SE1451385A1 - System and method for enabling autonomous operation and / or external control of a motor vehicle - Google Patents

System and method for enabling autonomous operation and / or external control of a motor vehicle Download PDF

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Publication number
SE1451385A1
SE1451385A1 SE1451385A SE1451385A SE1451385A1 SE 1451385 A1 SE1451385 A1 SE 1451385A1 SE 1451385 A SE1451385 A SE 1451385A SE 1451385 A SE1451385 A SE 1451385A SE 1451385 A1 SE1451385 A1 SE 1451385A1
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Sweden
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motor vehicle
external control
vehicle
control system
autonomous operation
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SE1451385A
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Swedish (sv)
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SE538131C2 (en
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Daniel Frylmark
Linus Bredberg
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Scania Cv Ab
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Priority to SE1451385A priority Critical patent/SE538131C2/en
Publication of SE1451385A1 publication Critical patent/SE1451385A1/en
Publication of SE538131C2 publication Critical patent/SE538131C2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/04—Vehicle stop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/05—Specific applications of the controlled vehicles for soil shifting, building, civil engineering or mining, e.g. excavators

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Sammandrag Uppfinningen avser ett system (200) fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, innefattande ett externt styrsystem (205) anordnat att generera en signal (Si) innefattande atminstone en styrparameter fOr styrning av namnda motorfordon, och ett fordonsinternt styrsystem (270) innefattande en styrenhet (220) , Hos systemet (200) är ett datagranssnitt (210) anordnat i kommunikativ forbindelse med det externa styrsystemet (205) och det fordonsinterna styrsystemet (270), varvid datagranssnittet (210) är anordnat att OverfOra signalen (Si) fran det externa styrsystemet (205) till det fordonsinterna styrsystemet (270). Namnda styrenhet (220) är vidare anordnad att avgOra huruvida ett forutbestamt tillstand racier hos namnda motorfordon (100) fOr att tillata initiering av autonom drift och/eller extern styrning, der det forutbestamda tillstandet has namnda motorfordon (100) innefattar att motorfordonet (100) star stilla. Uppfinningen avser aven ett fOrfarande for mojliggOrande av autonom drift och/eller extern styrning av ett motorfordon samt ett motorfordon (100; 110) innefattande ett sadant system (200). (Fig. 2) Summary The invention relates to a system (200) for enabling autonomous operation and / or external control of a motor vehicle, comprising an external control system (205) arranged to generate a signal (Si) comprising at least one control parameter for controlling said motor vehicle, and an internal vehicle. control system (270) comprising a control unit (220). In the system (200), a data interface (210) is arranged in communicative connection with the external control system (205) and the in-vehicle control system (270), the data interface (210) being arranged to transmit the signal (Si) from the external control system (205) to the in-vehicle control system (270). Said control unit (220) is further arranged to determine whether a predetermined state racier of said motor vehicle (100) to allow initiation of autonomous operation and / or external control, wherein the predetermined state has said motor vehicle (100) comprises that the motor vehicle (100) star stilla. The invention also relates to a method for enabling autonomous operation and / or external control of a motor vehicle and a motor vehicle (100; 110) comprising such a system (200). (Fig. 2)

Description

UPPFINNINGENS BAKGRUND OCH KAND TEKNIK Att framfora ett motorfordon staller h6ga krav pa operat6ren da det finns manga komplexa forutsagbara och oforutsagbara situationer att ta hansyn till. BACKGROUND OF THE INVENTION AND PRIOR ART Driving a motor vehicle places high demands on the operator as there are many complex predictable and unpredictable situations to consider.

Det finns idag hjalpmedel fOr att underlatta operatOrens arbete, sasom adaptiv farthallare, nOdbroms, kOrfaltsvarnare och liknande. Dessa hjalpmedel kraver dock att det finns en operator i motorfordonet som sjalv kan bedoma situationen och vidta lampliga atgarder. Today, there are aids to facilitate the operator's work, such as adaptive cruise control, emergency brake, anti-corrosion warning and the like. However, these aids require that there is an operator in the motor vehicle who can assess the situation himself and take appropriate action.

Operatoren utgor en stor del av driftskostnaden fOr ett motorfordon, aven i de korfall da belastningen pa operatOren är valdigt lag. Detta är exempelvis fallet i gruvapplikationer dar k6rningarna ofta bestar av att lasta pa vid en punkt, fOr att darefter kera till en andra punkt och lasta ay. Ett annat exempel är vid transport av resenarer mellan ett flygplan och en flygplatsterminal. I dessa ap- plikationer är trafikfOrhallandena kontrollerade och det f6rekommer inte nagra fotgangare, cyklister oiler liknande stOrningar. Gruvor exempelvis, är dessutom ofta lokaliserade pa sã satt att det kravs transport och infrastruktur for personalen. Detta genererar stora kostnader. For att minimera kostnaderna är det darfOr onskvart att i vissa typer av drift helt automatisera motorfordonens framfO- 30 rande. 2 For att, pa ett sakert salt, framfora ett motorfordon autonomt, det viii saga utan att en operatOr/forare styr motorfordonet pa plats i fordonet, kravs en god uppfattning om motorfordonets omgivning. Detta kan astadkommas genom anvandning av sensorer med hog precision och avancerad informationsbearbet- fling samt kommunikation mellan motorfordonets olika styrenheter. Att utveckla och implementera en sadan lOsning fOr autonom drift eller fjarrstyrning av ett motorfordon är tidskravande och kostsamt. The operator makes up a large part of the operating cost of a motor vehicle, even in cases where the load on the operator is very low. This is the case, for example, in mining applications where the runs often consist of loading at one point, and then driving to a second point and loading ay. Another example is when transporting passengers between an aircraft and an airport terminal. In these applications, traffic conditions are controlled and there are no pedestrians, cyclists or similar disturbances. Mines, for example, are also often located in such a way that transport and infrastructure are required for staff. This generates large costs. In order to minimize costs, it is therefore desirable to completely automate the driving of motor vehicles in certain types of operation. 2 In order to drive a motor vehicle autonomously on a safe salt, that is to say without an operator / driver controlling the motor vehicle in place in the vehicle, a good idea of the motor vehicle's surroundings is required. This can be achieved by using sensors with high precision and advanced information processing as well as communication between the motor vehicle's various control units. Developing and implementing such a solution for autonomous operation or remote control of a motor vehicle is time consuming and costly.

Olika fOrfaranden och system har foreslagits i den kanda tekniken fOr att astadkomma autonom drift. Till exempel visas i dokument US 2012/0239238 Al hur en industriell truck styrs autonomt langs med en definierad bana genom anvandning av ett styr- och navigationssystem. Styr- och navigationssystemet skapar och skickar ett kommando gallande hastighet via ett kommunikationsnatverk till en processormodul. Processormodulen skickar vidare kommandot till truckens styrenhet, vilken i sin tur styr drivsystemet utifran namnda kom- mando. Banan kan definieras genom en kabel under golvet, tejp eller andra ref erenser pa golvet, vilka styr- och navigationssystemet kanner ay. Denna lesning astadkommer fervisso autonom drift av trucken men kraver en pa fOrhand definierad bana langs med vilken trucken ska framfOras samt ett internt styr- och navigeringssystem. Various methods and systems have been proposed in the prior art to achieve autonomous operation. For example, document US 2012/0239238 A1 shows how an industrial truck is steered autonomously along a defined path by using a steering and navigation system. The control and navigation system creates and sends a command gallant speed via a communication network to a processor module. The processor module further sends the command to the truck's control unit, which in turn controls the drive system based on the said command. The path can be defined by a cable under the floor, tape or other references on the floor, which the control and navigation system can ay. This reading ensures a completely autonomous operation of the truck but requires a predefined path along which the truck is to be driven as well as an internal steering and navigation system.

Trots kanda losningar pa omradet finns det fortfarande ett behov av att vidareutveckla ett kostnadseffektivt system och fOrfarande fOr autonom drift av ett motorfordon. Hari anges kostnadseffektivt i termer av utvecklingskostnader och driftkostnader. Despite known solutions in the field, there is still a need to further develop a cost-effective system and procedure for autonomous operation of a motor vehicle. Hari is stated cost-effectively in terms of development costs and operating costs.

SAMMANFATTNING AV UPPFINNINGEN Ett syfte med fOreliggande uppfinning är att astadkomma ett system fOr mOjlig- gOrande av autonom drift och/eller extern styrning av ett motorfordon, fOr vilket system kostnader minimeras. 3 Ett ytterligare syfte med foreliggande uppfinning dr att astadkomma ett system fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon, vilket system dr sdkert fOr motorfordonet samt for objekt och personer i dess omgivning. SUMMARY OF THE INVENTION An object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, for which system costs are minimized. A further object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, which system is safe for the motor vehicle and for objects and persons in its surroundings.

Ett annat syfte med fOreliggande uppfinning är att astadkomma ett system fOr mojliggOrande av autonom drift och/eller extern styrning av ett motorfordon, varvid narrinda system mojliggOr anvdndandet av redan befintliga paketlosningar for autonom drift och/eller extern styrning. Another object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, whereby narcissistic systems enable the use of already existing package solutions for autonomous operation and / or external control.

Ett ytterligare syfte med fOreliggande uppfinning är att astadkomma ett system fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon, varvid namnda system begransar atkomsten av fordonsinterna funktioner fOr externa anvandare. A further object of the present invention is to provide a system for enabling autonomous operation and / or external control of a motor vehicle, said system limiting the access of vehicle internal functions to external users.

Ett syfte med fOreliggande uppfinning är att astadkomma ett kostnadseffektivt f6rfarande fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon. An object of the present invention is to provide a cost-effective method for enabling autonomous operation and / or external control of a motor vehicle.

Ett syfte med fOreliggande uppfinning är att astadkomma ett forfarande for mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, vilket fOrfarande är sdkert for motorfordonet samt fOr objekt och personer i dess omgivning. An object of the present invention is to provide a method for enabling autonomous operation and / or external control of a motor vehicle, which method is safe for the motor vehicle and for objects and persons in its surroundings.

Ett annat syfte med foreliggande uppfinning är att astadkomma ett forfarande fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon, varvid detta forfarande mojliggor anvdndandet av redan befintliga paketlosningar far autonom drift och/eller extern styrning. Another object of the present invention is to provide a method for enabling autonomous operation and / or external control of a motor vehicle, this method enabling the use of already existing package solutions for autonomous operation and / or external control.

Ett ytterligare syfte med fOreliggande uppfinning är att astadkomma ett fOrfa- rande fOr mojliggorande av autonom drift och/eller extern styrning av ett motor- 4 fordon, varvid detta forfarande begransar atkomsten av fordonsinterna funktioner fOr externa anvandare. A further object of the present invention is to provide a procedure for enabling autonomous operation and / or external control of a motor vehicle, this method limiting the access of internal vehicle functions to external users.

Ovanstaende syften uppnas genom ett system enligt patentkrav 1 samt genom ett forfarande enligt patentkrav 12. The above objects are achieved by a system according to claim 1 and by a method according to claim 12.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett system for mojliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande: - ett externt styrsystem anordnat att generera en signal innefattande atminsto- ne en styrparameter fer autonom drift och/eller extern styrning av namnda motorfordon, - ett fordonsinternt styrsystem innefattande en styrenhet, och - ett datagranssnitt anordnat i kommunikativ forbindelse med det externa styr- systemet och det fordonsinterna styrsystemet, varvid datagranssnittet är an- ordnat att OverfOra signalen fran det externa styrsystemet till det fordonsinterna styrsystemet, och varvid namnda styrenhet är anordnad att avgOra huruvida ett ferutbestamt tillstand racier has namnda motorfordon kir att tillata initiering av autonom drift och/eller extern styrning, dar det forutbestamda tillstandet hos namnda motorfordon innefattar att motorfordonet star stilla. According to an aspect of the present invention, there is provided a system for enabling 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 said motor vehicle , - an in-house control system comprising a control unit, and - a data interface arranged in communicative connection with the external control system and the in-vehicle control system, the data interface being arranged to transmit the signal from the external control system to the in-vehicle control system, and said control unit is arranged to determine whether a predetermined state racier has said motor vehicle kir to allow initiation of autonomous operation and / or external control, where the predetermined state of said motor vehicle comprises that the motor vehicle is stationary.

Foretradesvis ãr det externa styrsystemet anordnat att generera ett flertal signaler innefattande parametrar fer autonom drift och/eller extern styrning av motorfordonet. Preferably, the external control system is arranged to generate a plurality of signals comprising parameters for autonomous operation and / or external control of the motor vehicle.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett system for mojliggOrande av extern styrning av ett motorfordon innefattande: - ett externt styrsystem anordnat att generera en signal innefattande alminstone en styrparameter for extern styrning av namnda motorfordon, - ett fordonsinternt styrsystem innefattande en styrenhet, och - ett datagranssnitt anordnat i kommunikativ fOrbindelse med det externa styrsystemet och det fordonsinterna styrsystemet, varvid datagranssnittet är an- ordnat att overfora signalen fran det externa styrsystemet till det fordonsinterna styrsystemet, och varvid namnda styrenhet är anordnad att avgOra huruvida ett fOrutbestamt tillstand racier has namnda motorfordon for att tillata initiering av extern styrning, dar det fOrutbestamda tillstandet hos namnda motorfordon in- nefattar att motorfordonet star stilla. According to an aspect of the present invention, there is provided a system for enabling external control of a motor vehicle comprising: - an external control system arranged to generate a signal comprising at least one control parameter for external control of said motor vehicle, - a vehicle internal control system comprising a control unit, and - a data interface arranged in communicative connection with the external control system and the in-vehicle control system, the data interface being arranged to transmit the signal from the external control system to the in-vehicle control system, and wherein said control unit is arranged to determine whether a predetermined state of the motor vehicle has allow the initiation of external steering, where the predetermined condition of the said motor vehicle includes that the motor vehicle is stationary.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett system for mojliggOrande av autonom drift av ett motorfordon innefattande: - ett externt styrsystem anordnat att generera en signal innefattande atminsto- ne en styrparameter for autonom drift av namnda motorfordon, - ett fordonsinternt styrsystem innefattande en styrenhet, och - ett datagranssnitt anordnat i kommunikativ fOrbindelse med det externa styrsystemet och det fordonsinterna styrsystemet, varvid datagranssnittet är anordnat att overfora signalen fran det externa styrsystemet till det fordonsinterna styrsystemet, och varvid namnda styrenhet är anordnad att avgOra huruvida ett fOrutbestamt tillstand rader has namnda motorfordon fOr att tillata initiering av autonom drift, dar det fOrutbestamda tillstandet hos namnda motorfordon innefattar att motorfordonet star stilla. According to an aspect of the present invention, there is provided a system for enabling autonomous operation of a motor vehicle comprising: - an external control system arranged to generate a signal comprising at least one control parameter for autonomous operation of said motor vehicle, - a vehicle internal control system comprising a control unit, and a data interface arranged in communicative connection with the external control system and the in-vehicle control system, the data interface being arranged to transmit the signal from the external control system to the in-vehicle control system, and wherein said control unit is arranged to determine whether a predetermined state of the vehicle has allow initiation of autonomous operation, where the predetermined condition of said motor vehicle comprises that the motor vehicle is stationary.

Foretradesvis innefattar det fordonsinterna styrsystemet ett flertal styrenheter. Preferably, the in-vehicle control system comprises a plurality of control units.

Hari kan en signal eller signaler avse ett meddelande eller flera meddelanden innefattande en eller flera signaler. En signal hos ett meddelande kan innefatta en eller flera parametrar. In this case, a signal or signals can refer to a message or several messages comprising one or more signals. A signal of a message may include one or more parameters.

Enligt en aspekt av foreliggande uppfinning ãr datagranssnittet anordnat i kommunikativ forbindelse med styrenheten hos det fordonsinterna styrsystemet. Styrenheten mottager darmed signalen som via datagranssnittet OverfOrs frail det externa styrsystemet till det fordonsinterna styrsystemet. According to one aspect of the present invention, the data interface is arranged in communicative connection with the control unit of the in-vehicle control system. The control unit thus receives the signal which via the data interface OverfOrs frail the external control system to the in-vehicle control system.

