle (100) comprising such a system.

Description

System and method to make possible autonomous operation and/or external control of a motor vehicle
TECHNICAL AREA
The present invention concerns a system to make possible autonomous operation and/or external control of a motor vehicle, a method to make possible autonomous operation and/or external control of a motor vehicle, and a motor vehicle comprising such a system.
BACKGROUND AND PRIOR ART
To drive a motor vehicle places high demands on the operator since there are many complex predictable and unpredictable situations that must be consid- ered. Aids are currently available to facilitate the work of the operator such as adaptive cruise-control systems, emergency braking, carriageway warnings, and similar. These aids, however, require that an operator be present in the motor vehicle who can himself or herself assess the situation and take appropriate action.
The operator constitutes a large part of the operating cost of a motor vehicle, also in cases in which the load on the operator is very low. This is the case, for example, in mining applications in which the journeys often consist of loading at one location in order subsequently to drive to a second location and unload. A second example is the transport of passengers between an airplane and an airport terminal. The traffic conditions in these applications are controlled and no pedestrians, cyclists or similar disturbances are present. Mines, for example, are in addition located in such a manner that transport and infrastructure are required for the personnel. This generates large costs. In order to minimise the costs, it is therefore desirable in certain types of operation to fully automate the driving of the motor vehicles. In order to, in a safe manner, drive a motor vehicle autonomously, in other words without an operator or driver controlling the motor vehicle from the driver's cabin, there is required an accurate assessment of the surroundings of the motor vehicle. This can be achieved through the use of sensors with high precision and advanced information processing, and communication between the various control units of the motor vehicle. It is time-consuming and expensive to develop and implement such a solution for the autonomous operation or remote control of a motor vehicle. Various methods and systems have been suggested in the prior art technology in order to achieve autonomous operation. In document US 2012/0239238 A1 , for example, there is revealed how an industrial vehicle is autonomously guided along a defined pathway through the use of a guidance and navigation system. The guidance and navigation system creates and transmits a com- mand with respect to the speed over a communication network to a processor module. The processor module transmits the command onwards to the control unit of the industrial vehicle, which in turn controls the drive system based on the said command. The pathway may be defined by a cable under the floor, tape, or other references on the floor, which the guidance and navigation sys- tern detects. While it is true that this system achieves autonomous operation of the industrial vehicle, it requires a pathway that has been defined in advance along which the industrial vehicle is to be driven, and an internal guidance and navigation system. Despite the prior art solutions in the field, there is still a need to further develop a cost-effective system and a method for the autonomous operation of a motor vehicle that minimises the operating costs and the development costs.
SUMMARY OF THE INVENTION One purpose of the present invention is to achieve a cost-effective system to make possible autonomous operation and/or external control of a motor vehicle. A further purpose of the present invention is to achieve a system that is safe for the surroundings to make possible autonomous operation and/or external control of a motor vehicle.
One purpose of the present invention is to achieve a system that is safe for the said motor vehicle to make possible autonomous operation and/or external control of a motor vehicle.
A further purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, whereby the said system makes possible the use of already existing package solutions for autonomous operation and/or external control.
A further purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, whereby the said system limits access to functions that are internal to the vehicle for external users.
One purpose of the present invention is to achieve a cost-effective method to make possible autonomous operation and/or external control of a motor vehi- cle.
One purpose of the present invention is to achieve a method that is safe for the surroundings to make possible autonomous operation and/or external control of a motor vehicle. One purpose of the present invention is to achieve a method that is safe for the said motor vehicle to make possible autonomous operation and/or external control of a motor vehicle. A further purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, whereby this method makes possible the use of already existing package solutions for autonomous operation and/or external control. A further purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, whereby the said method limits access to functions that are internal to the vehicle for external users. The purposes described above are achieved by a system according to claim 1 and through a method according to claim 9.
According to one aspect of the present invention, a system is provided to make possible autonomous operation and/or external control of a motor vehicle comprising:
- an external control system arranged to generate a signal comprising at least one control parameter for autonomous operation and/or external control of a motor vehicle;
- a control system that is internal to the vehicle; and
- a computer interface arranged in communicative connection with the said external control system and the said control system that is internal to the vehicle, whereby the said computer interface is arranged to transfer the said signal from the said external control system to the said control system that is internal to the vehicle, and whereby the said control system that is internal to the vehi- cle comprises a control unit that is arranged to validate the said signal from the said external control system, whereby the validation comprises the check of at least one pre-determined criterion with respect to the signal format and/or frequency, and/or checksum.
According to one aspect of the present invention, a system is provided to make possible the autonomous operation of a motor vehicle comprising:
- an external control system arranged to generate a signal comprising at least one control parameter for the autonomous operation of the said motor vehicle;
- a control system that is internal to the vehicle; and
- a computer interface arranged in communicative connection with the said external control system and the said control system that is internal to the vehicle, whereby the said computer interface is arranged to transfer the said signal from the said external control system to the said control system that is internal to the vehicle, and whereby the said control system that is internal to the vehicle comprises a control unit that is arranged to validate the said signal from the said external control system, whereby the validation comprises the check of at least one pre-determined criterion with respect to the signal format and/or frequency, and/or checksum.
According to one aspect of the present invention, a system is provided to make possible the external control of a motor vehicle comprising:
- an external control system arranged to generate a signal comprising at least one control parameter for the external control of the said motor vehicle;
- a control system that is internal to the vehicle; and
- a computer interface arranged in communicative connection with the said external control system and the said control system that is internal to the vehicle, whereby the said computer interface is arranged to transfer the said signal from the said external control system to the said control system that is internal to the vehicle, and whereby the said control system that is internal to the vehicle comprises a control unit that is arranged to validate the said signal from the said external control system, whereby the validation comprises the check of at least one pre-determined criterion with respect to the signal format and/or frequency, and/or checksum. The external control system is preferably arranged to generate several signals comprising control parameters for autonomous operation and/or external control of a motor vehicle.
