SE538077C2 - 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 PDFInfo
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- SE538077C2 SE538077C2 SE1451386A SE1451386A SE538077C2 SE 538077 C2 SE538077 C2 SE 538077C2 SE 1451386 A SE1451386 A SE 1451386A SE 1451386 A SE1451386 A SE 1451386A SE 538077 C2 SE538077 C2 SE 538077C2
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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
-
- 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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Sammandraa Foreliggande uppfinning avser ett system for mojliggorande av autonom drift och/eller extern styrning av ett motorfordon innefattande ett externt styrsystem (205) anordnat att generera en signal (Si) innefattande dtminstone en styrpa- rameter fOr styrning av namnda motorfordon, och ett fordonsinternt styrsystem (270), varvid ett datagranssnitt (210) är anordnat i kommunikativ fOrbindelse med namnda externa styrsystem (205) och namnda fordonsinterna styrsystem (270), varvid namnda datagranssnitt (210) är anordnat att OverfOra namnda signal (Si) fran namnda externa styrsystem (205) till namnda fordonsinterna styrsystem (270) och varvid namnda fordonsinterna styrsystem (270) innefattar en styrenhet (220) som är anordnad att validera namnda signal (Si) fran namnda externa styrsystem (205), varvid valideringen innefattar kontroll av dtminstone ett pa forhand bestamt kriterium gallande signalens (Si) format och/eller frekvens och/eller kontrollsumma. FOreliggande uppf inning avser aven ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon samt ett motorfordon (100) innefattande ett sabant system. The present invention relates to 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 controlling said motor vehicle, and a vehicle internal control system. (270), wherein a data interface (210) is arranged in communicative communication 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 (270). 205) to said in-vehicle control system (270) and wherein said in-vehicle control system (270) comprises a control unit (220) arranged to validate said signal (Si) from said external control system (205), the validation comprising checking at least one in advance certain criterion galling the signal (Si) format and / or frequency and / or checksum. The present invention also relates to a method for enabling autonomous operation and / or external control of a motor vehicle and a motor vehicle (100) comprising a sabant system.
Description
System och forfarande far mojliggorande av autonom drift och/eller extern styrning av ett motorfordon TEKNIKENS OMRADE FOreliggande uppfinning avser ett system for mOjliggorande av autonom drift och/eller extern styrning av ett motorfordon, ett forfarande for mOjliggorande av autonom drift och/eller extern styrning av ett motorfordon samt ett motorfordon innefattande ett sadant system. FIELD OF THE INVENTION The present invention relates to a system for enabling autonomous operation and / or external control of a motor vehicle, a method for enabling autonomous operation and / or external control of a motor vehicle. a motor vehicle and a motor vehicle comprising such a system.
UPPFINNINGENS BAKGRUND OCH KAND TEKNIK Att framfOra ett motorfordon staller hoga krav pa operatOren dã 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-roll bar 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 star del av driftskostnaden fOr ett motorfordon, aven i de korfall dâ belastningen pa operatOren är valdigt lag. Detta är exempelvis fallet i gruvapplikationer dar korningarna ofta bestar av att lasta pa vid en punkt, for att darefter kOra till en andra punkt och lasta ay. Ett annat exempel är vid transport av resendrer mellan ett flygplan och en flygplatsterminal. I dessa ap- plikationer är trafikfOrhallandena kontrollerade och det fOrekommer inte nagra fotgangare, cyklister eller liknande stOrningar. Gruvor exempelvis, är dessutom ofta lokaliserade pa sa 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- rande. 1 Far att, pa ett sakert salt, framfara ett motorfordon autonomt, det viii saga utan att en operator/fOrare fran fararhytten styr motorfordonet, 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 constitutes a large part of the operating cost for 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 grains 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 advisable to completely automate the driving of motor vehicles in certain types of operation. In order to drive a motor vehicle autonomously on a safe salt, that is to say without an operator / driver from the cab controlling the motor 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 farfaranden och system har fareslagits i den kanda tekniken far att astadkomma autonom drift. Till exempel i dokument US 2012/0239238 Al vi- sas 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 kom- mandot till truckens styrenhet, vilken i sin tur styr drivsystemet utifran namnda kommando. Banan kan definieras genom en kabel under golvet, tejp eller andra ref erenser pa golvet, vilka styr- och navigationssystemet kanner ay. Denna losning astadkommer forvisso autonom drift av trucken men kraver en pa forhand definierad bana langs med vilken trucken ska framforas samt ett internt styr- och navigeringssystem. Various procedures and systems have been compromised 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 solution certainly ensures autonomous operation of the truck but requires a predefined path along which the truck is to be driven and an internal steering and navigation system.