Det fordonsinterna styrsystemet är fOretradesvis en del av motorfordonet i dess grundutfOrande. Da motorfordonet framfors bemannat av en opera- 6 tOr/forare styrs motorfordonet via det fordonsinterna styrsystemet. Genom att anordna ett datagranssnitt hos motorfordonet, vilket datagranssnitt är i kommunikativ fOrbindelse med det externa styrsystemet och det fordonsinterna styrsystemet, majliggers tvavagskommunikation mellan det externa styrsyste- met och det fordonsinterna styrsystemet. Granssnittet är saledes konfigurerat fer kommunikation mellan det fordonsinterna styrsystemet och det externa styrsystemet. Granssnittet kan utgora en del av det fordonsinterna styrsystemet. Pa sa salt mojliggOrs anvandande av ett pa marknaden redan befintligt externt styrsystem for autonom drift och/eller extern styrning, kopplat till motor- fordonet. Motorfordonet behover saledes inte vid tillverkning f6rses med kost- samma system och verktyg fOr att astadkomma autonom drift och/eller extern styrning, utan koparen av motorfordonet kan vid ett senare tillfalle tillkoppla ett befintligt externt styrsystem for autonom drift och/eller extern styrning till det for andamalet konfigurerade datagranssnittet och det fordonsinterna styrsystemet. The in-vehicle steering system is preferably part of the motor vehicle in its basic version. When the motor vehicle is driven manned by an operator / driver, the motor vehicle is controlled via the in-vehicle control system. By arranging a data interface of the motor vehicle, which data interface is in communicative connection with the external control system and the internal vehicle control system, two-way communication between the external control system and the internal vehicle control system is possible. The interface is thus configured for communication between the vehicle internal control system and the external control system. The interface can form part of the in-vehicle control system. This salt enables the use of an external control system already on the market for autonomous operation and / or external control, connected to the motor vehicle. The motor vehicle thus does not need to be equipped with costly systems and tools for achieving autonomous operation and / or external control during manufacture, but the buyer of the motor vehicle can at a later occasion connect an existing external control system for autonomous operation and / or external control to it. andamalet configured the data interface and the in-vehicle control system.

Darned astadkommes en tidseffektiv och kostnadseffektiv losning for mojlig- gorande av autonom drift och/eller extern styrning av ett motorfordon. Genom att den, av det externa styrsystemet, genererade signalen fOrst mottages hos datagranssnittet begransas det externa styrsystemets atkomst av det fordonsinterna styrsystemet. Detta är sarskilt fOrdelaktigt da det fordonsinterna styrsy- stemet kan innefatta information och funktioner som fordonstillverkaren ej vill att externa anvandare ska ha tillgang till. Samtidigt kan abstraktionsnivan hojas gentemot det externa styrsystemet f6r att fOrenkla anvandandet. Pa samma satt medfOr systemet enligt fOreliggande uppf inning att det externa styrsystemet inte kan ta Over motorfordonets styrning utan att dess signaler forst har passerat datagranssnittet. Datagranssnittet medf6r aven att paverkan pa mo- torfordonet minimeras i de fall som inkoppling av det externa styrsystemet sker pa ett felaktigt satt. Darned provides a time-efficient and cost-effective solution for enabling autonomous operation and / or external control of a motor vehicle. Because the signal generated by the external control system is first received at the data interface, the access of the external control system is limited by the vehicle internal control system. This is particularly advantageous as the in-vehicle control system can include information and functions that the vehicle manufacturer does not want external users to have access to. At the same time, the level of abstraction can be raised in relation to the external control system to simplify the use. In the same way, the system according to the present invention means that the external control system cannot take over the control of the motor vehicle without its signals having first passed the data interface. The data interface also means that the impact on the motor vehicle is minimized in cases where connection of the external control system takes place incorrectly.

Motorfordonet kan saledes styras antingen manuellt av en operat6r hos motor- fordonet eller autonomt eller externt genom det externa styrsystemet. 7 Fordonet kan drivas autonomt i ett fOrsta lage och drivas operatorsstyrt (manuellt eller externt) i ett andra lage. En operator, exempelvis en fOrare, kan saledes anvanda samma datagranssnitt som vid autonom drift nar operat6ren Onskar styra fordonet externt. Namnda operator kan saledes styra fordonet externt medelst ett manoverorgan, dar operatoren star placerad externt/vid sidan av fordonet, exempelvis i en korg eller en s.k. sky-lift eller manuellt via reglage anordnade i en hytt hos fordonet. 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. 7 The vehicle can be operated autonomously in a first mode and operated operator-controlled (manually or externally) in a second mode. An operator, for example a driver, can thus use the same data interface as in autonomous operation when the operator wishes to control the vehicle externally. Said operator can thus control the vehicle externally by means of an actuator, where the operator is placed externally / next to the vehicle, for example in a basket or a so-called sky-lift or manually via controls arranged in a cab of the vehicle.

Det externa styrsystemet definieras som ett styrsystem som tillhandahdlls och installeras av en part annan an fordonstillverkaren. Det externa styrsystemet kan innefatta enheter som är anordnade hos motorfordonet och/eller enheter som inte är anordnade hos motorfordonet. Det externa styrsystemet innefattar lampligen hardvara i form av sensorer, navigeringssystem, kameror och liknande for positionsbestamning av motorfordonet och fOr att fortlopande detek- tera exempelvis objekt, hinder, personer och djur, for att erhalla en god om- varldsuppfattning. Lampligen innefattar det externa styrsystemet aven atminstone en styrenhet, som mottager instruktioner gallande den Onskade driften av motorfordonet. The external control system is defined as a control system provided and installed by a party other than the vehicle manufacturer. The external control system may comprise units which are arranged in the motor vehicle and / or units which are not arranged in the motor vehicle. The external control system suitably includes hardware in the form of sensors, navigation systems, cameras and the like for position determination of the motor vehicle and for continuously detecting, for example, objects, obstacles, people and animals, in order to obtain a good perception of the outside world. The external control system also comprises at least one control unit, which receives instructions for the desired operation of the motor vehicle.

Vid autonom drift av motorfordonet erhaller styrenheten hos det externa styr- systemet instruktioner pa en hog niva, exempelvis kat' fran en position A till en position B. Namnda styrenhet kan vidare vara anordnad i kommunikativ forbindelse med externa enheter sasom en elektronisk kartdatabas eller andra liknande system, som kan bidra med information som kan paverka den auto- noma driften av namnda motorfordon. Namnda styrenhet bearbetar signaler fran ovan namnda hardvara och/eller de externa enheterna tillsammans med instruktionerna och fordonsparametrar, fOr att faststalla en lamplig rutt for motorfordonet. Fordonsparametrarna kan utgOras av fordonsvikt, fordonshojd, accelerationsformaga etc. Namnda styrenhet faststaller vidare lampliga styr- parametrar fel' autonom styrning av motorfordonet enligt den bestamda rutten. During autonomous operation of the motor vehicle, the control unit of the external control system receives instructions at a high level, for example cat 'from a position A to a position B. Said control unit can furthermore be arranged in communicative connection with external units such as an electronic map database or other similar systems, which can provide information that can affect the autonomous operation of the said motor vehicle. Said control unit processes signals from the above-mentioned hardware and / or the external units together with the instructions and vehicle parameters, in order to determine a suitable 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 suitable steering parameters for autonomous steering of the motor vehicle according to the determined route.

Styrparametrarna innefattar instruktioner pa en lag niva och kan avse styrvinkel, lampligt vaxelsteg hos en transmission, bromsverkan, acceleration hos 8 motorfordonet, vinkelhastighet och/eller vridmoment hos ratten och liknande detaljerade styrparamentrar. Den av det externa styrsystemet genererade signalen innefattar atminstone en sadan lagnivastyrparameter. The steering parameters include instructions at a low level and may refer to steering angle, light gear ratio of a transmission, braking action, acceleration of the motor vehicle, angular speed and / or torque of the steering wheel and similar detailed steering parameters. The signal generated by the external control system comprises at least one such low level control parameter.

Vid extern styrning av motorfordonet faststaller styrenheten hos det externa styrsystemet styrparametrar baserat pa en fran en operator Onskad framfaring av motorfordonet. Med extern styrning kan avses fjarrstyrning av ett motorfordon medelst fjarrstyrningsorgan sa som en barbar dator, en fjarrkontroll, joystick eller liknande organ hanterade av en operator. Det externa styrsystemet kan exempelvis innefatta en dator arrangerad hos fordonet och granssnittet kan utgOras av en signalledning, varvid en operator medelst en knapptryckning exempelvis kan onska att accelerera, decelerera, vaxla och/eller svanga motorfordonet. Styrparametrarna hos signalen fran det externa styrsystemet innefattar precis som vid autonom drift av motorfordonet instruktioner pa en lag niva och kan avse styrvinkel, lamplig vaxel, bromsverkan, acceleration och liknande detaljerade styrparametrar. During external control of the motor vehicle, the control unit of the external control system determines control parameters based on one from an operator. By external control can be meant remote control of a motor vehicle by means of remote control means such as a barbarian computer, a remote control, joystick or similar means handled by an operator. The external control system may, for example, comprise a computer arranged at the vehicle and the interface may consist of a signal line, whereby an operator by means of a push of a button may, for example, wish to accelerate, decelerate, shift and / or swing the motor vehicle. The control parameters of the signal from the external control system, just as in the autonomous operation of the motor vehicle, include instructions at a low level and can refer to steering angle, lamp gear, braking action, acceleration and similar detailed control parameters.

En styrparameter kan aven benamnas begaran. Saledes till handahaller det externa styrsystemet en begaran gallande exempelvis en hastighet, med vil- ken motorfordonet Mr framforas. Begaran fran det externa styrsystemet Over- fOrs via datagranssnittet till det fordonsinterna styrsystemet, som bearbetar begaran och avgar am begaran ska exekveras. Enligt en utforingsform innefattar signalen fran det externa styrsystemet en begaran, som utgOrs av en positiv eller negativ hastighets- och/eller bromsbegaran samt en Onskad styrvinkel. A control parameter can also be called a request. Thus, the external control system provides a request for, for example, a speed at which the motor vehicle Mr is driven. The request from the external control system is transferred via the data interface to the in-vehicle control system, which processes the request and exits the request to be executed. According to one embodiment, the signal from the external control system comprises a request, which consists of a positive or negative speed and / or brake request and an undesired control angle.

Alternativt innefattar signalen fran det externa styrsystemet en begaran, som utgors av en accelerations- och/eller decelerationsbegaran samt en Onskad styrvinkel. Alternativt innefattar signalen fran det externa styrsystemet en begaran, som utgors av en vinkelhastighet och/eller rattmoment. Alternatively, the signal from the external control system comprises a request, which consists of an acceleration and / or deceleration request and an unwanted control angle. Alternatively, the signal from the external control system comprises a request, which consists of an angular velocity and / or steering torque.

Feretradesvis genererar det externa styrsystemet fortlepande ett flertal signa- ler innefattande en eller flera styrparametrar/begaran. 9 Foretradesvis innefattar det fordonsinterna styrsystemet ett flertal manovreringssystem anordnade i kommunikativ fOrbindelse med det fordonsinterna styrsystemets styrenhet. Namnda styrenhet Overfor sdledes signaler innefattande styrparametrar till manovreringssystemen som claimed styr motorfordo- net. Manovreringssystemen utgors lampligen av ett bromsstyrningssystem fOr styrning av exempelvis fardbroms, hjalpbroms och parkeringsbroms, drivorgan och/eller styrorgan. Med hjalpbroms kan avses retarder, avgasbroms, elektrisk hjalpbroms eller liknande. Manovreringssystemen utgors vidare lampligen av ett motorstyrningssystem fOr styrning av motorfordonets motor och framdriv- fling samt ett vdxlingsstyrningssystem for styrning av vdxling hos motorfordo- net. Manevreringssystemen utgars sdledes av system, som via det fordonsinterna styrsystemets styrenhet paverkar bland annat motorfordonets hastighet och riktning. Preferably, the external control system continuously generates a plurality of signals including one or more control parameters / requests. Preferably, the in-vehicle control system comprises a plurality of operating systems arranged in communicative connection with the control unit of the in-vehicle control system. Said control unit Transmits signals including control parameters to the maneuvering systems that claimed to control the motor vehicle. The maneuvering systems suitably consist of a brake control system for controlling, for example, cruise control, auxiliary brake and parking brake, drive means and / or control means. Auxiliary brake can refer to retarder, exhaust brake, electric auxiliary brake or the like. The maneuvering systems furthermore suitably consist of a motor control system for controlling the engine and propulsion of the motor vehicle as well as a shift control system for controlling the shift of the motor vehicle. The maneuvering systems are thus made up of systems which, via the control unit of the internal vehicle control system, influence, among other things, the speed and direction of the motor vehicle.

Enligt en aspekt av foreliggande uppfinning dr styrenheten hos det fordonsin- terna styrsystemet anordnad fOr kommunikation med manOvreringssystemen via en kommunikationsbuss. Kommunikationsbussen innefattar lampligen en CAN-buss eller annan standard fOr databverfering. According to one aspect of the present invention, the control unit of the vehicle control system is arranged for communication with the operating systems via a communication bus. The communication bus probably includes a CAN bus or other standard for data transfer.

Genom att kontrollera huruvida ett forutbestam tillstand racier hos motorfordo- net och genom att endast finale initiering av autonom drift och/eller extern styrning av namnda motorfordon da namnda fOrutbestamda tillstand rader, uppnas ett sakert och robust system fOr autonomt och/eller externt framferande av ett fordon. Namnda styrenhet kan genom att kommunicera med motorfordonets manOvreringssystem och/eller andra fordonsinterna styrenheter avgara huruvi- da ett forutbestamt tillstand racier. By checking whether a predetermined state racier of the motor vehicle and by only final initiation of autonomous operation and / or external control of said motor vehicle da said predetermined state rows, a safe and robust system for autonomous and / or external driving of a vehicle. The said control unit can, by communicating with the motor vehicle's maneuvering system and / or other in-vehicle control units, determine whether a predetermined condition is racier.

Enligt en utferingsform kan det fOrutbestdmda tillstandet hos ndmnda motor- fordon innefatta att motorfordonets parkeringsbroms är ilagd och/eller att mo- torfordonets motor är avstangd och/eller motorfordonets vdxelldda är i neutralt tillstand. According to one embodiment, the predetermined condition of said motor vehicle may comprise that the parking vehicle of the motor vehicle is applied and / or that the engine of the motor vehicle is switched off and / or the engine of the motor vehicle is in neutral condition.

Enligt en utforingsform kan vissa farutbestamda tillstand vara kritiska far att initiering av autonom och/eller extern framforning av motorfordonet ska tillatas, medan andra farutbestamda tillstand kan vara icke-kritiska far avgarandet huruvida initiering av autonom drift och/eller extern styrning ska tillatas. Harvid uppnas fordelaktigt ett sakert system dar endast motorfordon som är lampliga att framfaras autonomt och/eller externt framfars autonomt och/eller externt. According to one embodiment, certain hazardous conditions may be critical if the initiation of autonomous and / or external driving of the motor vehicle is permitted, while other hazardous conditions may be non-critical depending on whether initiation of autonomous operation and / or external steering is permitted. In this case, a safe system is advantageously achieved where only motor vehicles which are suitable for driving autonomously and / or externally are driven autonomously and / or externally.

Enligt en utfaringsform av foreliggande uppf inning tillhandahalles ett system, varvid namnda styrenhet ãr anordnad att farhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon cla namnda forutbestamda tillstand hos namnda motorfordon ej racier. Detta farhindrar att motorfordon som inte är lampliga framfors autonomt och/eller externt vilket medfor att olyckor kan undvikas. According to an embodiment of the present invention, a system is provided, wherein said control unit is arranged to prevent initiation of autonomous operation and / or external control of said motor vehicle cla said predetermined state of said motor vehicle not racier. This prevents motor vehicles that are not suitable for driving autonomously and / or externally, which means that accidents can be avoided.

Enligt en utfaringsform av foreliggande uppf inning tillhandahalles ett system, varvid namnda styrenhet är anordnad att kontrollera atminstone en fordonsfunktion hos namnda motorfordon. According to an embodiment of the present invention, a system is provided, wherein said control unit is arranged to check at least one vehicle function of said motor vehicle.

Namnda styrenhet kan genom att med signaler kommunicera med fordonets manavreringssystem och/eller andra fordonsinterna styrenheter fa information om funktion hos fordonet, det vill saga information om huruvida alit fungerar som det ska hos fordonet. Den atminstone ena fordonsfunktionen kan vara att en specifik sensor/givare fungerar som den ska, exempelvis en momentindikator, en varvtalsgivare eller liknande. Den atminstone ena fordonsfunktionen kan aven vara att en specifik aktuator som exekverar begaran fran det externa styrsystemet fungerar som den ska. Exempel pa fordonsfunktion att kontrollera kan vara att bromsarna inte är overhettade, att vaxelladan fungerar som den ska, att motorn into har momentneddragningar, att dacken into har punktering och/eller att det finns tillrackligt med luft i bromssystemet. Genom att kontrolle- ra atminstone en fordonsfunktion hos namnda motorfordon kan det, innan for- donet har satts i autonom drift eller styrs externt, avgaras huruvida motorfordonet är lampligt att framfaras autonomt och/eller externt. Pa detta satt uppnas 11 ett sakert system fOr autonom drift och/eller extern styrning dar bade fordonet och dess omgivning skyddas fran att oldmpliga fordon framfOrs autonomt och/eller externt. Said control unit can, by communicating with signals with the vehicle's maneuvering system and / or other in-vehicle control units, obtain information about the function of the vehicle, that is to say information about whether alit works properly with the vehicle. The at least one vehicle function can be that a specific sensor / sensor works as it should, for example a torque indicator, a speed sensor or the like. The at least one vehicle function can also be that a specific actuator that executes the request from the external control system works as it should. Examples of vehicle function to check may be that the brakes are not overheated, that the gearbox works properly, that the engine into has torque reductions, that the tires into have a puncture and / or that there is enough air in the brake system. By checking at least one vehicle function of the said motor vehicle, it can be decided before the vehicle has been put into autonomous operation or controlled externally whether the motor vehicle is suitable for autonomous and / or external driving. In this way, a secure system for autonomous operation and / or external control is achieved, where both the vehicle and its surroundings are protected from immature vehicles being driven autonomously and / or externally.