In this respect, a signal or signals may concern a message or several messages comprising one or several signals. A signal within a message can comprise one or several control parameters. The control system that is internal to the vehicle is preferably a part of the motor vehicle in its fundamental design and controls the motor vehicle when the motor vehicle is driven with an operator or driver present. By arranging a computer interface at the motor vehicle in communicative connection with the external control system and the control system that is internal to the vehicle, two- way communication between the external control system and control system that is internal to the vehicle is made possible. Thus, the interface is configured for communication between the control system that is internal to the vehicle and an external control system. The interface may constitute a part of the control system that is internal to the vehicle. In this way, the use of an external control system that is already commercially available for autonomous operation and/or external control of a motor vehicle, coupled with the motor vehicle, is made possible. Thus, the motor vehicle does not need to be provided during manufacture with expensive systems and tools in order to achieve autonomous operation and/or external control: the purchaser of the motor vehicle can on a later occasion connect an existing external control system for autonomous operation and/or external control to the computer interface that has been configured for this purpose and to the control system that is internal to the vehicle. In this way, a time-efficient and cost-effective solution is achieved to make possible autonomous operation and/or external control of a motor vehi- cle. Through the fact that the signal generated by the external control system is received first at the computer interface, the access of the external control system is limited by the control system that is internal to the vehicle. This is particularly advantageous since the control system that is internal to the vehicle may comprise information and functions that the manufacturer of the vehicle does not wish external users to have access to. The level of abstraction with respect to the external control system can at the same time be raised, in order to simplify the use. In the same way, the system according to the present invention makes it impossible for the external control system to take over the control of the motor vehicle unless its signals have first passed over the computer interface. The computer interface means also that the influence on the motor vehicle is held at a minimum in the cases in which connection of the ex- ternal control system is carried out in an erroneous manner.
The motor vehicle can thus be controlled either manually by an operator of the motor vehicle, or autonomously or externally through the external control system.
The vehicle may be driven autonomously in a first condition and driven under the control of an operator (manually or externally) in a second condition. An operator, for example a driver, can thus use the same computer interface as during autonomous operation when the operator desires to control the vehicle externally. Thus, the said operator can control the vehicle by means of a control means, where the operator is located external to or by the side of the vehicle, in, for example, a basket or an aerial work platform, or manually through regulators that are arranged in a cabin at the vehicle. The external control system is defined as a control system that is provided and installed by a party other than the manufacturer of the vehicle. The external control system may comprise units that are arranged at the motor vehicle and/or units that are arranged not at the motor vehicle. It is appropriate that the external control system comprise hardware in the form of sensors, navigation systems, cameras and similar to determine the position of the motor vehicle and to obtain an accurate assessment of its surroundings. It is appropriate that the external control system comprise also at least one control unit that receives instructions with respect to the desired operation of the motor vehicle.
During autonomous operation of the motor vehicle, the control unit at the ex- ternal control system receives instructions at a high level, for example, "Drive from a position A to a position B". The said control unit can further be arranged in communicative connection with external units such as an electronic map database or other similar systems that can contribute information that can influence the autonomous operation of the said motor vehicle. The said control unit processes signals from the above-mentioned hardware and/or the external units, together with instructions and vehicle parameters, in order to determine an appropriate route for the motor vehicle. The vehicle parameters can be constituted by vehicle weight, vehicle height, acceleration capacity, etc. The said control unit further determines appropriate control parameters for the autonomous control of the motor vehicle according to the route that has been determined. The control parameters comprise instructions at a low level and can relate to steering angle, appropriate gear, braking power, acceleration and similar detailed control parameters. The signal that is generated by the external control system comprises at least one such low-level control parameter.
During external control of the motor vehicle at the external control system, the control unit determines control parameters based on a desired driving operation of the motor vehicle indicated by an operator. The term "external control" can be used to denote remote control of a motor vehicle by means of remote control means such as a portable computer, a remote-control unit, joystick or similar means, manipulated by an operator. The external control system may comprise, for example, a computer arranged at the vehicle, and the interface may be constituted by a signal line, whereby an operator can, by means of pressing a button, desire, for example, that the motor vehicle be accelerated, decelerated, undergo a change of gear and/or turned. The control parameters of the signal from the external control system comprise, just as during autonomous operation of the motor vehicle, instructions at a low level and can relate to steering angle, appropriate gear, braking power, acceleration and similar detailed control parameters.
A control parameter can be known also as a "request". Thus, the external con- trol system provides a request with respect to, for example, a speed at which the motor vehicle should be driven. The request from the external control system is transferred over the computer interface to the control system that is internal to the vehicle, which processes the request and determines whether the request is to be executed. According to one embodiment, the signal from the external control system comprises a request that is constituted by a positive or negative speed request and/or a braking request, and a desired steering angle. Alternatively, the signal from the external control system constitutes a request that is constituted by an acceleration and/ or deceleration request and a desired steering angle. Alternatively, the signal from the external control sys- tern comprises a request that is constituted by an angular velocity and/or a torque at the steering wheel of the motor vehicle.
It is preferable that the external control system generate continuously several signals, each comprising one or several control parameters or requests.
A check is achieved before the incoming signal from the external control system is allowed to control the motor vehicle through the control unit of the control system that is internal to the vehicle validating the said signal. It can in this way be ensured that no unreasonable or damaging signals, or signals that the control unit cannot interpret, control the motor vehicle. This is particularly important since the signal from the external control system comprises control parameters at a low level. It is preferable that the validation include checking several pre-determined criteria. The frequency of the signal generated by the external control system relates to how often signals from the external control system are transmitted. For example, in the case in which signals are intended to be transmitted every 40 milliseconds but an interruption occurs, the control unit stops the autonomous operation or the external control. The validation means that the format with which communication takes place over the computer interface must comply with clearly defined criteria in order to be received by the control system that is internal to the vehicle. It is in this way ensured that the manufacturer of the vehicle has control of how the vehicle is controlled and driven, even when an external control system is used for autonomous operation and/or external control. Furthermore, it is ensured that the external control system is an approved and allowed control system for autonomous operation and/or external control of the motor vehicle. According to one aspect of the present invention, the said control system that is internal to the vehicle comprises operating systems, whereby the said control unit is arranged for communication with the said operating systems.
It is preferable that the control system that is internal to the vehicle comprise several control units.
It is appropriate that the operating systems are constituted by a brake control system for the control of, for example, service brake, secondary brake and parking brake. The term "secondary brake" can be used to denote retarders, exhaust brakes, electrical secondary brakes and similar. It is appropriate that the operating systems further constitute an engine control system for the control of the engine of the motor vehicle and its propulsion, together with a change of gear control system for the control of the change of gear of the motor vehicle. The operating systems are thus constituted by systems that through the control unit of the control system that is internal to the vehicle influence, among other things, the speed and direction of the motor vehicle.
