SE1751581A1 - System and Method for Controlling a Motor Vehicle to Drive Autonomously - Google Patents

System and Method for Controlling a Motor Vehicle to Drive Autonomously

Info

Publication number
SE1751581A1
SE1751581A1 SE1751581A SE1751581A SE1751581A1 SE 1751581 A1 SE1751581 A1 SE 1751581A1 SE 1751581 A SE1751581 A SE 1751581A SE 1751581 A SE1751581 A SE 1751581A SE 1751581 A1 SE1751581 A1 SE 1751581A1
Authority
SE
Sweden
Prior art keywords
motor vehicle
safety
boundary conditions
nominal
policies
Prior art date
Application number
SE1751581A
Other versions
SE541390C2 (en
Inventor
Johan Svahn
Naveen Mohan
Per Roos
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1751581A priority Critical patent/SE541390C2/en
Priority to DE112018005796.8T priority patent/DE112018005796T5/en
Priority to PCT/SE2018/051260 priority patent/WO2019125269A1/en
Publication of SE1751581A1 publication Critical patent/SE1751581A1/en
Publication of SE541390C2 publication Critical patent/SE541390C2/en

Links

Classifications

    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • 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
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3605—Destination input or retrieval
    • G01C21/3617—Destination input or retrieval using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • 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
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • 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
    • G05D1/65—Following a desired speed profile
    • 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
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Social Psychology (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Safety Devices In Control Systems (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

A motor vehicle (MV) is controlled to drive autonomously in agreement with a nominal path in response to nominal control signals (NCS) from a bank of control units (110). Safety policies (P) are provided via a first data-interface unit (163). The safety policies (P) describe mission-related rules to be followed during operation of the motor vehicle (MV). The safety policies (P) are based on a safety case (SC) stipulating how the motor vehicle (MV) shall be controlled to meet a functional safety standard. A watch unit (160) receives sensor signals (SS) from the motor vehicle (MV), and based thereon repeatedly generates commands ({cmd}) to update the boundary conditions ({bc}) aiming at confining the nominal path within limits that are given by the sensor signals (SS) and the at least one safety policy (P). The bank of control units reads out the set of boundary conditions ({bc}) and controls the motor vehicle (MV) to move in such a manner that the nominal path satisfies the boundary conditions ({bc}), and is thus be considered to be safe.
SE1751581A 2017-12-20 2017-12-20 System and Method for Controlling a Motor Vehicle to Drive Autonomously SE541390C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE1751581A SE541390C2 (en) 2017-12-20 2017-12-20 System and Method for Controlling a Motor Vehicle to Drive Autonomously
DE112018005796.8T DE112018005796T5 (en) 2017-12-20 2018-12-07 System and method for controlling a motor vehicle for autonomous driving
PCT/SE2018/051260 WO2019125269A1 (en) 2017-12-20 2018-12-07 System and Method for Controlling a Motor Vehicle to Drive Autonomously

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1751581A SE541390C2 (en) 2017-12-20 2017-12-20 System and Method for Controlling a Motor Vehicle to Drive Autonomously

Publications (2)

Publication Number Publication Date
SE1751581A1 true SE1751581A1 (en) 2019-06-21
SE541390C2 SE541390C2 (en) 2019-09-10

Family

ID=66995030

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1751581A SE541390C2 (en) 2017-12-20 2017-12-20 System and Method for Controlling a Motor Vehicle to Drive Autonomously

Country Status (3)

Country Link
DE (1) DE112018005796T5 (en)
SE (1) SE541390C2 (en)
WO (1) WO2019125269A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115884911A (en) * 2021-07-30 2023-03-31 华为技术有限公司 Fault detection method, fault detection device, server and vehicle

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE400977B (en) * 1973-01-31 1978-04-17 Richter Gedeon Vegyeszet INTERMEDIATE FOR USE IN THE PREPARATION OF 13 BETA-ETHYL-GONANE DERIVATIVES ACCORDING TO ITS PREPARATION
US20070021915A1 (en) * 1997-10-22 2007-01-25 Intelligent Technologies International, Inc. Collision Avoidance Methods and Systems
US20170197626A1 (en) * 2016-01-11 2017-07-13 Ford Global Technologies, Llc Management of autonomous vehicle lanes

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE400977B (en) * 1973-01-31 1978-04-17 Richter Gedeon Vegyeszet INTERMEDIATE FOR USE IN THE PREPARATION OF 13 BETA-ETHYL-GONANE DERIVATIVES ACCORDING TO ITS PREPARATION
US20070021915A1 (en) * 1997-10-22 2007-01-25 Intelligent Technologies International, Inc. Collision Avoidance Methods and Systems
US20170197626A1 (en) * 2016-01-11 2017-07-13 Ford Global Technologies, Llc Management of autonomous vehicle lanes

Also Published As

Publication number Publication date
DE112018005796T5 (en) 2020-08-13
WO2019125269A1 (en) 2019-06-27
SE541390C2 (en) 2019-09-10

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