Enligt en utfOringsform av foreliggande uppf inning tillhandahdlles ett system, varvid namnda styrenhet hos det fordonsinterna styrsystemet är anordnad att tillata initiering av autonom drift och/eller externt styrning av namnda motorfordon dâ namnda fordonsfunktion uppvisar fullgod funktion. According to an embodiment of the present invention, a system is provided, wherein said control unit of the in-vehicle control system is arranged to allow initiation of autonomous operation and / or external control of said motor vehicle when said vehicle function exhibits satisfactory function.

Genom att Ora en kontroll av namnda fordonsfunktion innan fordonet Oats framfOras autonomt och/eller externt, och genom att endast tilldta initiering av autonom drift och/eller extern styrning av namnda fordon dâ namnda fordonsfunktion uppvisar fullgod funktion uppnas ett sakert framforande av fordonet, dal' motorfordonet och doss omgivning skyddas Iran att ett motorfordon fram- fOrs autonomt och/eller externt utan exempelvis fungerande bromsar. By Ora a control of said vehicle function before the vehicle Oats is performed autonomously and / or externally, and by only allowing initiation of autonomous operation and / or external control of said vehicle when said vehicle function shows good function, a safe driving of the vehicle, dal 'is achieved. the motor vehicle and its surroundings, Iran is protected from being driven autonomously and / or externally without, for example, working brakes.

Enligt en utfOringsform av foreliggande uppf inning tillhandahdlles ett system, varvid namnda styrenhet är anordnad att ferhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon dâ namnda fordonsfunktion ej uppvisar fullgod funktion. According to an embodiment of the present invention, a system is provided, wherein said control unit is arranged to prevent initiation of autonomous operation and / or external control of said motor vehicle when said vehicle function does not exhibit satisfactory function.

Enligt en utfOringsform kan vissa fordonsfunktioners funktionalitet vara kritiska fOr att fordonet ska tilldtas att framfOras autonomt och/eller externt, medan andra fordonsfunktioner kan vara icke-kritiska fOr avg6randet huruvida namnda fordon far framfOras autonomt och/eller externt. Harvid uppnas fordelaktigt ett sakert system ddr endast fordon som är lampliga att framfOras autonomt och/eller externt framfOrs autonomt och/eller externt. According to one embodiment, the functionality of certain vehicle functions may be critical for the vehicle to be allowed to be driven autonomously and / or externally, while other vehicle functions may be non-critical for determining whether said vehicle may be driven autonomously and / or externally. In this case, a secure system is advantageously obtained where only vehicles which are suitable for driving autonomously and / or externally are driven autonomously and / or externally.

Enligt en utfOringsform av foreliggande uppf inning tillhandahdlles ett system, varvid namnda styrenhet är anordnad att validera namnda signal fran namnda externa styrsystem. Valideringen innefattar lampligen kontroll av dtminstone ett pd forhand bestamt kriterium. 12 Genom att styrenheten hos det fordonsinterna styrsystemet validerar den inkommande signalen fran det externa styrsystemet astadkommes en kontroll fOre namnda signal overfors till manOvreringssystemen och darmed styr motorfordonet. Pa sä salt sakerstalls att inga orimliga eller skadliga signaler, eller signaler som styrenheten inte kan tolka, styr motorfordonet. Detta är sarskilt viktigt da signalen fran det externa styrsystemet innefattar styrparametrar pa lag niva. Valideringen innefattar fOretradesvis kontroll av pa fOrhand bestamda kriterier gallande det externa styrsystemets signalers format. Exempelvis innefattar valideringen kontroll av den av det externa styrsystemet genererade sig- nalens frekvens, det vill saga hur ofta signaler fran det externa styrsystemet sands. Exempelvis, i det fall signaler är avsedda att sandas var fyrtionde millisekund men ett avbrott uppstar, stoppar styrenheten den autonoma driften. Vidare kan vid valideringen kontrolleras en av det externa styrsystemet genererad kontrollsumma. Valideringen innebar att formatet med vilket kommunika- tion sker via datagranssnittet maste ske enligt tydligt definierade kriterier fOr att mottagas av det fordonsinterna styrsystemet. Pa sa satt sakerstalls att fordonstillverkaren har kontroll Over hur fordonet styrs och darmed framfors aven nar ett externt styrsystem anvands fOr autonom drift och/eller extern styrning. Vidare sakerstalls att det externa styrsystemet är ett godkant och tillatet styr- system for autonom drift och/eller extern styrning av fordonet. According to an embodiment of the present invention, a system is provided, wherein said control unit is arranged to validate said signal from said external control system. The validation appropriately includes checking at least one predetermined criterion. By the control unit of the internal vehicle control system validating the incoming signal from the external control system, a control is achieved before the said signal is transmitted to the operating systems and thereby controls the motor vehicle. In such a case that no unreasonable or harmful signals, or signals that the control unit can not interpret, control the motor vehicle. This is especially important as the signal from the external control system includes control parameters at the team level. The validation includes preferably checking of predetermined criteria regardless of the format of the external control system signals. For example, the validation includes checking the frequency of the signal generated by the external control system, ie how often signals from the external control system are transmitted. For example, in the event that signals are intended to be sent every forty milliseconds but an interruption occurs, the control unit stops the autonomous operation. Furthermore, during the validation, a checksum generated by the external control system can be checked. The validation meant that the format with which communication takes place via the data interface must take place according to clearly defined criteria in order to be received by the in-vehicle control system. In this way, it is ensured that the vehicle manufacturer has control over how the vehicle is steered and thus even when an external steering system is used for autonomous operation and / or external steering. Furthermore, it is stated that the external control system is a good edge and permitted control system for autonomous operation and / or external control of the vehicle.

Enligt en utfOringsform innefattar valideringen kontroll av atminstone ett pa for-hand bestamt kriterium avseende rimligheten i begaran fran det externa styrsystemet. Genom att rimligheten hos namnda signal kontrolleras kan begaran som kan skada fordonet undvikas. Ett sadant exempel pa en begaran som skulle kunna skada fordonet kan vara en begaran om att lagga i backvaxeln da fordonet framfors i en viss hastighet. According to one embodiment, the validation comprises checking at least one predetermined criterion regarding the reasonableness of the request from the external control system. By checking the reasonableness of said signal, the request that can damage the vehicle can be avoided. Such an example of a request that could damage the vehicle could be a request to put in the reverse gear when the vehicle is being driven at a certain speed.

Da valideringen visar att signalen fran det externa styrsystemet inte uppfyller det atminstone ena pa ferhand bestamda kriteriet, eller anses vara skadlig fOr fordonet stoppar styrenheten lampligen signalen fran det externa styrsystemet och den autonoma driften och/eller externa styrningen avbryts. Foretradesvis 13 genererar aven styrenheten en signal for intern styrning och Overfor signalen fOr intern styrning till manovreringssystemen. Harvid uppnas ett robust och sãkert system. As the validation shows that the signal from the external control system does not meet at least one predetermined criterion, or is considered harmful to the vehicle, the control unit aptly stops the signal from the external control system and the autonomous operation and / or external control is interrupted. Preferably, the control unit also generates a signal for internal control and the Overfor signal for internal control to the maneuvering systems. This results in a robust and secure system.

Enligt en utf6ringsform av foreliggande uppf inning tillhandahalles ett system, varvid ndmnda styrenhet är anordnad att faststdlla framfOringskaraktdristika och/eller en omgivningskonfiguration, dar namnda styrenhet är anordnad att anpassa namnda validering pa basis av namnda faststallda framfOringskaraktdristika och/eller namnda faststailda omgivningskonfiguration. According to an embodiment of the present invention, there is provided a system, wherein said control unit is arranged to determine performance characteristics and / or an environment configuration, wherein said control unit is arranged to adapt said validation on the basis of said established performance characteristics and / or naming characteristics.

Genom att bestamma framfOringskaraktdristika och/eller omgivningskonfiguration och basera namnda validering pa basis av dessa parametrar kan lampligheten hos de externa styrsignalerna som styr den autonoma driften och/eller den externa styrningen avgoras fran fall till fall. FramfOringskaraktaristika kan enligt ett exempel vara fordonets framfOringshastighet. Omgivningskonfigura- tion kan vara en elektronisk representation av en omgivning av namnda motorfordon. Namnda omgivningskonfiguration kan inbegripa lutningen hos underlaget, strukturer, objekt, personer, djur etc. By determining performance characteristics and / or ambient configuration and basing said validation on the basis of these parameters, the suitability of the external control signals controlling the autonomous operation and / or the external control can be determined from case to case. According to one example, the driving characteristics may be the vehicle's feed speed. Ambient configuration may be an electronic representation of an environment of said motor vehicle. Said environmental configuration may include the slope of the substrate, structures, objects, persons, animals, etc.

Enligt ett exempel kan det vid vissa tillfällen, sasom t ex vid start i backe, vara rimligt att en begaran om broms samtidigt som en begdran om gas begat's. Samma begaran, dvs. en begaran om broms samtidigt som en begaran om gas begars, da fordonet framfOrs vid en viss hastighet, kan anses vara skadlig fOr fordonet. Genom att framfOringskaraktaristika och/eller omgivningskonfigu- ration anvands som basis for att validera namnda signal uppnas ett robust, flexibelt och anvandarvanligt system. Enligt ett exempel kan fordonets hastighet utgora en parameter som paverkar namnda validering. Enligt ett exempel kan underlagets lutning utgOra en parameter som paverkar namnda validering. According to an example, on certain occasions, such as when starting on a hill, it may be reasonable to request a brake at the same time as a request for gas. The same request, ie. a request for a brake at the same time as a request for gas is requested, as the vehicle is being driven at a certain speed, can be considered to be harmful to the vehicle. By using performance characteristics and / or ambient configuration as a basis for validating the said signal, a robust, flexible and user-friendly system is achieved. According to one example, the speed of the vehicle may be a parameter that affects the said validation. According to an example, the slope of the substrate can be a parameter that affects the said validation.

Enligt en utfOringsform av fOreliggande uppf inning tillhandahalles ett system, varvid namnda styrenhet as anordnad att avbryta autonom drift och/eller extern styrning av namnda motorfordon, da narrinda signal fran namnda externa styr- 14 system vid valideringen ej uppfyller atminstone ett pa forhand bestamt kriteriurn. According to an embodiment of the present invention, a system is provided, wherein said control unit is arranged to interrupt autonomous operation and / or external control of said motor vehicle, as the signal from said external control system during validation does not meet at least one predetermined criterion.

FOretradesvis är styrenheten anordnad att, vid ej uppfyllt kriterium, fOrhindra autonom drift och/eller extern styrning av motorfordonet genom att stoppa sig- nalen frail det externa styrsystemet och darmed into OvertOra namnda signal till manOvreringssystemen. Preferably, if the criterion is not met, the control unit is arranged to prevent autonomous operation and / or external control of the motor vehicle by stopping the signal from the external control system and thereby into the OvertOra named signal to the control systems.

Lampligen är styrenheten anordnad att, vid ej uppfyllt kriterium, fOrhindra auto- nom drift och/eller extern styrning av motorfordonet genom att generera en signal fOr intern styrning av motorfordonet. Pa sa sail astadkommes en intern styrning av motorfordonet nar det pa fOrhand bestamda kriteriet ej är uppfyllt. Foretradesvis innefattar signalen for intern styrning styrparametrar, som minimerar risken for skador hos motorfordonet och objekt och/eller personer i dess omgivning. Exempelvis innefattar den interna styrningen styrparametrar som medfOr att motorfordonet bromsas och/eller stannas/parkeras. The control unit is arranged to, if the criterion is not met, prevent automatic operation and / or external control of the motor vehicle by generating a signal for internal control of the motor vehicle. On this sail, an internal control of the motor vehicle is achieved when the predetermined criterion is not met. Preferably, the signal for internal control includes control parameters that minimize the risk of damage to the motor vehicle and objects and / or persons in its vicinity. For example, the internal steering includes steering parameters which cause the motor vehicle to be braked and / or stopped / parked.

Enligt en aspekt av fOreliggande uppfinning genererar styrenheten en signal fOr intern styrning av motorfordonet dã granssnittet och/eller det fordonsinterna styrsystemet under pagaende autonom drift och/eller extern styrning inte mot- tager nagon signal ails fran det externa styrsystemet. Pa sâ salt kan det interna styrsystemet exempelvis stanna motorfordonet liar den autonoma drif ten och/eller den externa styrningen av nagon anledning har avbrutits. Darmed skyddas bade motorfordonet och objekt och/eller personer i dess omgivning. According to one aspect of the present invention, the control unit generates a signal for internal control of the motor vehicle when the interface and / or the vehicle internal control system during ongoing autonomous operation and / or external control does not receive any signal from the external control system. On such salt, the internal control system can, for example, stop the motor vehicle when the autonomous operation and / or the external control has been interrupted for some reason. This protects both the motor vehicle and objects and / or people in its vicinity.

Enligt en aspekt av foreliggande uppfinning ãr styrenheten anordnad att, dâ autonom drift och/eller extern styrning har fOrhindrats och styrenheten har genererat en signal fOr intern styrning, generera en signal innefattande information om att det fordonsinterna styrsystemet styr motorfordonet. Styrenhet är lampligen vidare anordnad att OverfOra signalen innefattande information om att det fordonsinterna styrsystemet styr motorfordonet fran det fordonsinterna styrsystemet till det externa styrsystemet via granssnittet. Pa sa satt erhaller det externa styrsystemet, och ddrmed operatOren, information om att det inte styr motorfordonet och varfor det inte styr motorfordonet. According to one aspect of the present invention, the control unit is arranged that, when autonomous operation and / or external control has been prevented and the control unit has generated a signal for internal control, generate a signal comprising information that the in-vehicle control system controls the motor vehicle. The control unit is suitably further arranged to transmit the signal including information that the in-vehicle control system controls the motor vehicle from the in-vehicle control system to the external control system via the interface. In this way, the external control system, and thus the operator, receives information that it does not control the motor vehicle and why it does not control the motor vehicle.

Enligt en utfOringsform av fOreliggande uppf inning tillhandahdlles ett system, varvid namnda styrenhet är anpassad att ater tilldta autonom drift och/eller ex- tern styrning av ett motorfordon efter avbruten autonom drift och/eller extern styrning pa basis av en mottagen signal fran namnda externa styrsystem. According to an embodiment of the present invention, there is provided a system, wherein said control unit is adapted to allow autonomous operation and / or external control of a motor vehicle after interrupted autonomous operation and / or external control on the basis of a received signal from said external control system. .

Dâ den autonoma driften och/eller den externa styrningen har avbrutits kan en operatOr Ater skicka en signal via det externa styrsystemet, dar ndmnda signal innehdller en begaran om att ater fâ framfOra fordonet autonomt och/eller externt. Harvid kravs det inte att en operator fysiskt forflyttar sig till ndmnda for-don f6r att aterigen kunna aktivera den autonoma driften och/eller den externa styrningen vilket skapar ett anvandarvanligt och tidseffektivt system. When the autonomous operation and / or the external steering has been interrupted, an operator can again send a signal via the external control system, where said signal contains a request to be allowed to drive the vehicle again autonomously and / or externally. In this case, it is not required that an operator physically move to the said vehicle in order to be able to activate the autonomous operation and / or the external control again, which creates a user-friendly and time-efficient system.

Enligt en utfOringsform av fOreliggande uppf inning tillhandahdlles ett system, varvid namnda styrenhet är anpassad att validera ndmnda signal innefattande begaran om att ater fâ framfOra fordonet autonomt och/eller externt frdn namnda externa styrsystem. According to an embodiment of the present invention, a system is provided, wherein said control unit is adapted to validate said signal including the request to drive the vehicle again autonomously and / or externally from said external control system.