According to one aspect of the present invention, the said control unit of the control system that is internal to the vehicle is arranged for communication with the said operating systems over a communication bus. It is appropriate that the communication bus comprise a CAN bus or other standard for the transmission of data. According to one aspect of the present invention, the said computer interface is arranged in communicative connection with the said control unit of the said control system that is internal to the vehicle. The control unit thus receives the signal that is transferred over the computer interface from the external control system to the control system that is internal to the vehicle. According to one aspect of the present invention, the said computer interface constitutes a part of the control unit of the control system that is internal to the vehicle. According to one aspect of the present invention, the validation comprises the check of at least one pre-determined criterion with respect to at least one control parameter of the signal from the external control system. It is thus appropriate that the validation of the signal from the external control system comprise the check of at least one pre-determined criterion with respect to re- quested speed, braking, gear and/or steering angle. It is preferably checked whether the pre-determined criterion with respect to at least one control parameter of the signal from the external control system is satisfied solely in the cases in which the pre-determined criterion with respect to the signal format and/or frequency and/or checksum is satisfied.
According to one aspect of the present invention, the control unit of the said control system that is internal to the vehicle is arranged to modify the said signal from the said external control system when at least one of the predetermined criteria with respect to control parameters of the signal is not satis- fied. The signal from the external control system comprises, as has been previously mentioned, at least one control parameter. In certain cases, the operator of the motor vehicle and/or the motor vehicle is subject to limitations with respect to, for example, speed, steering angle, choice of gear and similar. The operator may, for example, be limited to driving the motor vehicle autono- mously with a pre-determined maximum speed. The, at least one, predetermined criterion with respect to the control parameters of the signal can in this case be that the requested speed must be less than or equal to the set maximum speed. If the signal from the external control system demonstrates a requested speed that exceeds the said maximum speed, the signal from the external control system at the control unit is modified, such that it demonstrates a speed that is in accordance with the allowed maximum speed.
It is appropriate that the signal generated from the external control system is modified, such that the motor vehicle is not unnecessarily placed into situations that may be harmful for the motor vehicle and/or its surroundings. A modification of the signal from the external control system may be carried out, for example, when the signal from the external control system contains at the same time requests for increase in speed or acceleration and braking or deceleration. Modification of the signal from the external control system can be carried out, for example, when the signal from the external control system contains requests to select the reverse gear or neutral condition at the same time as the motor vehicle is being driven at speed. Modification of the signal from the external control system may be carried out, for example, when the signal from the external control system contains at the same time requests for rapid acceleration and steering angle. Modification of the signal from the external control system can be carried out, for example, when the signal from the ex- ternal control system contains requests to tip a loading bed at the same time as the motor vehicle is being driven at a speed that is too high for tipping.
Modification of the signal from the external control system thus entails that the modified signal comprise a request or control parameter that differs from the original request or control parameter of the signal from the external control sys- tern. Modification of the signal from the external control system entails also processing of the signal such that the modified signal demonstrates a format that the operating systems expect and can interpret. The modified signal is subsequently transferred to the operating systems and controls the motor vehicle.
According to one aspect of the present invention the said control unit is arranged to, when the said signal from the said external control system satisfies the, at least one, pre-determined criterion that has been checked at the validation, which criterion relates to the format and/or frequency and/or checksum of the signal, to process or convert the said signal from the said external control system and to transfer the said processed signal to the said operating sys- terns. It is preferable that the control unit of the control system that is internal to the vehicle check during the validation that the signal from the external control system satisfies several pre-determined criteria, whereby the control unit processes the signal and transfers it to the said operating system. In cases in which the said signal from the said external control system satisfies the, at least one, pre-determined criterion that has been checked at the validation, which criterion relates to the format and/or frequency and/or checksum of the signal, and satisfies also the, at least one, pre-determined criterion with respect to at least one control parameter of the signal, the said signal from the said external control system is processed or converted, whereby the said processed signal is transferred to the said operating systems.
It is appropriate that the control unit process the signal from the external control system such that the processed signal demonstrates a format that the op- erating systems at the control system that is internal to the vehicle expect and can interpret. The processed signal thus comprises the same request or control parameter as the signal from the external control system, but demonstrates a different format. By transferring the processed signal to the operating systems, the operating systems are controlled in accordance with the control pa- rameters of the signal from the external control system. Autonomous operation respectively external operation of the motor vehicle through the external control system is in this way achieved.
According to one aspect of the present invention, the said control unit of the control system that is internal to the vehicle is arranged to generate a signal for the internal control of the said motor vehicle, when the said signal from the said external control system does not satisfy during the validation the, at least one, pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal. Alternatively, the said control unit is arranged to generate a signal for the internal control of the said motor vehicle, when the said signal does not satisfy during the validation the, at least one, pre- determined criterion with respect to at least one control parameter of the signal. An internal control of motor vehicle is in this way achieved when the signal from the external control system does not satisfy a pre-determined criterion. It is preferable that the signal for internal control comprise control parameters that minimise the risk of damage to the motor vehicle and objects and/or peo- pie in its surroundings. The internal control comprises, for example, control parameters that lead to the motor vehicle being braked and/or stopped/parked.
According to one aspect of the present invention, the control unit of the control system that is internal to the vehicle generates a signal for the internal control of the motor vehicle when the interface and/or the control system that is internal to the vehicle does not receive during ongoing autonomous operation or external control any signal at all from the external control system. The internal control system can in this way, for example, stop the motor vehicle when the autonomous operation or external control has been interrupted for any reason. Both the motor vehicle and objects and/or people in its surroundings are in this way protected.
According to one aspect of the present invention, the said control unit of the control system that is internal to the vehicle is arranged to generate a signal comprising information that the control system that is internal to the vehicle is controlling the said motor vehicle, when the said signal from the said external control system does not satisfy during the validation the, at least one, predetermined criterion with respect to the format and/or frequency and/or checksum of the signal, and where the said control unit is arranged to transfer the said signal from the said control system that is internal to the vehicle to the said external control system over the said interface. Alternatively, the said control unit of the control system that is internal to the vehicle is arranged to gen- erate a signal comprising information that the control system that is internal to the vehicle is controlling the said motor vehicle, when the said signal does not satisfy during the validation the, at least one, pre-determined criterion with respect to at least one control parameter of the signal, and where the said con- trol unit is arranged to transfer the said signal from the said control system that is internal to the vehicle to the said external control system over the said interface. The external control system, and thus also the operator, in this way receives information that it is not controlling the motor vehicle and the reason that this is the case.