Signelen Iran det externa styrsystemet innefattande begaran om att Ater fâ framfOra fordonet autonomt och/eller externt innefattar lampligen operatOrsgenererad information. FOretradesvis innefattar valideringen av signalen med begdran om att Mei' fa framfOra fordonet autonomt och/eller externt, kontroll av operat6rens beh6righet. Operatorens behorighet och sdledes valideringen av signalen baseras lampligen pa den operatorsgenererade informationen i signalen. Genom att ndmnda signal valideras kan det sakerstallas att signalen kommer fran en operator som är tilldten att framfOra ndmnda motorfordon autonomt och/eller externt. Genom att validera ndmnda signal astadkommes ett sakert fOrfarande. 16 Styrenheten är anordnad att kontrollera huruvida namnda operatorsgenererade information uppfyller kravet pa att ndmnda fordon ater far tas i bruk for autonom drift och/eller extern styrning. Enligt en utfOringsform kan den opera- tOrsgenererade informationen vara en specifik kod fran namnda operator. The signal Iran the external control system including the request that Ater be allowed to drive the vehicle autonomously and / or externally appropriately includes operator-generated information. Preferably, the validation of the signal with the request to drive the vehicle autonomously and / or externally includes checking the operator's competence. The operator's competence and thus the validation of the signal is suitably based on the operator-generated information in the signal. By validating said signal, it can be ensured that the signal comes from an operator who is authorized to drive said motor vehicle autonomously and / or externally. By validating the said signal, a safe procedure is achieved. The control unit is arranged to check whether the said operator-generated information fulfills the requirement that the said vehicles can be used again for autonomous operation and / or external control. According to one embodiment, the operator-generated information may be a specific code from said operator.

Styrenheten kontrollerar saledes huruvida signalen uppvisar raft kod och tillater att autonom drift och/eller extern styrning ater tas i bruk da signalen uppvisar raft kod. Enligt ett utforingsexempel kan den operatOrsgenererade informationen vara en viss sekvens av utfOrda hand lingar av namnda operator. The control unit thus checks whether the signal has a raft code and allows autonomous operation and / or external control to be used again when the signal has a raft code. According to an exemplary embodiment, the operator-generated information may be a certain sequence of operations performed by said operator.

En operator kan avse en eller ett flertal personer. Alternativt kan en operator avse ett fOretag eller en kund till fordonstillverkaren. An operator can refer to one or more people. Alternatively, an operator may refer to a company or a customer of the vehicle manufacturer.

Enligt en utfOringsform av foreliggande uppf inning tillhandahalles ett system, van i det fordonsinterna styrsystemet är anordnat att avgara huruvida styrenhe- ten mottager en signal fran ett operatorsreglage hos motorfordonet. Operatorsreglaget hos motorfordonet utgors foretradesvis av ett reglage som kan manOvreras manuellt av operateren nar operataren är lokaliserad inuti motorfordonets fOrarhytt. Med operator kan avses en forare av motorfordonet. Exempel pa operatorsreglage dr ratt, gaspedal, bromspedal, vaxelspak, signaleringsor- gan etc. Enligt on utforingsform utgors ett operatorsreglage av ett reglage som vid aktivering indikerar att operatoren onskar framfOra fordonet manuellt. I de fall da styrenheten mottager signaler fran ett operatersreglage tillats into auto-nom drift eller extern styrning av motorfordonet utan signalen fran dot externa styrsystemet stoppas hos styrenheten. Genom att forhindra overforing av sig- naler fran dot externa styrsystemet till manovreringssystemen nar styrenheten mottager en signal fran ett operatorsreglage, fOrhindras autonom drift och/eller extern styrning av motorfordonet sä fort indikation ges att en person bef inner sig inuti motorfordonet och vill framfOra motorfordonet manuellt. Nar den auto- noma driften och/eller externa styrningen ej tillats erhalles manuellt drift av mo- torfordonet, genom att styrenheten styr manOvreringssystemen i enlighet med den fran operatorsreglaget mottagna signalen. Pa sa salt sdkerstalls att ma- 17 nuell drift av motorfordonet alltid prioriteras framfOr autonom drift och/eller extern styrning av motorfordonet. According to an embodiment of the present invention, a system is provided, which is arranged in the in-vehicle control system to determine whether the control unit receives a signal from an operator control of the motor vehicle. The operator control of the motor vehicle preferably consists of a control that can be manually operated by the operator when the operator is located inside the motor vehicle's cab. By operator can be meant a driver of the motor vehicle. Examples of operator controls include steering wheel, accelerator pedal, brake pedal, gear lever, signaling means, etc. According to one embodiment, an operator control consists of a control which upon activation indicates that the operator wishes to drive the vehicle manually. In cases where the control unit receives signals from an operator control is allowed into automatic operation or external control of the motor vehicle without the signal from the external control system being stopped at the control unit. By preventing the transmission of signals from the external control system to the control systems when the control unit receives a signal from an operator control, autonomous operation and / or external control of the motor vehicle is prevented as soon as an indication is given that a person is inside the motor vehicle and wants to drive the motor manually. . When the autonomous operation and / or external control is not allowed, manual operation of the motor vehicle is obtained by the control unit controlling the control systems in accordance with the signal received from the operator control. In such a salt marsh that manual operation of the motor vehicle is always prioritized over autonomous operation and / or external control of the motor vehicle.

Styrenheten styr saledes manOvreringssystemen exempelvis pa basis av sig- naler fran anti ngen operatOrsreglagen (manuell drift), eller fran det externa styrsystemet (autonom drift eller extern styrning). The control unit thus controls the control systems, for example on the basis of signals from the operator controls (manual operation), or from the external control system (autonomous operation or external control).

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett forfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande stegen att: -generera en signal innefattande atminstone en styrparameter fer autonom drift och/eller extern styrning av namnda motorfordon medelst ett externt styrsystem; - via ett datagranssnitt Overfora signalen fran det externa styrsystemet till ett fordonsinternt styrsystem, innefattande en styrenhet samt manovreringssystem, varvid datagranssnittet är anordnat i kommunikativ forbindelse med det externa styrsystemet och det fordonsinterna styrsystemet; - avgera huruvida ett fOrutbestamt tillstand hos namnda motorfordon rader, varvid det forutbestamda tillstandet hos namnda motorfordon innefattar att mo- torfordonet star stilla; och - tillata initiering av autonom drift av namnda motorfordon da namnda forutbestamda tillstand hos namnda motorfordon rader. According to one aspect of the present invention, there is provided a method for enabling autonomous operation and / or external control of a motor vehicle comprising the steps of: - generating a signal comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle by means of an external control system; via a data interface Transfer the signal from the external control system to an internal control system, comprising a control unit and a maneuvering system, the data interface being arranged in communicative connection with the external control system and the internal vehicle control system; - determining whether a predetermined state of said motor vehicle rows, the predetermined state of said motor vehicle comprising the motor vehicle standing still; and - allowing initiation of autonomous operation of said motor vehicle da said predetermined state of said motor vehicle rows.

Lampligen genererar det externa styrsystemet fortlOpande ett flertal signaler, varvid vane signal kan innefatta en eller ett flertal styrparametrar for autonom drift och/eller extern styrning av motorfordonet. The external control system continuously generates a plurality of signals, whereby the usual signal may comprise one or a plurality of control parameters for autonomous operation and / or external control of the motor vehicle.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett fOrfarande fer mOjliggOrande av extern styrning av ett motorfordon innefattande stegen att: -generera en signal innefattande atminstone en styrparameter fer extern styr- ning av namnda motorfordon medelst ett externt styrsystem; 18 - via ett datagranssnitt Overfora signalen frail det externa styrsystemet till ett fordonsinternt styrsystem, innefattande en styrenhet samt manovreringssystem, varvid datagranssnittet är anordnat i kommunikativ forbindelse med det externa styrsystemet och det fordonsinterna styrsystemet; - avgara huruvida ett fOrutbestamt tillstand hos namnda motorfordon racier, varvid det fOrutbestamda tillstandet has namnda motorfordon innefattar att motorfordonet star stilla; och - tillata initiering av autonom drift av namnda motorfordon da namnda forutbestamda tillstand hos namnda motorfordon rader. According to one aspect of the present invention, there is provided a method of enabling external control of a motor vehicle comprising the steps of: generating a signal comprising at least one control parameter for external control of said motor vehicle by means of an external control system; 18 - via a data interface Transfer the signal from the external control system to an internal control system, comprising a control unit and a maneuvering system, the data interface being arranged in communicative connection with the external control system and the internal vehicle control system; - determining whether a predetermined state of said motor vehicle is racier, the predetermined state having said motor vehicle comprises that the motor vehicle is stationary; and - allowing initiation of autonomous operation of said motor vehicle da said predetermined state of said motor vehicle rows.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift av ett motorfordon innefattande stegen att: -generera en signal innefattande atminstone en styrparameter fOr autonom drift av namnda motorfordon medelst ett externt styrsystem; och att - via ett datagranssnitt Overfora signalen fran det externa styrsystemet till ett fordonsinternt styrsystem, innefattande en styrenhet samt manOvreringssystem, varvid datagranssnittet är anordnat i kommunikativ forbindelse med det externa styrsystemet och det fordonsinterna styrsystemet; - avgara huruvida ett fOrutbestamt tillstand hos namnda motorfordon rader, varvid det forutbestamda tillstandet has namnda motorfordon innefattar att mo- torfordonet star stilla; och - tillata initiering av autonom drift av namnda motorfordon da namnda forutbestamda tillstand has namnda motorfordon rader. According to one aspect of the present invention, there is provided a method of enabling autonomous operation of a motor vehicle comprising the steps of: - generating a signal comprising at least one control parameter for autonomous operation of said motor vehicle by means of an external control system; and - via a data interface transferring the signal from the external control system to an in-house control system, comprising a control unit and operating system, the data interface being arranged in communicative connection with the external control system and the internal vehicle control system; - determining whether a predetermined state of said motor vehicle rows, wherein the predetermined state of said motor vehicle comprises that the motor vehicle is stationary; and - allowing the initiation of autonomous operation of said motor vehicle when said predetermined condition has said motor vehicle rows.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande steget att kontrollera atminstone en fordonsfunktion has namnda motorfordon. According to one aspect of the present invention, there is provided a method for enabling autonomous operation and / or external control of a motor vehicle comprising the step of checking at least one vehicle function having said motor vehicle.

Enligt en aspekt av fOreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon 19 innefattande steget att tillata initiering av autonom drift och/eller extern styrning av namnda motorfordon da namnda fordonsfunktion uppvisar fullgod funktion. According to an aspect of the present invention, there is provided a method for enabling autonomous operation and / or external control of a motor vehicle 19 comprising the step of allowing initiation of autonomous operation and / or external control of said motor vehicle when said vehicle function exhibits satisfactory function.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande steget att ferhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon dã namnda fordonsfunktion ej uppvisar full-god funktion. According to one aspect of the present invention, there is provided a method of enabling autonomous operation and / or external control of a motor vehicle comprising the step of preventing initiation of autonomous operation and / or external control of said motor vehicle when said vehicle function does not perform fully function.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande steget att fOrhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon dã namnda fOrutbestamda tillstand hos namnda motorfordon ej rader. According to one aspect of the present invention, there is provided a method of enabling autonomous operation and / or external control of a motor vehicle comprising the step of preventing initiation of autonomous operation and / or external control of said motor vehicle when said predetermined condition of said motor vehicle is not rows.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande steget att validera namnda signal fran namnda externa styrsystem. According to one aspect of the present invention, there is provided a method of enabling autonomous operation and / or external control of a motor vehicle comprising the step of validating said signal from said external control system.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande stegen att faststalla framferingskaraktaristika och/eller en omgivningskonfiguration, och anpassa namnda validering pa basis av namnda fast- stallda framforingskaraktaristika och/eller namnda faststallda omgivningskonfi- gu ration. According to one aspect of the present invention, there is provided a method of enabling autonomous operation and / or external control of a motor vehicle comprising the steps of determining performance characteristics and / or an ambient configuration, and adapting said validation based on said established driving characteristics and / or environmental configuration.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande steget att avbryta autonom drift och/eller extern styrning av namnda motorfordon, cid namnda signal fran namnda externa styrsystem vid valideringen ej uppfyller ett pa fOrhand bestamt kriterium Enligt en aspekt av foreliggande uppfinning tillhandahalles ett forfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande steget att ater tillata autonom drift och/eller extern styrning av ett motorfordon efter avbruten autonom drift och/eller extern styrning pa basis av en mottagen signal fran namnda externa styrsystem. Namnda signal fran det externa styrsystemet innefattar lampligen en begaran om att ater fâ framfora motorfordonet autonomt och/eller externt. According to one aspect of the present invention, there is provided a method for enabling autonomous operation and / or external control of a motor vehicle comprising the step of interrupting autonomous operation and / or external control of said motor vehicle, if said signal from said external control system upon validation does not satisfy a condition. Predefined criterion According to one aspect of the present invention, there is provided a method for enabling autonomous operation and / or external steering of a motor vehicle comprising the step of re-allowing autonomous operation and / or external steering of a motor vehicle after interrupted autonomous operation and / or external steering on basis of a received signal from said external control system. Said signal from the external control system apparently includes a request to drive the motor vehicle again autonomously and / or externally.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande steget att validera namnda signal fran namnda externa styrsystem innefattande en begaran om att Ater fa framfora motorfordonet autonomt och/eller externt, varvid namnda signal inbegriper operatorsgenererad informa- tion. According to one aspect of the present invention there is provided a method of enabling autonomous operation and / or external control of a motor vehicle comprising the step of validating said signal from said external control system comprising a request to re-drive the motor vehicle autonomously and / or externally, said signal includes operator-generated information.

Enligt en aspekt av foreliggande uppfinning tillhandahalles ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande steget att avgOra om en fordonsoperatOr är behOrig pa basis av namnda operatorsgenererade information. According to one aspect of the present invention, there is provided a method for enabling autonomous operation and / or external control of a motor vehicle, comprising the step of determining whether a vehicle operator is competent on the basis of said operator-generated information.

Enligt en aspekt av foreliggande uppfinning tillhandahalls ett system och fOrfarande fer mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon. Enligt en aspekt av foreliggande uppfinning tillhandahalls ett system och forfarande for mOjliggOrande av extern styrning av ett motorfordon. Enligt en aspekt av foreliggande uppfinning tillhandahalls ett system och fOrfarande fOr mojliggorande av autonom drift av ett motorfordon. According to one aspect of the present invention, there is provided a system and method for enabling autonomous operation and / or external control of a motor vehicle. According to one aspect of the present invention, there is provided a system and method for enabling external control of a motor vehicle. According to one aspect of the present invention, there is provided a system and method for enabling autonomous operation of a motor vehicle.

Ovanstaende syften uppnas ocksa med ett motorfordon innefattande ett sy- stem fOr mOjliggOrande av autonom drift och/eller extern styrning. Motorfordo- net kan vara en lastbil, buss eller personbil. Namnda motorfordon kan vara nagot av en lastbil, buss, skogsmaskin, gruvmaskin, hjullastare eller personbil. 21 Namnda fordon kan vara ett hybridfordon eller ett elfordon med en elektrisk motor. The above objects are also achieved with a motor vehicle comprising a system for enabling autonomous operation and / or external control. The motor vehicle can be a truck, bus or car. Said motor vehicle can be anything from a truck, bus, forestry machine, mining machine, wheel loader or car. Said vehicle may be a hybrid vehicle or an electric vehicle with an electric motor.

Enligt en aspekt av uppfinningen tillhandahalls ett datorprogram, dar namnda datorprogram innefattar programkod fOr att utfOra fOrfarandestegen enligt na- got av patentkraven 12-22, nar namnda datorprogram kOrs pa en dator. According to one aspect of the invention, there is provided a computer program, wherein said computer program comprises program code for performing the procedure steps according to any one of claims 12-22, when said computer program is run on a computer.

Enligt en aspekt av uppfinningen tillhandahalls en datorprogramprodukt innefattande en programkod for att utfOra fOrfarandestegen enligt nagot av patent- kraven 12-22, nar namnda programkod ' Enligt en aspekt av uppfinningen tillhandahalls ett datorprogram, dar namnda datorprogram innefattar programkod fOr att utfOra nagot av de hari namnda fOrfarandestegen, nar namnda datorprogram kors pa en elektronisk styrenhet. According to one aspect of the invention, there is provided a computer program product comprising a program code for performing the process steps of any of claims 12-22, when said program code ' According to one aspect of the invention, there is provided a computer program, wherein said computer program comprises program code for performing any of the above-mentioned procedure steps, when said computer program is crossed on an electronic control unit.

Enligt en aspekt av foreliggande uppfinning tillhandahalls en datorprogramprodukt innefattande en programkod lagrad pa ett, av en dator lasbart, medium for att utfOra nagot av de hari namnda fOrfarandestegen, nar namnda programkod kors pa en elektronisk styrenhet. According to one aspect of the present invention, there is provided a computer program product comprising a program code stored on a computer readable medium for performing any of the above-mentioned method steps when said program code is crossed on an electronic control unit.

Enligt en aspekt av foreliggande uppfinning tillhandahalls en datorprogramprodukt innefattande en programkod lagrad pa ett, av en dator lasbart, medium for att utfOra nagot av de hall namnda fOrfarandestegen, nar namnda programkod kors pa en dator. According to one aspect of the present invention, there is provided a computer program product comprising a program code stored on a computer readable medium for performing any of the procedures mentioned above, when said program code is crossed on a computer.