According to one aspect of the present invention, the said control unit is arranged to interrupt autonomous operation respectively external control of the said motor vehicle when the said control unit receives a signal from at least one operator regulator at the said motor vehicle.
When the motor vehicle is being driven manually by an operator located at the motor vehicle, it is preferably controlled through the operator influencing one or several operator regulators. The operator regulators at the motor vehicle are constituted, according to one embodiment, by regulators that can be operated directly by the operator when the operator is located inside the driver's cabin of the motor vehicle. Examples of operator regulators are steering wheel, accelerator pedal, brake pedal, gear change stick, indicators, etc. It is appropriate that most of the operator regulators inside of the driver's cabin of the motor vehicle are coupled to one of the operating systems. According to one em- bodiment, the operator regulator constitutes a regulator that is not coupled to an operating system, such as a button that indicates that the operator desires to drive the motor vehicle manually. Signals from the operator regulators are transmitted to the control unit of the control system that is internal to the vehicle, which transfers the signals to the operating systems. It is appropriate that the signals from the operator regulators comprise control parameters such as speed, braking power, steering angle, desired gear and similar. The motor vehicle is in this way driven manually. When the motor vehicle is being driven autonomously or through external control, it is the signal from the external control system that is processed and transferred, through the control unit, to the operating systems and in this way controls the motor vehicle. By preventing the transfer of the signal from the external control system to the operating systems, and in this way preventing autonomous operation respectively external control, when the control unit receives a signal from an operator regulator, it is ensured that the motor vehicle is not allowed to be driven autonomously or externally when the indication is given that a person is present inside of the motor vehicle and desires to drive the motor vehicle manually. It is in this way ensured that manual operation of the motor vehicle is given priority over the autonomous operation respectively external control.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the steps:
- to generate a signal comprising at least one control parameter for autonomous operation and/or external control of a motor vehicle by means of an external control system;
- to transfer over a computer interface the said signal from the said external control system to a control system that is internal to the vehicle, whereby the said control system that is internal to the vehicle comprises a control unit and operating systems; and
- to validate the said signal from the said external control system by means of the said control unit of the said control system that is internal to the vehicle, whereby the validation comprises the check of at least one pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal. According to one aspect of the present invention, a method is provided to make possible the autonomous operation of a motor vehicle comprising the steps: - to generate a signal comprising at least one control parameter for the autonomous operation of the said motor vehicle;
- to transfer over a computer interface the said signal from the said external control system to a control system that is internal to the vehicle, whereby the said control system that is internal to the vehicle comprises a control unit and operating systems; and
- to validate the said signal from the said external control system by means of the said control unit of the said control system that is internal to the vehicle, whereby the validation comprises the check of at least one pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal.
According to one aspect of the present invention, a method is provided to make possible the external control of a motor vehicle comprising the steps:
- to generate a signal comprising at least one control parameter for the external control of the said motor vehicle by means of an external control system; and
- to transfer over a computer interface the said signal from the said external control system to a control system that is internal to the vehicle, whereby the said control system that is internal to the vehicle comprises a control unit and operating systems; and
- to validate the said signal from the said external control system by means of the said control unit of the said control system that is internal to the vehicle, whereby the validation comprises the check of at least one pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal.
According to one aspect of the present invention, the validation comprises the check of at least one pre-determined criterion with respect to at least one con- trol parameter of the signal. It is appropriate that the, at least one, predetermined criterion relate to requested speed, braking power, gear and/or steering angle. According to one aspect of the present invention the method comprises the step of, when the, at least one, pre-determined criterion with respect to at least one control parameter of the signal, is not satisfied:
- to modify the said signal from the said external control system by means of the said control unit, such that the modified signal comprises at least one control parameter that differs from the original control parameter of the signal from the external control system; and
- to transfer the said modified signal from the said control unit to the said oper- ating systems at the said control system that is internal to the vehicle.
According to one aspect of the present invention, the method comprises further the steps, when the said signal from the said external control system satisfies during the validation the, at least one, pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal:
- to process the said signal from the said external control system, by means of the said control unit; and
- to transfer the said processed signal from the said control unit to the said operating systems at the said control system that is internal to the vehicle. According to one aspect of the present invention, the method comprises further the steps, when the said signal from the said external control system does not satisfy during the validation the pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal:
- to generate a signal for internal control of the said vehicle by means of the said control unit; and
- to transfer the said signal from the control unit to the said operating systems.
In the case in which a signal from the external control system demonstrates during the validation properties that are not in accordance with at least one pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal, for example that the signal from the external control system is transmitted with an erroneous frequency, the signal is stopped at the control unit and is in this way not transferred to the operating systems. The control unit instead generates a signal for the internal control of the motor vehicle and transfers the said signal to the operating systems. It is preferable that the signal that the control unit generates for internal control of the motor vehicle comprise control parameters in order to stop the motor vehicle. The autonomous operation respectively the external control of the motor vehicle are thus prevented, and the motor vehicle stops, when the signal from the external control system does not satisfy a pre-determined criterion. By stopping the vehicle when the autonomous operation and/or external control is unreliable, it is ensured that the motor vehicle is not driven in an erroneous and dangerous manner. Both the motor vehicle and objects and people in its surroundings are in this way protected. A method for autonomous operation and/or external control of a motor vehicle that is safe for the surroundings is in this way achieved, together with a method for autonomous operation and/or external control of a motor vehicle that is safe for the said motor vehicle.
According to one aspect of the present invention, the method comprises the steps:
- to generate a signal comprising information that the said control system that is internal to the vehicle controls the said vehicle by means of the said control unit, and
- to transfer the said signal from the said control system that is internal to the vehicle to the said external control system over the said computer interface.
In the cases in which the signal from the external control system demonstrates during the validation properties that are not in accordance with at least one pre-determined criterion, such as an erroneous frequency, the signal is stopped at the control unit and is in this way not transferred to the operating systems. The control unit generates then a signal that the control system that is internal to the vehicle is controlling the motor vehicle and transfers this sig- nal to the external control system. The external control system receives in this way information that it is not controlling the motor vehicle.