Enligt en aspekt av foreliggande uppfinning tillhandahalls en datorprogramprodukt direkt lagrad pa ett internt minne hos en dator, innefattande ett datorprogram innefattande programkod anordnat att utfOra nagot av de hari namnda fOrfarandestegen, da namnda datorprogram kors pa en elektronisk styrenhet. 15 20 25 Ytterligare syften, fordelar och nya sardrag hos den foreliggande uppfinningen kommer att framga for fackmannen av fOljande detaljer, liksom via utovning av 22 uppfinningen. Medan uppfinningen ãr beskriven nedan, bor det framga att uppfinningen into är begransad till de specifika beskrivna detaljerna. Fackman som har tillgang till larorna had kommer att kanna igen ytterligare applikationer, modifieringar och inforlivanden inom andra omraden, vilka är inom omfanget fOr uppfinningen. According to one aspect of the present invention, there is provided a computer program product directly stored on an internal memory of a computer, comprising a computer program comprising program code arranged to perform some of the above-mentioned method steps, said computer program being crossed on an electronic control unit. Additional objects, advantages and novel features of the present invention will become apparent to those skilled in the art from the following details, as well as through the practice of the invention. While the invention is described below, it should be apparent that the invention is limited to the specific details described. Those skilled in the art having access to the teachings will recognize additional applications, modifications, and incorporations within other fields which are within the scope of the invention.

KORT BESKRIVNING AV RITNINGARNA I det foljande beskrivs, sasom ett exempel, fOredragna utforingsformer av upp- finningen med hanvisning till bifogade ritningar, pa. vilka: Fig. 1visar en schematisk sidovy av ett fordon, Fig. 2visar schematiskt ett system for mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon enligt en utfOringsform av foreliggande uppf inning, Fig. 3a Fig. 3b Fig. 3c visar ett flOdesschema for ett forfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon enligt en utfOringsform av foreliggande uppf inning. visar ett flOdesschema fOr ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon enligt en utforingsform av foreliggande uppf inning. visar ett flOdesschema for ett forfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon enligt en utfOringsform av foreliggande uppf inning. BRIEF DESCRIPTION OF THE DRAWINGS In the following, as an example, preferred embodiments of the invention are described with reference to the accompanying drawings, pa. which: Fig. 1 shows a schematic side view of a vehicle, Fig. 2 schematically shows a system for enabling autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention, Fig. 3a Fig. 3b Fig. 3c shows a FLOW SCHEDULE FOR A PROCEDURE FOR ENABLE OPERATING AND / OR EXTERNAL CONTROL OF A MOTOR VEHICLE ACCORDING TO AN EMBODIMENT OF THE PRESENT INVENTION. shows a flow chart for a method for enabling autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention. shows a flow chart of a method for enabling autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention.

Fig. 4visar schematiskt en dator, enligt en utfOringsform av uppfinning- en. 23 DETALJERAD BESKRIVNING AV UPPFINNINGEN Fig. 1 visar en sidovy av ett motorfordon 100 innefattande en dragbil 110 och en slapvagn 112. Motorfordonet 100 innefattar vidare ett system 200 fOr mOj- liggerande av autonom drift och/eller extern styrning av motorfordonet enligt en utfOringsform av fOreliggande uppfinning. Motorfordonet kan vara ett tungt for-don, sasom en lastbil, buss, hjullastare, skogsmaskin, dumper, gruvmaskin, bandvagn eller stridsvagn. Motorfordonet kan alternativt vara en personbil. Mo- torfordonet 100 kan enligt ett utfOrande vara ett hybridfordon. Motorfordonet 100 kan enligt ett utfOrande vara ett elf ordon med en elektrisk motor. Uppfinningen är med fOrdel applicerbar pa fordon i samband med gruvdrift. Fig. 4 schematically shows a computer, according to an embodiment of the invention. DETAILED DESCRIPTION OF THE INVENTION Fig. 1 shows a side view of a motor vehicle 100 comprising a tractor 110 and a trailer 112. The motor vehicle 100 further comprises a system 200 for enabling autonomous operation and / or external control of the motor vehicle according to an embodiment of the present invention. invention. The motor vehicle can be a heavy vehicle, such as a truck, bus, wheel loader, forestry machine, dump truck, mining machine, tracked vehicle or tank. The motor vehicle can alternatively be a car. According to one embodiment, the motor vehicle 100 may be a hybrid vehicle. The motor vehicle 100 may, according to one embodiment, be an eleven vehicle with an electric motor. The invention is advantageously applicable to vehicles in connection with mining operations.

Fig. 2 visar schematiskt ett system 200 fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon 100 enligt en utfOringsform av fore- liggande uppf inning. Systemet 200 innefattar ett externt styrsystem 205, ett datagranssnitt 210 och ett fordonsinternt styrsystem 270. Det externa styrsystemet 205 kan vara tillverkat av en tredjepartsleveranter och innefattar ett styrsystem for autonom drift och/eller extern styrning av ett motorfordon. Fig. 2 schematically shows a system 200 for enabling autonomous operation and / or external control of a motor vehicle 100 according to an embodiment of the present invention. The system 200 includes an external control system 205, a data interface 210 and an in-house control system 270. The external control system 205 may be manufactured by a third party supplier and includes a control system for autonomous operation and / or external control of a motor vehicle.

Det externa styrsystemet 205 innefattar enligt en utfOringsform sensororgan sasom kameror, radarorgan eller liknande (ej visade). Namnda sensororgan kan vara placerade hos motorfordonet 100 och/eller externt namnda motorfordon 100. Det externa systemet 205 innefattar enligt en utfOringsform dtminsto- ne en styrenhet (ej visad). Namnda styrenhet bearbetar signalerna fran re- spektive sensororgan. Namnda styrenhet kan vidare vara anordnad i kommunikativ forbindelse med externa enheter sasom en elektronisk kartdatabas eller andra liknande system som kan bidra med information som kan paverka den autonoma drif ten och/eller den externa styrningen av namnda fordon. Det ex- terna styrsystemet 205 är anordnat att fortlOpande generera en signal Si inne- fattande dtminstone en styrparameter for autonom och/eller extern styrning av namnda motorfordon 100. Det externa styrsystemet 205 är anordnat att fort& 24 pande generera en signal Si, innefattande atminstone en styrparameter/begaran pa lag niva, sa som en hastighetsbegaran, bromsbegaran, styrvinkelbegdran eller liknande. According to one embodiment, the external control system 205 comprises sensor means such as cameras, radar means or the like (not shown). Said sensor means may be located at the motor vehicle 100 and / or externally named motor vehicle 100. According to an embodiment, the external system 205 comprises at least one control unit (not shown). Said control unit processes the signals from the respective sensor means. Said control unit may further be arranged in communicative connection with external units such as an electronic map database or other similar systems which may contribute information which may affect the autonomous operation and / or the external control of said vehicle. The external control system 205 is arranged to continuously generate a signal Si comprising at least one control parameter for autonomous and / or external control of said motor vehicle 100. The external control system 205 is arranged to continuously generate a signal Si, comprising at least one control parameter / request at low level, such as a speed request, brake request, control angle request or the like.

Det externa styrsystemet 205 och det fordonsinterna styrsystemet 270 kan kommunicera med varandra genom att datagrdnssnittet 210 är anordnat i kommunikativ forbindelse med det externa styrsystemet 205 och det fordonsinterna styrsystemet 270. Det externa styrsystemet 205 och datagranssnittet 210 är anordnade fOr kommunikation via en lank L205 och datagranssnittet 2 och det fordonsinterna styrsystemet 270 är anordnade for kommunikation via en lank L210. Det fordonsinterna styrsystemet 270 innefattar en styrenhet 220 samt manOvreringssystem 230, 240, 250. Styrenheten 220 är anordnad i kommunikativ forbindelse med manOvreringssystemen 230, 240, 250 genom en lank L220 och med datagrdnssnittet genom &ken L210. ManOvreringssy- stemen 230, 240, 250 utgOrs lampligen av system, som genom det fordonsin- terna styrsystemets 270 styrenhet 220 paverkar bland annat motorfordonets 100 hastighet och riktning. ManOvreringssystemen 230, 240, 250 är i detta exempelutferande vdxlingsstyrningssystem 230, bromsstyrningssystem 240 och ett motorstyrningssystem 250. Vdxlingsstyrningssystemet 230 kan exempelvis inbegripa en styrenhet fOr en automatiserad transmission. Bromsstyrningssy- stemet 240 kan exempelvis inbegripa en styrenhet for elektriskt oiler hydrauliskt styrda hjulbromsar. Motorstyrningssystemet 250 kan exempelvis inbegripa motorstyrningsorgan sasom en styrenhet fOr bransletillfOrsel. Det externa styrsystemet 205 är anordnat att fortlOpande skicka signalen Si via Ian ken L20 till datagranssnittet 210. Granssnittet 210 ãr vidare anordnat att skicka vidare signalen Si till styrenheten 220 via lanken L210. The external control system 205 and the in-vehicle control system 270 can communicate with each other by the data interface 210 being arranged in communicative connection with the external control system 205 and the in-vehicle control system 270. The external control system 205 and the data interface 210 are arranged for communication via a long L205 and the data interface. 2 and the in-vehicle control system 270 are arranged for communication via a long L210. The in-vehicle control system 270 comprises a control unit 220 and control systems 230, 240, 250. The control unit 220 is arranged in communicative connection with the control systems 230, 240, 250 through a long L220 and with the data interface through the L210. The maneuvering systems 230, 240, 250 are suitably constituted by systems which, through the control unit 220 of the vehicle control system 270, influence, among other things, the speed and direction of the motor vehicle 100. The operating systems 230, 240, 250 are in this exemplary shift control system 230, brake control system 240 and an engine control system 250. The shift control system 230 may include, for example, a control unit for an automated transmission. The brake control system 240 may, for example, include a control unit for electrically or hydraulically controlled wheel brakes. The engine control system 250 may, for example, include engine control means such as a fuel supply control unit. The external control system 205 is arranged to continuously send the signal Si via the line L20 to the data interface 210. The interface 210 is further arranged to forward the signal Si to the control unit 220 via the line L210.

Styrenheten 220 dr anordnad att bearbeta/omvandla/processa signalen Si frail det externa styrsystemet 205 sa att den bearbetade signalen Sib uppvi- sar ett format som manavreringssystemen 230, 240, 250 hos det fordonsinter- na styrsystemet 270 forvdntar sig och kan tolka. Den bearbetade signalen Sib innefattar saledes samma begaran/styrparameter som signalen Si fran det externa styrsystemet 205 men uppvisar ett annat format. Den bearbetade signalen Sib skickas via lank L220 till namnda manOvreringssystem 230, 240, 250. The control unit 220 is arranged to process / convert / process the signal Si from the external control system 205 so that the processed signal Sib has a format which the operating systems 230, 240, 250 of the in-vehicle control system 270 distort and can interpret. The processed signal Sib thus comprises the same request / control parameter as the signal Si from the external control system 205 but has a different format. The processed signal Sib is sent via line L220 to said operating systems 230, 240, 250.

Namnda styrenhet 220 är anordnad att vid behov modifiera namnda signal Si fran det externa styrsystemet 205, sa att motorfordonet 100 into i onOdan fOrsetts i situationer som kan vara skadliga fOr motorfordonet 100. Modifiering av signalen Si fran det externa styrsystemet 205 medfor saledes att den modifierade signalen S1m innefattar en begaran/styrparameter som skiljer sig frail den ursprungliga begaran/styrparametern hos signalen Si fran det externa styrsystemet 205. Namnda modifierade signal S1m skickas via lank L220 till namnda manovreringssystem 230, 240, 250. Said control unit 220 is arranged to modify said signal Si from the external control system 205 if necessary, so that the motor vehicle 100 is provided in the onodan in situations which may be harmful to the motor vehicle 100. Modification of the signal Si from the external control system 205 thus means that the modified the signal S1m comprises a request / control parameter which differs from the original request / control parameter of the signal Si from the external control system 205. The modified signal S1m is sent via line L220 to the said operating system 230, 240, 250.

Styrenheten 220 ãr anordnad att kommunicera med ett kraftaggregat 280 och ett operatorsreglage 290 hos motorfordonet 100. Namnda kraftaggregat 280 styr funktioner hos motorfordonet 100, sasom tippning av flak, hissning av gripklo, styrning av kran etc. OperatOrsreglaget 290 utgOr ett reglage, som kan manevreras manuellt av operatOren nar operateren är lokaliserad inuti motorfordonet. Exempel pa operatOrsreglage 290 är ratt, gaspedal, bromspedal, vaxelspak/paddel, signaleringsorgan etc. Styrenheten 220 är anordnad i kom- munikativ fOrbindelse med kraftaggregatet 280 via en lank L280. Styrenheten 220 ãr anordnad att via namnda lank L280 skicka den bearbetade signalen Sib till namnda kraftaggregat 280, fOr styrning av namnda kraftaggregat 280. Namnda styrenhet 220 dr vidare anordnat att skicka namnda modifierade sig- nal S1m via namnda lank L280 till namnda kraftaggregat 280. Styrenheten 2 dr vidare anordnad i kommunikativ fOrbindelse med operatorsreglagen 290 via en lank L290. OperatOrsreglaget är anordnat att vid anvandning skicka en signal S4 till styrenheten 220 via lanken L290. Signalen S4 innefattar styrparametrar, som motsvarar operatorens onskemal gallande driften av motorfordo- net 100. 26 Styrenheten 220 är vidare anordnad att avgara huruvida ett fOrutbestamt till-stand raider hos namnda motorfordon 100 fOr att tillata initiering av autonom drift och/eller extern styrning. Det forutbestamda tillstandet hos namnda motorfordon 100 innefattar lampligen att motorfordonet 100 star stilla. Det fOrutbe- stamda tillstandet has namnda motorfordon 100 kan aven innefatta att motor- fordonets parkeringsbroms är ilagd och/eller att motorfordonets motor är avstangd och/eller att motorfordonets vaxellada är i neutralt tillstand. The control unit 220 is arranged to communicate with a power unit 280 and an operator control 290 of the motor vehicle 100. The said power unit 280 controls functions of the motor vehicle 100, such as tilting the platform, hoisting the grab claw, controlling the crane, etc. The operator control 290 is a controllable maneuver. manually by the operator when the operator is located inside the motor vehicle. Examples of operator controls 290 are steering wheel, accelerator pedal, brake pedal, gear lever / paddle, signaling means, etc. The control unit 220 is arranged in communicative connection with the power unit 280 via a long L280. The control unit 220 is arranged to send the processed signal Sib to the said power supply 280 via said line L280, for controlling the said power unit 280. The said control unit 220 is further arranged to send the said modified signal S1m via the said line L280 to the said power supply 280. 2 dr further arranged in communicative connection with the operator controls 290 via a long L290. The operator control is arranged to send a signal S4 to the control unit 220 via the line L290 during use. The signal S4 comprises control parameters which correspond to the operator's desired schedule of operation of the motor vehicle 100. The control unit 220 is further arranged to determine whether a predetermined state raids of said motor vehicle 100 to allow initiation of autonomous operation and / or external control. The predetermined condition of said motor vehicle 100 suitably includes that the motor vehicle 100 is stationary. The predetermined condition having said motor vehicle 100 may also include that the motor vehicle's parking brake is applied and / or that the motor vehicle's engine is switched off and / or that the motor vehicle's gearbox is in neutral condition.

Styrenheten 220 är vidare anordnad att forhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon 100 dâ namnda forutbestam- da distend hos namnda motorfordon ej rader. The control unit 220 is further arranged to prevent initiation of autonomous operation and / or external control of said motor vehicle 100 when said predetermined distend of said motor vehicle is not rows.

Styrenheten 220 är vidare anordnad att kontrollera dtminstone en fordonsfunktion hos namnda motorfordon 100. The control unit 220 is further arranged to check at least one vehicle function of said motor vehicle 100.

Det fordonsinterna styrsystemet 270 är anordnat att avgOra huruvida en fordonsfunktion fungerar hos namnda motorfordon 100 fOr att tillata initiering av autonom drift och/eller extern styrning av motorfordonet 100. Den pd fOrhand bestamda fordonsfunktionen avser enligt en utforingsform krav pd att fordonets olika manovreringssystem 230, 240, 250 fungerar pa avsett salt, sasom t ex fordonets bromssystem oiler alternativt att fordonet 100 har tillrackligt med smorjolja for att framforas autonomt och/eller externt. The in-vehicle control system 270 is arranged to determine whether a vehicle function operates in said motor vehicle 100 to allow initiation of autonomous operation and / or external control of the motor vehicle 100. The predetermined vehicle function according to one embodiment refers to requirements that the vehicle's various maneuvering systems 230, , 250 operates on the intended salt, such as, for example, the vehicle's braking system or alternatively the vehicle 100 has sufficient lubricating oil to be driven autonomously and / or externally.

Styrenheten 220 är vidare anordnad att tillata initiering av autonom drift och/eller extern styrning av namnda motorfordon 100 dã namnda fordonsfunk- tion uppvisar fullgod funktion. The control unit 220 is further arranged to allow initiation of autonomous operation and / or external control of said motor vehicle 100 when said vehicle function exhibits satisfactory function.