According to one aspect of the present invention, the method comprises the step:
- to prevent autonomous operation and/or external control of the said motor vehicle on the basis of a signal from at least one operator regulator at the said motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the autonomous operation of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the external control of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible autonomous operation and/or external control of a motor vehicle.
The systems and methods described here can be adapted for either autonomous operation or external control, and for at least one of autonomous opera- tion and external control of the said motor vehicle. The term "external control" can be used to denote the remote control of a motor vehicle.
The purposes described above are achieved also with a motor vehicle comprising a system for autonomous operation and/or external control. The motor vehicle may be a lorry, a bus or a car. The said motor vehicle can be any one of a lorry, bus, forestry machine, mining machine, wheel loader or car.
According to one aspect of the invention, a computer program is provided, where the said computer program comprises program code to carry out the method steps according to any one of claims 9-15, when the said computer program is run on a computer. According to one aspect of the invention, a computer program product is provided, comprising a program code to carry out the method steps according to any one of claims 9-15, when the said computer program is run on a computer. According to one aspect of the invention, a computer program is provided, where the said computer program comprises program code to carry out the method steps according to any one of claims 9-15, when the said computer program is run on an electronic control unit. According to one aspect of the present invention, a computer program product is provided comprising a program code stored on a medium that can be read by a computer, in order to carry out the method steps according to any one of claims 9-15, when the said program code is run on an electronic control unit. According to one aspect of the present invention, a computer program product is provided comprising a program code stored on a medium that can be read by a computer, in order to carry out the method steps according to any one of claims 9-15, when the said program code is run on a computer. According to one aspect of the present invention, a computer program product is provided directly stored in an internal memory of a computer, comprising a computer program comprising program code arranged to carry out the method steps according to claims 9-15, when the said computer program is run on an electronic control unit.
Further purposes, advantages and new distinctive features of the present invention will be made clear for one skilled in the arts by the following details, as also during execution of the invention. While the invention is described below, it should be obvious that the invention is not limited to the specific details de- scribed. Those skilled in the arts will recognise further applications, modifications and executions within other fields, which lie within the scope of the invention. BRI EF DESCRI PTION OF DRAWINGS
Preferred embodiments of the invention will be described as examples below with reference to attached drawings, of which:
Figure 1 shows a schematic side view of a vehicle;
Figure 2 shows schematically a system to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention ;
Figure 3a shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention ;
Figure 3b shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention ;
Figure 3c shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention ;
Figure 3d shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention ; Figure 4 illustrates schematically a computer, according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION
In this document, the term "link" refers to a communication link that may be a physical line, such as an opto-electronic communication line, or a non-physical line, such as a wireless connection, for example a radio link or microwave link.
With reference to Figure 1 , there is shown a side view of a motor vehicle 100. The motor vehicle 100 taken as an example consists of a drawing vehicle 1 10 and a trailer 1 12. The motor vehicle may be a heavy vehicle, such as a lorry, bus, wheel loader, forestry machine, dumper, mining machine, tracked vehicle or tank. Alternatively, the motor vehicle may be a car. The motor vehicle 100 may be, according to one design, a hybrid vehicle. The motor vehicle 100 may be, according to one design, an electrical vehicle with an electric motor. The motor vehicle comprises a system 200 to make possible autonomous opera- tion and/or external control of the motor vehicle. The invention is advantageously applied to vehicles in association with mining.
With reference to Figure 2, a system 200 is shown to make possible autonomous operation and/or external control of a motor vehicle 100. The system 200 comprises an external control system 205, a computer interface 210, and a control system 270 that is internal to the vehicle. The external control system 205 is manufactured by a third-party supplier and is a control system for autonomous operation and/or external control of a motor vehicle. The external control system 205 comprises, according to one embodiment, sensors such as cameras, radar devices, laser devices, and similar (not shown in the drawing). The sensors may be located at the motor vehicle 100 and/or external to the motor vehicle 100. The external control system 205 further comprises, according to one embodiment, at least one control unit (not shown in the drawings) appropriately arranged at the motor vehicle 100. The said control unit processes signals from the relevant sensors. The said control unit can further be arranged in communicative connection with external units such as an electronic map database or other similar systems or software that can contribute information that can influence the autonomous operation and/or the external control of the said motor vehicle 100. The external control system 205 is arranged to generate continuously a signal S1 , comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle 100. The external control system 205 is arranged to generate continuously a signal S1 , comprising at least one control parameter or request at a low level, such as a speed request, brak- ing request, steering angle request or similar. The external control system 205 is further arranged to transmit continuously the said signal S1 to the computer interface 210 over a link L205.
The control system 270 that is internal to the vehicle comprises a control unit 220 and operating systems 230, 240, 250. The control unit 220 is arranged in communicative connection with the operating systems 230, 240, 250 over a link L220, and with the computer interface 210 over a link L210. The link L220 is, according to one embodiment, a communication bus, preferably a CAN bus. The computer interface 210 is configured for communication between the external control system 205 and the control system 270 that is internal to the vehicle, and is thus arranged to transmit continuously the signal S1 from the external control system 205 onwards to the control unit 220 over the link L210. It is appropriate that the operating systems 230, 240, 250 are constituted by systems that, through the control unit of the control system 270 that is internal to the vehicle influence, among other things, the speed and direction of the motor vehicle 100. The operating systems 230, 240, 250 are, in this execution given as an example, constituted by a system for change of gear 230, a brake- control system 240, and an engine-control system 250. The system for change of gear 230 may include, for example, a control unit for an automatic transmission. The brake-control system 240 may include, for example, a control unit for electrically or hydraulically controlled wheel brakes. The engine-control system 250 may include, for example, engine-control means such as a control unit for the supply of fuel. The control unit 220 is further arranged to validate the signal S1 from the control system 205 that is external to the vehicle.
The control unit 220 is arranged to, when the said signal S1 satisfies during the validation at least one pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal, process or convert continuously the said signal S1 , and to transfer the processed signal S1 b to the operating systems 230, 240, 250 over the link L220, for autonomous control and/or external control of the motor vehicle 100. The criterion may be present stored in a memory at the control unit 220.
The control unit 220 is further arranged to, when the said signal S1 does not satisfy during the validation at least one pre-determined criterion with respect to at least one control parameter of the signal S1 , modify the said signal S1 and to transfer the modified signal S1 m to the operating systems 230, 240, 250 over the link L220.