Styrenheten 220 är vidare anordnad att forhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon dâ namnda fordonsfunktion ej uppvisar fullgod funktion. 27 Styrenheten 220 as vidare anordnad att validera namnda signal Si fran namnda externa styrsystem 205. The control unit 220 is further arranged to prevent initiation of autonomous operation and / or external control of said motor vehicle when said vehicle function does not show satisfactory function. The control unit 220 is further arranged to validate said signal Si from said external control system 205.

Styrenheten 220 är vidare anordnad att faststalla framforingskaraktaristika och/eller en omgivningskonfiguration; och anpassa namnda validering pa basis av namnda faststallda framforingskaraktaristika och/eller namnda faststallda omgivningskonfiguration. The control unit 220 is further arranged to determine feed characteristics and / or an ambient configuration; and adapting said validation based on said established performance characteristics and / or said established environmental configuration.

Styrenheten 220 ãr vidare anordnad att avbryta autonom drift och/eller extern styrning av namnda motorfordon, da namnda signal Si fran namnda externa styrsystem 205 vid valideringen ej uppfyller ett pa fOrhand bestamt kriterium. The control unit 220 is further arranged to interrupt autonomous operation and / or external control of said motor vehicle, as said signal Si from said external control system 205 during the validation does not meet a predetermined criterion.

Namnda styrenhet 220 ãr enligt en utforingsform anpassad att generera en signal S3 vid avbruten autonom drift eller extern styrning av namnda motorfor- don 100. Namnda signal S3 kan innefatta information om att namnda autonoma drift eller externa styrning av namnda motorfordon 100 är avbruten samt information om anledningen till avbrytandet av den autonoma driften eller externa styrningen. Namnda styrenhet as anpassad att skicka namnda signal S3 till namnda externa styrsystem 205 via namnda datagranssnitt 210 via lank L210 samt lank L205. Said control unit 220 is according to an embodiment adapted to generate a signal S3 in the event of interrupted autonomous operation or external control of said motor vehicle 100. Said signal S3 may include information that said autonomous operation or external control of said motor vehicle 100 is interrupted and information on the reason for the interruption of autonomous operation or external control. Said control unit is adapted to send said signal S3 to said external control system 205 via said data interface 210 via line L210 and line L205.

Styrenheten 220 är vidare anordnad att ater tillata autonom drift och/eller extern styrning av ett motorfordon 100 efter avbruten autonom drift eller extern styrning pa basis av en mottagen signal S5 fran namnda externa styrsystem 205. Namnda signal S5 innefattar lampligen en begaran om att ater fa framfora motorfordonet 100 autonomt och/eller externt. The control unit 220 is further arranged to allow again autonomous operation and / or external control of a motor vehicle 100 after interrupted autonomous operation or external control on the basis of a signal S5 received from said external control system 205. Said signal S5 suitably comprises a request to regain drive the motor vehicle 100 autonomously and / or externally.

Styrenheten 220 är vidare anordnad att validera namnda signal S5 fran namn- da externa styrsystem 205, varvid namnda signal S5 inbegriper operatOrsge- nererad information. 28 Styrenheten 220 as vidare anordnad att avgora om en fordonsoperator är beharig pa basis av namnda operatOrsgenererade information. The control unit 220 is further arranged to validate said signal S5 from said external control system 205, said signal S5 including operator-generated information. The control unit 220 is further arranged to determine whether a vehicle operator is competent on the basis of said operator-generated information.

Figur 3a visar ett flOdesschema fOr ett fOrfarande for mojliggerande av auto- nom drift och/eller extern styrning av ett motorfordon 100 enligt en utforings- form av fOreliggande uppf inning. FOrfarandet innefattar steget s301 att via ett datagranssnitt 210 Overfora en signal Si fran ett externt styrsystem 205 till ett fordonsintern styrsystem 270, innefattande en styrenhet 220 samt manOvreringssystem 230, 240, 250. Datagranssnittet 210 ãr anordnat i kommunikativ fOrbindelse med det externa styrsystemet 205 och det fordonsinterna styrsy- stemet 270. OverfOringen mellan det externa styrsystemet 205 och datagranssnittet 210 utfOrs lampligen via en lank L205. Overforingen mellan datagranssnittet 210 och det externa styrsystemet utfOrs lampligen via en lank L210. Steget s301 innefattar aven att avgora huruvida ett forutbestamt tillstand hos namnda motorfordon racier, varvid det forutbestamda tillstandet hos namnda motorfordon innefattar att motorfordonet star stilla, och att tillata initiering av autonom drift och/eller extern styrning av namnda motorfordon da namnda forutbestamda tillstand hos namnda motorfordon racier. Efter fOrfarandesteget s301 avslutas forfarandet. Figure 3a shows a flow chart for a method for enabling automatic operation and / or external control of a motor vehicle 100 according to an embodiment of the present invention. The method comprises the step s301 of transmitting via a data interface 210 a signal Si from an external control system 205 to a pre-internal control system 270, comprising a control unit 220 and operating systems 230, 240, 250. The data interface 210 is arranged in communicative connection with the external control system 205 and the the in-vehicle control system 270. The transmission between the external control system 205 and the data interface 210 is suitably performed via a long L205. The transfer between the data interface 210 and the external control system is suitably performed via a long L210. The step s301 also comprises determining whether a predetermined state of said motor vehicle is racier, the predetermined state of said motor vehicle comprising the motor vehicle standing still, and allowing initiation of autonomous operation and / or external control of said motor vehicle da said predetermined state of said motor vehicle racier. After the procedure step s301, the procedure is terminated.

Figur 3b visar ett flodesschema for ett forfarande for mojliggOrande av auto-nom drift och/eller extern styrning av ett motorfordon 100 enligt en utforingsform av fOreliggande uppf inning. FOrfarandet innefattar steget s310 att medelst ett externt styrsystem 205 generera atminstone en signal Si innefattande at- minstone en styrparameter for autonom drift och/eller extern styrning av namnda motorfordon 100. Efter forfarandesteget s310 utfOrs ett forfarandesteg s320. Figure 3b shows a flow chart of a method for enabling automatic operation and / or external control of a motor vehicle 100 according to an embodiment of the present invention. The method comprises the step s310 of generating by means of an external control system 205 at least one signal Si comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle 100. After the method step s310, a method step s320 is performed.

F6rfarandesteg s320 innefattar att via ett datagranssnitt 210 Overfora signalen Si fran det externa styrsystemet 205 till ett fordonsinternt styrsystem 270, in- nefattande en styrenhet 220 samt manOvreringssystem 230, 240, 250, varvid datagranssnittet 210 är anordnat i kommunikativ fOrbindelse med det externa 29 styrsystemet 205 och det fordonsinterna styrsystemet 270. Overforingen melIan det externa styrsystemet 205 och datagranssnittet 210 utfors lampligen via en lank L205. Overforingen mellan datagranssnittet 210 och det fordonsinterna styrsystemet utfOrs lampligen via en lank L210. Efter forfarandesteget s3 utfOrs ett fOrfarandesteg s330. Method step s320 comprises transferring via a data interface 210 the signal Si from the external control system 205 to a pre-internal control system 270, including a control unit 220 and operating systems 230, 240, 250, the data interface 210 being arranged in communicative connection with the external 29 control system 20. and the in-vehicle control system 270. The transfer between the external control system 205 and the data interface 210 is suitably performed via a long L205. The transfer between the data interface 210 and the in-vehicle control system is suitably performed via a long L210. After the procedure step s3, one procedure step s330 is performed.

Forfarandesteget s330 innefattar att avgOra huruvida ett forutbestamt tillstand hos namnda motorfordon 100 rader, varvid namnda forutbestamda tillstand innefattar att motorfordonet 100 star stilla. Namnda fOrutbestamda tillstand in- nefattar enligt en utfOringsform att parkeringsbromsen är ilagd. Namnda forut- bestamda tillstand innefattarenligt en utfOringsform att motorfordonets 100 motor är avstangd och/eller att motorfordonets 100 vaxellada är i neutralt till-stand. . Namnda forutbestamda tillstand kan innefatta en eller flera av ovan namnda tillstand. FOrfarandesteget s330 utfors lampligen av styrenheten 2 som via lankar kommunicerar med namnda manovreringssystem230, 240, 2 och/eller andra fordonsinterna styrenheter. Da namnda fOrutbestamda tillstand, innefattande atminstone ett tillstand, raider utfors fOrfarandesteg s340. Da' namnda farutbestamda tillstand innefattande atminstone ett tillstand into racier utfOrs forfarandesteg s350. The method step s330 comprises determining whether a predetermined state of said motor vehicle 100 rows, said predetermined state comprising that the motor vehicle 100 is stationary. According to one embodiment, the said predetermined condition includes that the parking brake is applied. Said predetermined condition comprises according to an embodiment that the engine of the motor vehicle 100 is switched off and / or that the gearbox of the motor vehicle 100 is in the neutral state. . Said predetermined condition may comprise one or more of the above-mentioned conditions. The process step s330 is suitably performed by the control unit 2 which communicates via lines with the said maneuvering system230, 240, 2 and / or other in-vehicle control units. When said predetermined state, including at least one state, raider is executed in step s340. When said hazard-determined condition comprising at least one condition into racier, procedure step s350 is performed.

Forfarandesteget s330 innefattar enligt en utfOringsform aven att medelst styrenheten 220 kontrollera atminstone en fordonsfunktion hos namnda motorfordon 100. Namnda fordonsfunktion avser enligt en utfOringsform fordonets bromssystem. Namnda fordonsfunktion kan enligt en utfOringsform avse fordo- nets framdrivningssystem, inbegripande motor och transmission. Namnda for- donsfunktion avser enligt en utforingsform fordonets navigeringssystem. Forfarandesteget s330 utfors lampligen av styrenheten 220 som via lankar kommunicerar med motorfordonets 100 manOvreringssystem 230, 240, 250 alternativt framdrivningssystem. Da namnda fordonsfunktion uppvisar fullgod funktion utfOrs fOrfarandesteg s340. Da namnda fordonsfunktion ej uppvisar fullgod funktion utfOrs fOrfarandesteg s350. The method step s330 according to an embodiment also comprises controlling by means of the control unit 220 at least one vehicle function of said motor vehicle 100. According to one embodiment, said vehicle function refers to the brake system of the vehicle. According to one embodiment, said vehicle function can refer to the vehicle's propulsion system, including the engine and transmission. According to one embodiment, the said vehicle function refers to the vehicle's navigation system. The process step s330 is suitably performed by the control unit 220 which communicates via lines with the operating system 230, 240, 250 or propulsion system of the motor vehicle 100. Since the said vehicle function exhibits satisfactory function, the procedure step s340 is performed. Since the said vehicle function does not exhibit satisfactory function, procedure step s350 is performed.

Forfarandesteget s340 utfors endast om det i forfarandesteg s330 avgors att namnda forutbestamda fordonstillstand rader och alternativt att namnda forutbestamda fordonsfunktion uppvisar fullgod funktion. Forfarandesteget s3 innefattar att tillata initiering av autonom drift och/eller extern styrning av mo- torfordonet 100. FOrfarandesteget s340 att tillata initiering av autonom drift och/eller extern styrning av motorfordonet 100 innefattar lampligen att styrenheten 220 bearbetar/behandlar/processar/omvandlar signalen Si fran det externa styrsystemet 205 och overfOr den bearbetade signalen S1b till manOvre- ringssystemen 230, 240, 250. Styrenheten 220 bearbetar lampligen signalen Si fran det externa styrsystemet 205 sa att den bearbetade signalen Sib uppvisar ett format som manOvreringssystemen 230, 240, 250 hos det fordonsinterna styrsystemet 270 forvantar sig och kan tolka. OverfOringen av signalen S1b fran styrenheten 220 och manOvreringssystemen 230, 240, 250 utfors lampligen via en lank L220. Efter forfarandesteget s340 avslutas forfarandet. The process step s340 is performed only if in the process step s330 it is decided that said predetermined vehicle condition lines and alternatively that said predetermined vehicle function exhibits satisfactory function. The process step s3 comprises allowing initiation of autonomous operation and / or external control of the motor vehicle 100. The process step s340 comprising allowing initiation of autonomous operation and / or external control of the motor vehicle 100 suitably comprises that the control unit 220 processes / processes / processes / converts the signal Si from the external control system 205 and transmits the processed signal S1b to the operating systems 230, 240, 250. The control unit 220 readily processes the signal Si from the external control system 205 so that the processed signal Sib has a format similar to the operating systems 230, 240, 250 of the the in-vehicle control system 270 interacts and can interpret. The transmission of the signal S1b from the control unit 220 and the operating systems 230, 240, 250 is suitably performed via a long L220. After procedure step s340, the procedure is terminated.

Alternativt repeteras fOrfarandet fran det fOrsta fOrfarandesteget s310. Alternatively, repeat the procedure from the first procedure step s310.

FOrfarandesteget s350 utfOrs endast am det i ferfarandesteg s330 avgors att namnda forutbestamda fordonstillstand ej rade!' och/eller att namnda fOrutbe- stamda fordonsfunktion ej uppvisar fullgod funktion. Forfarandesteget s3 innefattar att fOrhindra initiering av autonom drift och/eller extern styrning av motorfordonet 100. F6rfarandesteget s350 att f6rhindra initiering av autonom drift och/eller extern styrning av motorfordonet innefattar lampligen att medelst styrenheten 220 stoppa signalen Si fran det externa styrsystemet 205 och medelst styrenheten 220 generera en signal S2 for intern styrning av motorfor- donet 100 samt att overfora signalen for intern styrning S2 fran styrenheten 220 till manovreringssystemen 230, 240, 250. Overforingen av signalen S2 fOr intern styrning utfOrs lampligen via lanken L220. Signalen S2 for intern styrning innefattar lampligen styrparametrar far att styra motorfordonet 100, sa att ma- torfordonet 100 stannar. Efter ferfarandesteget s350 avslutas ferfarandet. Al- ternativt repeteras forfarandet fran det fOrsta forfarandesteget s310. 31 Figur 3c visar ett flodesschema for ett forfarande for majliggarande av auto-nom drift och/eller extern styrning av ett motorfordon 100 enligt en utforingsform av foreliggande uppf inning. Forfarandet innefattar steget s310 att medelst ett externt styrsystem 205 generera atminstone en signal Si innefattande at- minstone en styrparameter far autonom drift och/eller extern styrning av namnda motorfordon 100. Efter farfarandesteget s310 utfOrs ett ferfarandesteg s320. The procedure step s350 is performed only if it is decided in procedure step s330 that the said predetermined vehicle condition does not prevail! ' and / or that said predetermined vehicle function does not exhibit satisfactory function. The process step s3 comprises preventing initiation of autonomous operation and / or external control of the motor vehicle 100. The process step s350 comprises preventing initiation of autonomous operation and / or external control of the motor vehicle suitably comprises stopping the signal Si from the external control system 205 by means of the control unit 220 and 220 generate a signal S2 for internal control of the motor vehicle 100 and to transmit the signal for internal control S2 from the control unit 220 to the maneuvering systems 230, 240, 250. The transmission of the signal S2 for internal control is carried out suitably via the line L220. The signal S2 for internal control suitably comprises control parameters for controlling the motor vehicle 100, so that the motor vehicle 100 stops. After the step step s350, the procedure ends. Alternatively, the procedure is repeated from the first procedure step s310. Figure 3c shows a flow chart of a method for locating automated operation and / or external control of a motor vehicle 100 according to an embodiment of the present invention. The method comprises the step s310 of generating by means of an external control system 205 at least one signal Si comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle 100. After the step step s310 a step step s320 is performed.

Forfarandesteg s320 innefattar att via ett datagranssnitt 210 Overfora signalen Si fran det externa styrsystemet 205 till ett fordonsinternt styrsystem 270, in- nefattande en styrenhet 220 samt manavreringssystem 230, 240, 250, varvid datagranssnittet 210 är anordnat i kommunikativ farbindelse med det externa styrsystemet 205 och det fordonsinterna styrsystemet 270. Overforingen melIan det externa styrsystemet 205 och datagranssnittet 210 utfors lampligen via en lank L205. Overforingen mellan datagranssnittet 210 och det fordonsinterna styrsystemet utfOrs lampligen via en lank L210. Efter forfarandesteget s320 utfOrs ett farfarandesteg s330. Method step s320 comprises transferring via a data interface 210 the signal Si from the external control system 205 to a pre-internal control system 270, including a control unit 220 and operating systems 230, 240, 250, the data interface 210 being arranged in communicative communication with the external control system 205 and the in-vehicle control system 270. The transfer between the external control system 205 and the data interface 210 is suitably performed via a long L205. The transfer between the data interface 210 and the in-vehicle control system is suitably performed via a long L210. After the step step s320, one step step s330 is performed.

Forfarandesteget s330 innefattar att avgara huruvida ett forutbestamt tillstand hos namnda motorfordon 100 rader. Namnda farutbestamda tillstand innefattar att motorfordonet 100 star stilla. Det forutbestamda tillstandet kan aven innefatta att motorfordonets 100 parkeringsbroms är ilagd och/eller att motorfordonets 100 motor är avstangd och/eller att motorfordonets 100 vaxellada är i neutralt tillstand. Namnda forutbestamda tillstand kan innefatta en eller flera av ovan namnda tillstand. FOrfarandesteget s330 utfOrs lampligen av styrenheten 220 som via lankar kommunicerar med namnda forutbestamda manavreringssystem 230, 240, 250 eller framdrivningsorgan. Da namnda farutbestamda tillstand innefattande atminstone ett tillstand rader utfOrs forfarandesteg s340. The process step s330 comprises determining whether a predetermined state of said motor vehicle is 100 rows. Said hazardous condition includes that the motor vehicle 100 is stationary. The predetermined condition may also comprise that the parking brake of the motor vehicle 100 is applied and / or that the motor of the motor vehicle 100 is switched off and / or that the gearbox of the motor vehicle 100 is in the neutral state. Said predetermined condition may comprise one or more of the above-mentioned conditions. The process step s330 is suitably performed by the control unit 220 which communicates via lines with said predetermined operating systems 230, 240, 250 or propulsion means. When said hazard-determined state comprising at least one state rows, procedure step s340 is performed.

Ferfarandesteget s330 innefattar enligt en utfaringsform att medelst styrenhe- ten 220 kontrollera atminstone en fordonsfunktion hos namnda motorfordon 100. Namnda fordonsfunktion avser enligt en utforingsform fordonets broms- 32 system. Namnda fordonsfunktion kan enligt en utforingsform avse fordonets framdrivningssystem, exempelvis inbegripande motor och transmission. Namnda fordonsfunktion avser enligt en utfOringsform fordonets navigeringssystem. FOrfarandesteget s330 utfors lampligen av styrenheten 220 som via lankar kommunicerar med motorfordonets 100 manOvreringssystem 230, 240, 250 alternativt framdrivningssystem. Dâ namnda fordonsfunktion uppvisar full-god funktion utfOrs forfarandesteg s340. The method step s330 comprises according to one embodiment to control by means of the control unit 220 at least one vehicle function of said motor vehicle 100. According to one embodiment, said vehicle function refers to the brake system 32 of the vehicle. Said vehicle function may, according to one embodiment, refer to the vehicle's propulsion system, for example including the engine and transmission. According to one embodiment, said vehicle function refers to the vehicle's navigation system. The process step s330 is suitably performed by the control unit 220 which communicates via lines with the operating system 230, 240, 250 or propulsion system of the motor vehicle 100. When said vehicle function exhibits full-function, perform step step s340.

Forfarandesteget s340 utfors endast om det i forfarandesteg s330 avgors att namnda forutbestamda fordonstillstand racier och att namnda fOrutbestamda fordonsfunktion uppvisar fullgod funktion. FOrfarandesteget s340 innefattar att tillata initiering av autonom drift och/eller extern styrning av motorfordonet 100. F6rfarandesteget s340 att tillata initiering av autonom drift och/eller extern styrning av motorfordonet 100 innefattar lampligen att styrenheten 220 bearbe- tar/behandlar/processar/omvandlar signalen Si fran det externa styrsystemet 205 och OvertOr den bearbetade signalen Sib till manovreringssystemen 230, 240, 250. OverfOringen av signalen Sib frail styrenheten 220 och manovreringssystemen 230, 240, 250 utfOrs lampligen via en lank L220. Procedure step s340 is performed only if in process step s330 it is decided that said predetermined vehicle condition is racier and that said predetermined vehicle function exhibits satisfactory function. The process step s340 comprises allowing initiation of autonomous operation and / or external control of the motor vehicle 100. The process step s340 comprising allowing the initiation of autonomous operation and / or external control of the motor vehicle 100 suitably comprises that the control unit 220 processes / processes / processes / converts the signal Si from the external control system 205 and transmits the processed signal Sib to the control systems 230, 240, 250. The transmission of the signal Sib from the control unit 220 and the control systems 230, 240, 250 is suitably performed via a long L220.

Forfarandesteg s360 utfors am det vid autonom drift och/eller extern styrning av namnda motorfordon intraffar nagot som gar att den autonoma driften eller externa styrningen avbryts. Enligt ett exempel avbryts autonom drift och/eller externs styrning av motorfordonet 100 dâ en signal Si fran namnda externa styrsystem 205 vid validering av signalen Si ej uppfyller ett pa forhand be- stamt kriterium. Enligt ett exempel avbryts autonom drift och/eller extern styr- ning av motorfordonet 100, da motorfordonet 100 fatt slut pa bransle eller dâ nagon komponent i motorfordonet har havererat. Enligt en utforingsfrom valideras namnda signal Si fran namnda externa styrsystem 205. Namnda validering anpassas enligt en utf6ringsform pa basis av faststallda framforingskarak- taristika och eller en omgivningskonfiguration hos motorfordonet 100. Dâ namnda validering ej är uppfylld, eller ej har gett Onskat resultat, avbryts den autonoma drif ten och/eller den externa styrningen. Vid avbruten autonom drift 33 och/eller extern styrning av namnda motorfordon 100 genereras fOretradesvis en signal S2 Iran motorfordonets styrenhet 220 varvid namnda signal S2 innefattar styrparametrar fOr intern styrning, som minimerar risken for skador hos motorfordonet och objekt och/eller personer i dess omgivning. Exempelvis in- nefattar den interna styrningen styrparametrar som medf6r att motorfordonet 100 bromsas och/eller stannas/parkeras. FOr att en operator ater ska fa tillatelse att framfora fordonet 100 autonomt och/eller externt efter en avbruten auto-nom drift och/eller extern styrning av namnda motorfordon 100 kravs enligt en utfOringsform att namnda operator skickar en signal S5 till namnda motorfor- don 100, innefattande en begaran om att Ater fa framf6ra motorofordonet 100 autonomt och/eller externt. Namnda signal S5 ska enligt en utfOringsform innehalla operatorsgenererad information. Enligt en utforingsform finns forutbestamda krav pa namnda operat6rsgenererade information. Enligt en utfOringsform kan namnda krav pa den operatorsgenererade informationen innefatta att operatOren utfort kontrollkommandon enligt ett fOrutbestamt flode. Enligt en utfOringsform kan namnda krav pa den operatOrsgenererade informationen utg6ras av att en kod som är utsedd f6r det aktuella tillfallet ska innefattas i den operatersgenererade informationen. Enligt en utfOringsform kan namnda krav pa den operatorsgenererade informationen innefatta kontrollkommandon utf6rda enligt ett flode som bestams i realtid av styrenheten 220. Da namnda fOrutbestamda krav ãr uppfyllt utfOrs forfarandesteg s370. Da namnda forutbestamda krav ej ãr uppfyllt utfOrs forfarandesteg s380. Procedure step s360 is performed when during autonomous operation and / or external control of said motor vehicle something happens which causes the autonomous operation or external control to be interrupted. According to one example, autonomous operation and / or external control of the motor vehicle 100 is interrupted when a signal Si from said external control system 205 upon validation of the signal Si does not meet a predetermined criterion. According to one example, autonomous operation and / or external control of the motor vehicle 100 is interrupted when the motor vehicle 100 has run out of fuel or when a component in the motor vehicle has failed. According to one embodiment, said signal Si is validated from said external control system 205. Said validation is adapted according to an embodiment on the basis of established driving characteristics and or an ambient configuration of the motor vehicle 100. When said validation is not fulfilled, or has not given the desired result, it is interrupted. autonomous operation and / or external control. In the event of interrupted autonomous operation 33 and / or external control of said motor vehicle 100, a signal S2 is preferably generated inside the motor vehicle control unit 220, said signal S2 comprising control parameters for internal control, which minimizes the risk of damage to the motor vehicle and objects and / or persons in its vicinity. For example, the internal control includes control parameters that cause the motor vehicle 100 to be braked and / or stopped / parked. In order for an operator to be allowed to drive the vehicle 100 autonomously and / or externally after an interrupted automatic operation and / or external control of said motor vehicle 100, it is required according to an embodiment that said operator sends a signal S5 to said motor vehicle 100. , including a request for Ater to drive the motor vehicle 100 autonomously and / or externally. According to one embodiment, said signal S5 must contain operator-generated information. According to one embodiment, there are predetermined requirements for said operator-generated information. According to one embodiment, said requirements for the operator-generated information may comprise that the operator executes control commands according to a predetermined flow. According to one embodiment, said requirement for the operator-generated information may consist of a code designated for the current event being included in the operator-generated information. According to one embodiment, said requirements for the operator-generated information may comprise control commands executed according to a flow determined in real time by the control unit 220. Then said predetermined requirements are fulfilled for execution step s370. Since the said predetermined requirements are not met, the procedure step s380 is fulfilled.

Forfarandesteg s370 utfOrs endast da. ett fOrutbestamt krav pa den operators- genererade informationen som innefattas i en signal S5 sand fran det externa styrsystemet 205 via en lank L205 är uppfyllt. Forfarandesteget s370 innefattar att ater tillata autonom drift och/eller extern styrning av motorfordonet 100. FOrfarandesteget s370 att ater tillata autonom drift och/eller extern styrning av motorfordonet 100 innefattar lampligen att styrenheten 220 bearbe- tar/behandlar/processar/omvandlar signalen Si Iran det externa styrsystemet 205 och overfOr den bearbetade signalen Sib till manovreringssystemen 230, 240, 250. OverfOringen av signalen Sib fran styrenheten 220 till manOvre- 34 ringssystemen 230, 240, 250 utfOrs lampligen via en lank L220. Efter forfarandesteget s370 avslutas forfarandet. Alternativt repeteras forfarandet fran det fOrsta f6rfarandesteget s310. Procedure step s370 is performed only then. a predetermined requirement for the operator-generated information contained in a signal S5 sand from the external control system 205 via a long L205 is met. The process step s370 comprises again allowing autonomous operation and / or external control of the motor vehicle 100. The process step s370 comprising again allowing autonomous operation and / or external control of the motor vehicle 100 suitably comprises that the control unit 220 processes / processes / processes / converts the signal Si Iran it external control system 205 and transmits the processed signal Sib to the control systems 230, 240, 250. The transmission of the signal Sib from the control unit 220 to the control systems 230, 240, 250 is suitably performed via a long L220. After the procedure step s370, the procedure is terminated. Alternatively, repeat the procedure from the first procedure step s310.

Forfarandesteget s380 utfors endast om det i forfarandesteg s360 avgors att namnda krav pa namnda operatOrsgenererade information ej är uppfyllt. FOrfarandesteget s360 innefattar att fOrhindra tillatelse av autonom drift och/eller extern styrning av motorfordonet 100. F6rfarandesteget s380 att forhindra autonom drift och/eller extern styrning av motorfordonet 100 innefattar lampligen att medelst styrenheten 220 stoppa signalen Si fran det externa styrsystemet 205. Efter fOrfarandesteget s380 avslutas fOrfarandet. Alternativt repeteras fOrfarandet fran det forsta forfarandesteget s310. The procedure step s380 is performed only if it is decided in procedure step s360 that the said requirement for the said operator-generated information is not met. The process step s360 comprises preventing permission of autonomous operation and / or external control of the motor vehicle 100. The process step s380 comprises preventing autonomous operation and / or external control of the motor vehicle 100 suitably comprises by means of the control unit 220 stopping the signal Si from the external control system 205. the procedure is terminated. Alternatively, repeat the procedure from the first procedure step s310.

Figur 4 visar ett diagram av ett utforande av on anordning 400. Det externa styrsystemet 205 och/eller styrenheten 220 som beskrivs med hanvisning till Fig. 2 kan i ett utfOrande innefatta anordningen 400. Anordningen 400 innefattar ett icke-flyktigt minne 420, en databehandlingsenhet 410 och ett Ids/skrivminne 450. Det icke-flyktiga minnet 420 har en fOrsta minnesdel 430 van i ett datorprogram, sã som ett operativsystem, är lagrat far att styra funktionen hos anordningen 400. Vidare innefattar anordningen 400 en buss-controller, en seriell kommunikationsport, 1/0-organ, en AID-omvandlare, en tids- och datum inmatnings- och Overforingsenhet, en handelserdknare och en avbrytningscontroller (ej visade). Det icke-flyktiga minnet 420 har ocksa en andra minnesdel 440. Figure 4 shows a diagram of an embodiment of device 400. The external control system 205 and / or the control unit 220 described with reference to Fig. 2 may in one embodiment comprise the device 400. The device 400 comprises a non-volatile memory 420, a data processing unit 410 and an Ids / write memory 450. The non-volatile memory 420 has a first memory portion 430 used in a computer program, such as an operating system, stored to control the operation of the device 400. Furthermore, the device 400 comprises a bus controller, a serial communication port, I / O means, an AID converter, a time and date input and Transfer unit, a handheld counter and an interrupt controller (not shown). The non-volatile memory 420 also has a second memory portion 440.

Hos anordningen 400 tillhandahalls ett datorprogram P, som kan innefatta rutiner fOr autonom drift och/eller extern styrning av ett motorfordon 100. The device 400 provides a computer program P, which may include routines for autonomous operation and / or external control of a motor vehicle 100.

Datorprogrammet P kan innefatta rutiner for att generera en signal Si innefat- tande en styrparameter fOr autonom drift och/eller extern styrning av ndmnda motorfordon 100 samt rutiner fOr att via ett datagranssnitt 210 skicka/mottaga signalen Si. Datorprogrammet P kan innefatta rutiner for att validera signalen Si. Datorprogrammet kan innefatta rutiner far att kontrollera atminstone en fordonsfunktion hos namnda motorfordon 100. Datorprogrammet P kan innefatta rutiner far att tillata initiering av autonom drift och/eller extern styrning av namnda motorfordon 220 dã namnda fordonsfunktion uppvisar fullgod funktion. The computer program P may comprise routines for generating a signal Si comprising a control parameter for autonomous operation and / or external control of the said motor vehicle 100 as well as routines for sending / receiving the signal Si via a data interface 210. The computer program P may include routines for validating the signal Si. The computer program may include routines for controlling at least one vehicle function of said motor vehicle 100. The computer program P may include routines for allowing initiation of autonomous operation and / or external control of said motor vehicle 220 when said vehicle function exhibits proper function.

Datorprogrammet P kan innefatta rutiner far att forhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon 220 dâ namnda fordonsfunktion ej uppvisar fullgod funktion. Datorprogrammet P kan innefatta rutiner far att avgara huruvida ett forutbestamt tillstand hos namnda motorfordon 100 rader. Datorprogrammet P kan innefatta rutiner for att tillata initiering av auto- nom drift och/eller extern styrning av namnda motorfordon 220 da namnda for- utbestamda tillstand hos namnda motorfordon 100 racier. Datorprogrammet P kan innefatta rutiner far att, farhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon 220 da namnda forutbestamda tillstand hos namnda motorfordon 100 ej rader. Datorprogrammet P kan innefatta rutiner far att, validera namnda signal Si fran namnda externa styrsystem 205. Dator- programmet P kan innefatta rutiner for att, faststalla framforingskaraktaristika och/eller en omgivningskonfiguration och anpassa namnda validering pa basis av namnda faststallda framfaringskaraktaristika och/eller namnda faststallda omgivningskonfiguration. Datorprogrammet P kan innefatta rutiner for att av- bryta autonom drift och/eller extern styrning av namnda motorfordon 100, dã namnda signal Si fran namnda externa styrsystem 205 ej uppfyller ett pa far-hand bestamt kriterium. Datorprogrammet P kan innefatta rutiner far att Ater tillata autonom drift och/eller extern styrning av ett motorfordon 100 efter avbruten autonom drift och/eller extern styrning pa basis av en mottagen signal S5 fran namnda externa styrsystem 205. Datorprogrammet P kan innefatta rutiner far att validera namnda signal S5 fran namnda externa styrsystem 205, varvid namnda signal S5 inbegriper operatorsgenererad information. Datorprogrammet P kan innefatta rutiner for att avgara om en fordonsoperatar är beharig pa basis av namnda operatorsgenererade information. The computer program P may comprise routines for preventing the initiation of autonomous operation and / or external control of said motor vehicle 220 when said vehicle function does not exhibit satisfactory function. The computer program P may comprise routines for determining whether a predetermined state of said motor vehicle is 100 lines. The computer program P may comprise routines for allowing the initiation of autonomous operation and / or external control of said motor vehicle 220 da said predetermined state of said motor vehicle 100 racier. The computer program P may comprise routines for preventing, initiating autonomous operation and / or external control of said motor vehicle 220 when said predetermined state of said motor vehicle 100 is not rows. The computer program P may comprise routines for validating said signal Si from said external control system 205. The computer program P may include routines for determining performance characteristics and / or an environmental configuration and adapting said validation on the basis of said established performance characteristics and / or said performance figures. ambient configuration. The computer program P may comprise routines for interrupting autonomous operation and / or external control of said motor vehicle 100, then said signal Si from said external control system 205 does not meet a predetermined criterion. The computer program P may comprise routines for allowing autonomous operation and / or external control of a motor vehicle 100 after interrupted autonomous operation and / or external control on the basis of a received signal S5 from the said external control system 205. The computer program P may include routines for validating said signal S5 from said external control system 205, said signal S5 including operator-generated information. The computer program P may comprise routines for determining whether a vehicle operator is competent on the basis of said operator-generated information.