The control unit 220 is further arranged to, when the said signal S1 does not satisfy during the validation at least one pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal S1 , stop the sig- nal S1 from the external control system 205 and in this way prevent autonomous operation and/or the external control of the motor vehicle 100. The control unit 220 is arranged also to, when the said signal S1 does not satisfy at least one pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal S1 , generate a signal S2 for the internal control of the motor vehicle 100 and to transmit the signal S2 for the internal control to the operating systems 230, 240, 250 over the link L220. The control unit 220 is further arranged to, when the said signal S1 does not satisfy at least one pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal S1 , generate a signal S3 comprising information that the control system 270 that is internal to the vehicle is control- ling the motor vehicle 100. The control unit 220 is arranged also to transmit the said signal S3 to the computer interface 210 over the link L210.
The computer interface 210 is arranged to transmit the signal S3 comprising information that the control system 270 that is internal to the vehicle is control- ling the motor vehicle 100 over the link L205 to the external control system 205.
The control unit 220 is arranged to communicate with a power supply 280 and an operator regulator 290 at the motor vehicle 100. The power supply 280 con- trols functions at the motor vehicle 100, such as tipping of a loading bed, raising a gripper, control of a crane, etc. The operator regulator 290 constitutes regulators that can be operated manually by an operator when the operator is located inside the drawing vehicle 1 10 of the motor vehicle 100. Examples of operator regulators 290 are accelerator pedal, brake pedal, gear change stick or paddle, indicators, etc. It is appropriate that most of the operator regulators 290 are coupled to the operating systems 230, 240, 250. According to one embodiment, the operator regulator 290 constitutes one regulator that is not coupled to an operating system. The control unit 220 is arranged in communicative connection with the power supply 280 over a link L280. The control unit 220 is further arranged in communicative connection with the operator regulator 290 over a link L290. The operator regulator is arranged to transmit during use a signal S4 to the control unit 220 over the link L290. The said signal S4 from the operator regulator 290 comprises at least one parameter for the manual control of the said motor vehicle 100.
The control unit 220 is further arranged, on reception of the signal S4 from the operator regulator 290, to stop the signal S1 from the external control system 205 and in this way prevent autonomous operation and/or external control of the motor vehicle 100. The control unit 220 is further arranged to transmit the signal S4 from the operator regulator 290 to the operating systems 230, 240, 250 and/or the power supply 280 for manual operation of the said motor vehi- cle 100.
The control unit 220 is further arranged, on reception of the signal S4 from the operator regulator 290, to generate the signal S3 comprising information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100. The control unit 220 is arranged also to transmit the signal S3 comprising information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100 to the computer interface 210 over the link L210. The computer interface 210 is arranged to transmit the signal S3 comprising information that the control system 270 that is internal to the vehi- cle is controlling the motor vehicle 100 over the link L205 to the external control system 205.
The control unit 220 is arranged to transmit continuously a signal S1 b, S1 m, S2, S4 to the power supply 280 over the link L280. The signal S1 , S1 m, S2, S4 comprises at least one parameter for the control of the power supply 280 arranged at the motor vehicle 100.
With reference to Figure 3a, there is shown a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehi- cle 100 according to one embodiment of the present invention. The method comprises the step s301 of transferring over a computer interface 210 a signal S1 from an external control system 205 to a control system 270 that is internal to the vehicle, and to validate the said signal S1 from the said external control system 205, whereby the validation comprises the check of at least one pre- determined criterion with respect to the format and/or frequency, and/or checksum of the signal S1 . The computer interface 210 is arranged in communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle. It is appropriate that the transfer between the external control system 205 and the computer interface 210 be carried out over a link L205. It is appropriate that the transfer between the computer interface 210 and the external control system be carried out over a link L210. The method is terminated after the method step s301 .
With reference to Figure 3b, there is shown a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention. The method comprises the step s310 of generating by means of an external control system 205 a signal S1 comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle 100. A method step s320 is carried out after the method step s310.
The method step s320 comprises transferring over a computer interface 210 the signal S1 from the external control system 205 to a control system 270 that is internal to the vehicle, comprising a control unit 220 and operating systems 230, 240, 250, whereby the computer interface 210 is arranged in communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle. It is appropriate that the transfer between the external control system 205 and the computer interface 210 be carried out over a link L205. It is appropriate that the transfer between the computer interface 210 and the control system 270 that is internal to the vehicle be carried out over a link L210. A method step s330 is carried out after the method step s320.
The method step s330 comprises validating by means of the control unit 220 of the control system 270 that is internal to the vehicle the signal S1 from the external control system 205. The control unit 220 determines in this way whether the signal S1 satisfies a pre-determined criterion or several pre-determined criteria with respect to the format and/or frequency and/or checksum of the signal S1 . A method step s340 is carried out after the method step s330. The method step s340 comprises, when the signal S1 from the external control system 205 satisfies the pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal S1 , processing or converting the signal S1 from the external control system 205 and transmitting the processed signal S1 b from the control unit 220 to the operating systems 230, 240, 250 at the control system 270 that is internal to the vehicle. It is appropriate that the signal S1 be processed such that the processed signal S1 b demonstrates a format that the operating systems 230, 240, 250 can interpret. It is appropriate that the transfer of the signal S1 b between the control unit 220 and the operating systems 230, 240, 250 be carried out over a link L220. The method is terminated after the method step s340 or the method is repeated from the method step s310. With reference to Figure 3c, there is shown a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention. The method comprises the method steps s310, s320 and s330 described with reference to Figure 3b, with the addition that validation of the signal S1 from the external control system 205 during method step s330 comprises also a check of at least one pre-determined criterion with respect to at least one control parameter of the signal S1 . A method step s350 is carried out after the method step s330.
The method step s350 comprises, when the signal S1 from the external control system 205 satisfies during the validation the pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal S1 , while it does not satisfy the pre-determined criterion with respect to the control parameter of the signal S1 , modifying the signal S1 from the external control system 205 by means of the control unit 220. It is appropriate that the signal S1 from the external control system 205 be modified such that the modified signal S1 m demonstrates one or several suitable control parameters for autonomous and/or external control of the motor vehicle 100, such that the motor vehicle 100 is not placed unnecessarily into situations that may be harmful to the motor vehicle 100 and/or its surroundings. Thus, the modified signal S1 m comprises at least one control parameter that differs from the original signal S1 from the external control system 205. It is appropriate that the modification comprise also processing of the signal S1 m, such that it demonstrates a format that the operating systems 230, 240, 250 can interpret. A method step s360 is carried out after the method step s350.
The method step s360 comprises transferring the modified signal S1 m from the control unit 220 to the operating systems 230, 240, 250 at the control system 270 that is internal to the vehicle. It is appropriate that the transfer of the modified signal S1 m between the control unit 220 and the operating systems 230, 240, 250 be carried out over the link L220. The method is terminated after the method step s360 or the method is repeated from the method step s310.
With reference to Figure 3d, there is shown a flow diagram for a method for autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention. The method comprises method steps s310, s320 and s330 described with reference to Figure 3b. A method step s370 is carried out after the method step s330.
The method step s370 comprises, when the signal S1 from the external control system 205 does not satisfy the pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal S1 , generating a signal S2 for internal control of the motor vehicle, by means of the control unit 220, and transferring the signal S2 for internal control from the control unit 220 to the operating systems 230, 240, 250. The control system 270 that is internal to the vehicle controls in this way the motor vehicle 100. It is appropriate that the transfer of the signal S2 for internal control between the control unit 220 and the operating systems 230, 240, 250 be carried out over the link L220. A method step s380 is carried out after the method step s370. The method step 380 comprises, when the signal S1 from the external control system 205 does not satisfy the pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal S1 , generating a signal S3 comprising information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100 by means of the control unit 220, and transferring the signal S3 comprising information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100 from the control system 270 that is internal to the vehicle to the external control system 205 over the computer interface 210. It is appropriate that the transfer from the control system 270 that is internal to the vehicle to the computer interface 210 be carried out over the link L210 and that the transfer from the computer interface 210 to the external control system be carried out over the link L205. The method is terminated after the method step s380 or the method is repeated from the method step s310.
With reference to Figure 4, there is shown a drawing of a design of an arrangement 400. The external control system 205 and/or the control unit 220 that have been described with reference to Figure 2 may, in one design, comprise the arrangement 400. The arrangement 400 comprises a non-transient memory 420, a data processing unit 410 and a read/write memory 450. The non-transient memory 420 has a first section of memory 430 in which a computer program, such as an operating system, is stored in order to control the function of the arrangement 400. Furthermore, the arrangement 400 comprises a bus controller, a serial communication port, I/O means, an A/D converter, a unit for the input and transfer of time and date, an event counter and an interrupt controller (not shown in the drawing). The non-transient memory 420 has also a second section of memory 440.
A computer program P, which may comprise routines for the autonomous op- eration of a motor vehicle 100, is provided at the arrangement 400. The computer program P may comprise routines to generate a signal S1 comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle 100, and routines to transmit and receive the signal S1 over a computer interface 210. The computer program P may comprise routines to validate the signal S1 . The computer program P may comprise routines to process or convert the signal S1 and to generate a processed signal S1 b. The computer program P may comprise routines to modify the signal S1 and to generate a modified signal S1 m. The computer program P may comprise routines to determine whether the signal S1 satisfies a pre- determined criterion. The computer program P may comprise routines to transfer, in the event that the criterion is satisfied, the said signal S1 to the operating systems 230, 240, 250 and in this way to allow autonomous operation respectively external control of the motor vehicle 100. The computer program P may comprise routines to generate, in the event that the criterion is not satis- fied, a signal S2 for the internal control of the motor vehicle 100, and to transfer the said signal S2 to the operating systems 230, 240, 250. The computer program P may comprise routines to generate, in the event that the criterion is not satisfied, a signal S3 comprising information that a control system 270 that is internal to the vehicle is controlling the motor vehicle 100, and to transfer the said signal S3 from the external control system 270 to an external control system 205 over the computer interface 210. The computer program P may comprise routines to prevent, after the reception of a signal S4 from operator regulators at the motor vehicle 100, autonomous operation respectively external control of the said motor vehicle 100.
The computer program P may be stored in an executable form or in a compressed form in at least one of a memory 460 and a read/write memory 450.
When it is described that the data processing unit 410 carries out a certain function, it is to be understood that the data processing unit 410 carries out a certain part of the program that is stored in the memory 460, or a certain part of the program that is stored in the read/write memory 450. The data processing arrangement 410 can communicate with a data port 499 over a data bus 415. The non-transient memory 420 is intended for communication with the data processing unit 410 over a data bus 412. The separate memory 460 is intended to communicate with the data processing unit 410 over a data bus 41 1 . The read/write memory 450 is arranged to communicate with the data processing unit 410 over a data bus 414. The links L205, L210, L220, L280, and L290, for example, can be connected to the data port 499 (see Figure 2).
When data is received at the data port 499 it is temporarily stored in the second section of memory 440. When the data that has been received has been temporarily stored, the data processing unit 410 is prepared for the execution of code in a manner that has been described above.
According to one design, signals received at the data port 499 comprise parameters for autonomous control and/or the external control of the motor vehicle 100. According to one design, signals received at the data port 499 comprise parameters for the internal control of the motor vehicle 100. According to one design, signals received at the data port 499 comprise information from an operator regulator 290. According to one design, signals received at the data port 499 comprise information from a power supply 280. According to one design, signals received at the data port 499 comprise information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100. According to one design, signals received at the data port 499 comprise parameters with respect to pre-determined criteria.
The signals that have been received at the data port 499 can be used by the arrangement 400 to determine whether the said motor vehicle 100 is to be driven autonomously, externally or manually. The signals that have been received at the data port 499 can be used by the arrangement 400 to determine whether the said signal S1 should be modified or not. Parts of the methods described here may be carried out by the arrangement 400 with the aid of the data processing unit 410, which runs the program stored in the memory 460 or in the read/write memory 450. When the ar- rangement 400 runs the program, the method described here is executed.
The previous description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description of the invention. It is not intended to be exhaustive or to limit the invention to the variants that have been described. Many modifications and variations will be obvious for one skilled in the arts. The embodiments were selected and described in order to best explain the principles of the invention and its practical applications, and thus to make it possible for those skilled in the arts to understand the invention for various embodiments and with the various modifications that are appropriate for the intended use.