Datorprogrammet P kan vara lagrat pa ett exekverbart vis eller pa komprimerat vis i ett minne 460 och/eller i ett las/skrivminne 450. 36 Nar det as beskrivet att databehandlingsenheten 410 utfOr en viss funktion ska det fOrstas att databehandlingsenheten 410 utf6r en viss del av programmet vilket är lagrat i minnet 460, eller en viss del av programmet som är lagrat i las/skrivminnet 450. The computer program P may be stored in an executable manner or in a compressed manner in a memory 460 and / or in a read / write memory 450. 36 When it is described that the data processing unit 410 performs a certain function, it should be understood that the data processing unit 410 performs a certain part of the program which is stored in the memory 460, or a certain part of the program which is stored in the read / write memory 450.

Databehandlingsanordningen 410 kan kommunicera med en dataport 499 via en databuss 415. Det icke-flyktiga minnet 420 är avsett for kommunikation med databehandlingsenheten 410 via en databuss 412. Det separata minnet 460 ãr avsett att kommunicera med databehandlingsenheten 410 via en data- buss 411. Las/skrivminnet 450 är anordnat att kommunicera med databehandlingsenheten 410 via en databuss 414. Till dataporten 499 kan t.ex. lankarna L205, L210, L220, L280 och L290 anslutas (se Fig. 2). The data processing device 410 may communicate with a data port 499 via a data bus 415. The non-volatile memory 420 is intended for communication with the data processing unit 410 via a data bus 412. The separate memory 460 is intended to communicate with the data processing unit 410 via a data bus 411. Read The write memory 450 is arranged to communicate with the data processing unit 410 via a data bus 414. To the data port 499, e.g. the lanes L205, L210, L220, L280 and L290 are connected (see Fig. 2).

Nar data mottages pa dataporten 499 lagras det temporart i den andra min- nesdelen 440. Nar mottagen indata temporart har lagrats, är databehandlingsenheten 410 iordningstalld att utf6ra exekvering av kod pa ett vis som beskrivits ovan. When data is received on the data port 499, it is temporarily stored in the second memory part 440. Once the received input data has been temporarily stored, the data processing unit 410 is ready to perform code execution in a manner described above.

Enligt ett utfOrande innefattar signaler mottagna pa dataporten 499 parametrar fOr autonom drift och/eller extern styrning av motorfordonet 100. Enligt ett utfOrande innefattar signaler mottagna pa dataporten 499 parametrar for intern styrning av motorfordonet 100. Enligt ett utfOrande innefattar signaler mottagna pa dataporten 499 information fran ett operatOrsreglage 290. Enligt ett utforan- de innefattar signaler mottagna pa dataporten 499 information fran ett kraftag- gregat 280. Enligt ett utfOrande innefattar signaler mottagna pa. dataporten 499 information om att det fordonsinterna styrsystemet 270 styr motorfordonet 100. According to one embodiment, signals received at the data port include 499 parameters for autonomous operation and / or external control of the motor vehicle 100. According to one embodiment, signals received at the data port include 499 parameters for internal control of the motor vehicle 100. According to one embodiment, signals received at the data port 499 include information an operator control 290. According to one embodiment, signals received at the data port 499 include information from a power supply 280. According to one embodiment, signals received at include. the data port 499 information that the in-vehicle control system 270 controls the motor vehicle 100.

De mottagna signalerna pa dataporten 499 kan anvandas av anordningen 400 fer att avgOra om namnda motorfordon 100 ska tillatas att framfOras autonomt och/eller externt eller forhindras att framforas autonomt och/eller externt. 37 Delar av metoderna beskrivna hdri kan utforas av anordningen 400 med hjdlp av databehandlingsenheten 410 som Icor programmet lagrat i minnet 460 eller Ids/skrivminnet 450. Ndr anordningen 400 kat' programmet, exekveras hdri beskrivna forfaranden. The received signals on the data port 499 can be used by the device 400 to determine whether said motor vehicle 100 should be allowed to be driven autonomously and / or externally or prevented from being driven autonomously and / or externally. Parts of the methods described herein may be performed by the device 400 using the data processing unit 410 stored by the Icor program in the memory 460 or the Ids / write memory 450. If the device 400 is programmed, executed in the methods described herein.

Den fOregaende beskrivningen av de feredragna utfOringsformerna av fOreliggande uppfinning har tillhandahallits i syftet att illustrera och beskriva uppfinningen. Det är inte avsett att vara uttommande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga modifieringar och variationer att framga for fackmannen. Utforingsformerna valdes och beskrevs fOr att bast fOrklara principerna av uppfinningen och dess praktiska tilldmpningar, och darmed mOjliggora for fackman att forsta uppfinningen fOr olika utfOringsformer och med de olika modifieringarna som dr Idmpliga fOr det avsedda bruket. The foregoing description of the preferred embodiments of the present invention has been provided for the purpose of illustrating and describing the invention. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling those skilled in the art to understand the invention for various embodiments and with the various modifications which are appropriate to the intended use.

Claims (24)

PATENTKRAVPATENT REQUIREMENTS 1. System for majliggerande av autonom drift och/eller extern styrning av ett motorfordon innefattande: - ett externt styrsystem (205) anordnat att generera en signal (Si) innefattande atminstone en styrparameter for autonom drift och/eller extern styrning av namnda motorfordon; och - ett fordonsinternt styrsystem (270) innefattande en styrenhet (220), kannetecknat av: - ett datagranssnitt (210) anordnat i kommunikativ ferbindelse med namnda externa styrsystem (205) och namnda fordonsinterna styrsystem (270), varvid namnda datagranssnitt (210) är anordnat att Overfora ndmnda signal (Si) fran namnda externa styrsystem (205) till namnda fordonsinterna styrsystem (270), och varvid ndmnda styrenhet (220) dr anordnad att avgOra huruvida ett forut- bestamt tillstand rader hos namnda motorfordon (100) for att tillata initiering av autonom drift och/eller extern styrning, dar det forutbestamda tillstandet hos namnda motorfordon (100) innefattar att motorfordonet (100) star stilla.A system for enabling autonomous operation and / or external control of a motor vehicle comprising: - an external control system (205) arranged to generate a signal (Si) comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle; and - an in-house control system (270) comprising a control unit (220), characterized by: - a data interface (210) arranged in communicative connection with said external control system (205) and said in-vehicle control system (270), said data interface (210) being arranged to transmit said signal (Si) from said external control system (205) to said in-vehicle control system (270), and said control unit (220) arranged to determine whether a predetermined state rows of said motor vehicle (100) to allow initiation of autonomous operation and / or external steering, where the predetermined state of said motor vehicle (100) comprises that the motor vehicle (100) is stationary. 2. System enligt krav 1, varvid ndmnda styrenhet (220) är anordnad att kontrol- lera atminstone en fordonsfunktion hos namnda motorfordon (100).The system of claim 1, wherein said control unit (220) is arranged to check at least one vehicle function of said motor vehicle (100). 3. System enligt krav 2, varvid namnda styrenhet (220) är anordnad att tillata initiering av autonom drift och/eller extern styrning av namnda motorfordon (100) da ndmnda fordonsfunktion uppvisar fullgod funktion.A system according to claim 2, wherein said control unit (220) is arranged to allow initiation of autonomous operation and / or external control of said motor vehicle (100) when said vehicle function exhibits satisfactory function. 4. System enligt nagot av krav 2 eller 3, varvid ndmnda styrenhet (220) dr anordnad att fOrhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon (100) da namnda fordonsfunktion ej uppvisar fullgod funktion. 38 39A system according to any one of claims 2 or 3, wherein said control unit (220) is arranged to prevent initiation of autonomous operation and / or external control of said motor vehicle (100) as said vehicle function does not exhibit satisfactory function. 38 39 5. System enligt nagot av fOregaende krav, varvid namnda styrenhet (220) är anordnad att forhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon (100) da namnda fOrutbestamda tillstand hos namnda motorfordon (100) ej racier.A system according to any one of the preceding claims, wherein said control unit (220) is arranged to prevent initiation of autonomous operation and / or external control of said motor vehicle (100) when said predetermined condition of said motor vehicle (100) is not racier. 6. System enligt nagot av krav 1-5, varvid namnda styrenhet (220) ãr anordnad att validera namnda signal (Si) fran namnda externa styrsystem (205).A system according to any one of claims 1-5, wherein said control unit (220) is arranged to validate said signal (Si) from said external control system (205). 7. System enligt krav 6, varvid namnda styrenhet (220) är anordnad att fast- stalla framfOringskaraktaristika och/eller en omgivningskonfiguration, dar namnda styrenhet (220) är anordnad att anpassa namnda validering pa basis av namnda faststallda framforingskaraktaristika och/eller namnda faststallda omgivningskonfiguration.A system according to claim 6, wherein said control unit (220) is arranged to determine performance characteristics and / or an ambient configuration, wherein said control unit (220) is arranged to adapt said validation on the basis of said determined performance characteristics and / or said determined environmental configuration. . 8. System enligt nagot av krav 6-7, varvid namnda styrenhet (220) är anordnad att avbryta autonom drift och/eller extern styrning av namnda motorfordon (100), dâ namnda signal (Si) fran namnda externa styrsystem (205) vid valideringen ej uppfyller atminstone ett pa forhand bestamt kriterium.A system according to any one of claims 6-7, wherein said control unit (220) is arranged to interrupt autonomous operation and / or external control of said motor vehicle (100), then said signal (Si) from said external control system (205) during the validation does not meet at least one pre-determined criterion. 9. System enligt nagot av krav 1-8, varvid namnda styrenhet (220) ãr anpassad att ater tillata autonom drift och/eller extern styrning av ett motorfordon (100) efter avbruten autonom drift och/eller extern styrning pa basis av en mottagen signal (S5) fran namnda externa styrsystem (205).A system according to any one of claims 1-8, wherein said control unit (220) is adapted to again allow autonomous operation and / or external control of a motor vehicle (100) after interrupted autonomous operation and / or external control on the basis of a received signal (S5) from the said external control system (205). 10. System enligt krav 9, varvid namnda styrenhet (220) ãr anpassad att validera namnda signal (S5) fran namnda externa styrsystem (205), varvid namnda signal (S5) inbegriper operatOrsgenererad information.The system of claim 9, wherein said controller (220) is adapted to validate said signal (S5) from said external control system (205), said signal (S5) including operator generated information. 11. System enligt krav 10, varvid namnda styrenhet (220) är anpassad att av- gora om en fordonsoperator är behOrig pa basis av namnda operatorsgenererade information.The system of claim 10, wherein said control unit (220) is adapted to determine if a vehicle operator is competent based on said operator-generated information. 12. Forfarande far mojliggorande av autonom drift och/eller extern styrning av ett motorfordon (100) innefattande steget att: - generera en signal (Si) innefattande atminstone en styrparameter far auto- nom styrning och/eller extern styrning av namnda motorfordon medelst ett ex- ternt styrsystem (205), kannetecknat av stegen att: - via ett datagranssnitt (210) overfOra namnda signal (Si) fran namnda externa styrsystem (205) till ett fordonsinternt styrsystem (270), varvid namnda for- donsinterna styrsystem (270) innefattar en styrenhet (220); - avgara huruvida ett farutbestamt tillstand hos namnda motorfordon (100) rã-der, varvid det fOrutbestamda tillstandet hos namnda motorfordon (100) innefattar att motorfordonet (100) star stilla; och - tillata initiering av autonom drift och/eller extern styrning av namnda motor- fordon (100) dâ namnda fOrutbestamda tillstand hos namnda motorfordon (100) rader.A method of enabling autonomous operation and / or external control of a motor vehicle (100) comprising the step of: - generating a signal (Si) comprising at least one control parameter of autonomous control and / or external control of said motor vehicle by means of an example internal control system (205), characterized by the steps of: - transmitting via a data interface (210) said signal (Si) from said external control system (205) to an in-house control system (270), said in-vehicle control system (270) comprising a control unit (220); - determining whether a predetermined state of said motor vehicle (100) prevails, the predetermined state of said motor vehicle (100) comprising the motor vehicle (100) being stationary; and - allowing the initiation of autonomous operation and / or external control of said motor vehicle (100) when said predetermined state of said motor vehicle (100) rows. 13. FOrfarande enligt krav 12, innefattande steget att: - kontrollera atminstone en fordonsfunktion hos namnda motorfordon (100).A method according to claim 12, comprising the step of: - checking at least one vehicle function of said motor vehicle (100). 14. Forfarande enligt krav 13, innefattande steget att: - tillata initiering av autonom drift och/eller extern styrning av namnda motorfordon (100) dâ namnda fordonsfunktion uppvisar fullgod funktion.A method according to claim 13, comprising the step of: - allowing initiation of autonomous operation and / or external control of said motor vehicle (100) when said vehicle function exhibits satisfactory function. 15. Forfarande enligt krav 13, innefattande steget att: - forhindra initiering av autonom drift och/eller extern styrning av namnda motorfordon (100) da namnda fordonsfunktion ej uppvisar fullgod funktion.A method according to claim 13, comprising the step of: - preventing initiation of autonomous operation and / or external control of said motor vehicle (100) as said vehicle function does not exhibit satisfactory function. 16. Forfarande enligt nagot av krav 12-15, innefattande steget att: - forhindra initiering av autonom drift av namnda motorfordon (100) dâ namnda fOrutbestamda tillstand hos namnda motorfordon (100) ej rader. 41A method according to any one of claims 12-15, comprising the step of: - preventing initiation of autonomous operation of said motor vehicle (100) when said predetermined condition of said motor vehicle (100) is not rows. 41 17. Forfarande enligt nagot av krav 12-16, innefattande steget att: - validera namnda signal (Si) fran namnda externa styrsystem (205).A method according to any one of claims 12-16, comprising the step of: - validating said signal (Si) from said external control system (205). 18. FOrfarande enligt krav 17, innefattande stegen att: - faststalla framforingskaraktdristika och/eller en omgivningskonfiguration; och - anpassa namnda validering pa basis av namnda faststallda framfOringskaraktdristika och/eller namnda faststallda omgivningskonfiguration.A method according to claim 17, comprising the steps of: - determining performance characteristics and / or an ambient configuration; and - adjusting said validation based on said established performance characteristics and / or said established environmental configuration. 19. Forfarande enligt nagot av krav 17-18, innefattande steget att: - avbryta autonom drift och/eller extern styrning av namnda motorfordon (100), da namnda signal (Si) fran namnda externa styrsystem (205) vid valideringen ej uppfyller ett pd fOrhand bestamt kriterium.A method according to any one of claims 17-18, comprising the step of: - interrupting autonomous operation and / or external control of said motor vehicle (100), as said signal (Si) from said external control system (205) during validation does not satisfy a pd Pre-determined criterion. 20. Forfarande enligt nagot av krav 12-19, innefattande steget att: - ater tilldta autonom drift och/eller extern styrning av ett motorfordon (100) efter avbruten autonom drift och/eller extern styrning pd basis av en mottagen signal (S5) fran namnda externa styrsystem (205).A method according to any one of claims 12-19, comprising the step of: - again assigning autonomous operation and / or external control of a motor vehicle (100) after interrupted autonomous operation and / or external control on the basis of a received signal (S5) from said external control system (205). 21. Forfarande enligt krav 20, innefattande steget att: - validera namnda signal (S5) fran namnda externa styrsystem (205), varvid namnda signal (S5) inbegriper operatorsgenererad information.The method of claim 20, comprising the step of: - validating said signal (S5) from said external control system (205), said signal (S5) including operator generated information. 22. FOrfarande enligt krav 21, innefattande steget att: - avgara om en fordonsoperator är behorig pd basis av namnda operatorsge- nererade information.A method according to claim 21, comprising the step of: - determining if a vehicle operator is competent on the basis of said operator-generated information. 23. Motorfordon (100) innefattande ett system enligt nagot av kraven 1-11.A motor vehicle (100) comprising a system according to any one of claims 1-11. 24. Motorfordon (100) enligt krav 23, varvid namnda motorfordon (100) är nã- got av en lastbil, buss, skogsmaskin, gruvmaskin, hjullastare eller personbil. m (P) innefattar programkod far ir namnda datorprogram (P) amkod far att utfora forfarannda programkod kors pd. en 1/4 112A motor vehicle (100) according to claim 23, wherein said motor vehicle (100) is any of a truck, bus, forestry machine, mining machine, wheel loader or passenger car. m (P) includes program code for the said computer program (P) to execute the preceding program code cross pd. and 1/4 112
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AU642638B2 (en) * 1989-12-11 1993-10-28 Caterpillar Inc. Integrated vehicle positioning and navigation system, apparatus and method
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