Claims

1 . A system to make possible autonomous operation and/or external control of a motor vehicle comprising:
- an external control system (205) arranged to generate a signal (S1 ) comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle; and
- a control system (270) that is internal to the vehicle,
characterised by:
- a computer interface (210) arranged in communicative connection with the said external control system (205) and the said control system (270) that is internal to the vehicle, whereby the said computer interface (210) is arranged to transfer the said signal (S1 ) from the said external control system (205) to the said control system (270) that is internal to the vehicle, and whereby the said control system (270) that is internal to the vehicle comprises a control unit (220) that is arranged to validate the said signal (S1 ) from the said external control system (205), whereby the validation comprises the check of at least one pre-determined criterion with respect to the format and/or frequency, and/or checksum of the signal (S1 ).
2. The system according to claim 1 , whereby the said control system (270) that is internal to the vehicle comprises operating systems (230; 240; 250), whereby the said control unit (220) is arranged for communication with the said operating systems (230; 240; 250).
3. The system according to any one of claim 1 or 2, whereby the validation comprises the check of at least one pre-determined criterion with respect to at least one control parameter of the said signal (S1 ).
4. The system according to claim 3, whereby the said control unit (220) is arranged to modify, when the said, at least one, pre-determined criterion with respect to at least one control parameter of the said signal (S1 ) is not satisfied, the said signal (S1 ) from the said external control system (205), such that the modified signal (S1 m) comprises at least one control parameter that differs from the original control parameter of the signal (S1 ) from the external control system (205), and to transfer the said modified signal (S1 m) from the said con- trol unit (220) to the said operating systems (230; 240; 250).
5. The system according to any one of claims 1 -3, whereby the said control unit (220) is arranged to process, when the said signal (S1 ) from the said external control system (205) satisfies the, at least one, pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal (S1 ), the said signal (S1 ) and to transfer the said processed signal (S1 b) from the said control unit (220) to the said operating systems (230; 240; 250).
6. The system according to any one of claims 1 -3, whereby the said control unit (220) is arranged to generate a signal (S2) for the internal control of the said motor vehicle, when the said signal (S1 ) from the said external control system (205) does not satisfy the, at least one, pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal (S1 ).
7. The system according to claim 6, whereby the said control unit (220) is arranged to generate a signal (S3) comprising information that the said control system (270) that is internal to the vehicle is controlling the said motor vehicle, when the said signal (S1 ) from the said external control system (200) does not satisfy the, at least one, pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal (S1 ), and where the said control unit (220) is arranged to transfer the said signal (S3) from the said control system (270) that is internal to the vehicle to the said external control system (205) over the said computer interface (210).
8. The system according to any one of claims 1 -7, whereby the said control unit (220) is arranged to prevent autonomous operation of the said motor vehi- cle when the said control unit (220) receives a signal (S4) from at least one operator regulator (290) at the said motor vehicle (100).
9. A method to make possible autonomous operation and/or external control of a motor vehicle (100) comprising the step:
- to generate a signal (S1 ) comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle by means of an external control system (205);
characterised by the following steps:
- to transfer over a computer interface (210) the said signal (S1 ) from the said external control system (200) to a control system (270) that is internal to the vehicle, whereby the said control system (270) that is internal to the vehicle comprises a control unit (220) and operating systems (230; 240; 250); and
- to validate the said signal (S1 ) from the said external control system (205) by means of the said control unit (220) at the said control system (270) that is internal to the vehicle, whereby the validation comprises the check of at least one pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal (S1 ).
10. The method according to claim 9, whereby the validation comprises the check of at least one pre-determined criterion with respect to at least one control parameter of the said signal (S1 ).
1 1 . The method according to claim 10, comprising the steps of, when the, at least one, pre-determined criterion with respect to at least one control parameter of the signal (S1 ) is not satisfied:
- to modify the said signal (S1 ) from the said external control system (205) by means of the said control unit (220), such that the modified signal (S1 m) comprises a control parameter that differs from the original control parameter of the signal (S1 ) from the external control system (205); and - to transfer the said modified signal (S1 m) from the said control unit (220) to the said operating systems (230; 240; 250) at the said control system (270) that is internal to the vehicle.
12. The method according to any one of claims 9-10, comprising the steps, when the said signal (S1 ) from the said external control system (205) satisfies the, at least one, pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal (S1 ):
- to process the said signal (S1 ) from the said external control system (205), by means of the said control unit (220); and
- to transfer the said processed signal (S1 b) from the said control unit (220) to the said operating systems (230; 240; 250) at the said control system (270) that is internal to the vehicle.
13. The method according to any one of claims 9-10, comprising the steps, when the said signal (S1 ) from the said external control system (205) does not satisfy the, at least one, pre-determined criterion with respect to the format and/or frequency and/or checksum of the signal (S1 ):
- to generate a signal (S2) for the internal control of the said motor vehicle by means of the said control unit (220); and
- to transfer the said signal (S2) from the said control unit (220) to the said operating systems (230; 240; 250).
14. The method according to claim 13, comprising the steps:
- to generate a signal (S3) comprising information that the said control system (270) that is internal to the vehicle is controlling the said motor vehicle by means of the said control unit (220), and
- to transfer the said signal (S3) from the said control system (270) that is internal to the vehicle to the said external control system (205) over the said computer interface (210).
15. The method according to any one of claims 9-14, comprising the step: - to prevent the autonomous operation of the said motor vehicle on the basis of a signal (S4) from at least one operator regulator (290) at the said motor vehicle.
16. A motor vehicle (100; 1 10) comprising a system according to any one of claims 1 -8.
17. The motor vehicle (100, 1 10) according to claim 16, whereby the motor vehicle is any one of a lorry, bus, forestry machine, mining machine, wheel loader or car.
18. A computer program (P), where the said computer program (P) comprises program code to carry out the method steps according to any one of claims 9- 15, when the said computer program (P) is run on a computer (205; 220).
19. A computer program product comprising a program code to carry out the method steps according to any one of claims 9-15, when the said program code is run on a computer (205; 220).
PCT/SE2014/051371 2013-11-21 2014-11-19 System and method to make possible autonomous operation and/or external control of a motor vehicle WO2015076733A1 (en)

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EP3072020A1 (en) 2016-09-28
SE538077C2 (en) 2016-02-23
SE1451386A1 (en) 2015-05-22

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