Trots kanda lasningar pa omradet finns det fortfarande ett behov av att vidareutveckla ett kostnadseffektivt system och farfarande far autonom drift av ett motorfordon, som mini merar driftskostnader och utvecklingskostnader. Despite well-known readings in the field, there is still a need to further develop a cost-effective system and still have autonomous operation of a motor vehicle, which minimizes operating costs and development costs.
SAMMANFATTNING AV UPPFINNINGEN Ett syfte med foreliggande uppfinning är att astadkomma ett kostnadseffektivt system far majliggarande av autonom drift och/eller extern styrning av ett mo30 torfordon. 2 Ett ytterligare syfte med foreliggande uppfinning är att astadkomma ett for omgivningen sakert system fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon. SUMMARY OF THE INVENTION An object of the present invention is to provide a cost-effective system for enabling autonomous operation and / or external control of a motor vehicle. A further object of the present invention is to provide an environment-safe system for enabling autonomous operation and / or external control of a motor vehicle.
Ett syfte med foreliggande uppfinning är att astadkomma ett for namnda mo- torfordon sdkert system for mojliggorande av autonom drift och/eller extern styrning av ett motorfordon. An object of the present invention is to provide a system for the said motor vehicle for enabling autonomous operation and / or external control of a motor vehicle.
Ett annat syfte med fOreliggande uppfinning är att astadkomma ett system fOr mojliggorande av autonom drift och/eller extern styrning av ett motorfordon, varvid namnda system mOjliggor anvandandet 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, said system 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 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 internal vehicle functions to external users.
Ett syfte med foreliggande uppfinning är att astadkomma ett kostnadseffektivt forfarande 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 fOr omgivningen sakert forfarande fOr mojliggOrande av autonom drift och/eller extern styrning av ett motorfordon. An object of the present invention is to provide an environmentally safe method for enabling autonomous operation and / or external control of a motor vehicle.
Ett syfte med foreliggande uppfinning är att astadkomma ett for namnda motorfordon sakert forfarande for mojliggorande av autonom drift och/eller extern styrning av ett motorfordon. An object of the present invention is to provide a method which is safe for said motor vehicle for enabling autonomous operation and / or external control of a motor vehicle.
Ett annat syfte med fOreliggande uppfinning ax att astadkomma ett fOrfarande fOr mOjliggOrande av autonom drift och/eller extern styrning av ett motorfordon, 3 varvid detta forfarande mOjliggor anvdndandet av redan befintliga paketlosningar for 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, 3 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- fordon, varvid detta fOrfarande begransar atkomsten av fordonsinterna funktioner for externa anvandare. A further object of the present invention is to provide a method for enabling autonomous operation and / or external control of a motor vehicle, this method limiting the access of in-vehicle functions to external users.
Ovanstaende syften uppnas genom ett system enligt patentkrav 1 samt genom ett forfarande enligt patentkrav 9. The above objects are achieved by a system according to claim 1 and by a method according to claim 9.
Enligt en aspekt av foreliggande uppfinning tillhandahalles ett system for mi5jliggOrande av autonom drift och/eller extern styrning av ett motorfordon innefattande: - ett externt styrsystem anordnat att generera en signal innefattande atminsto- ne en styrparameter fOr autonom drift och/eller extern styrning av namnda motorfordon; - ett fordonsinternt styrsystem; och - ett datagranssnitt anordnat i kommunikativ forbindelse med namnda externa styrsystem och namnda fordonsinterna styrsystem, varvid ndmnda datagrans- snitt är anordnat att overfOra namnda signal fran namnda externa styrsystem till namnda fordonsinterna styrsystem, och varvid namnda fordonsinterna styrsystem innefattar en styrenhet som är anordnad att validera namnda signal fran namnda externa styrsystem, varvid valideringen innefattar kontroll av at- minstone ett pa fOrhand bestarnt kriterium gdllande signalens format och/eller frekvens och/eller kontrollsumma . 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; and - a data interface arranged in communicative connection with said external control system and said in-vehicle control system, said data interface being arranged to transmit said signal from said external control system to said in-vehicle control system, and said in-vehicle control system comprising a control unit arranged to said signal from said external control system, the validation comprising checking at least one pre-determined criterion concerning the format and / or frequency and / or checksum of the signal.
Enligt en aspekt av foreliggande uppfinning tillhandahalles ett system for mi5jliggOrande av autonom drift av ett motorfordon innefattande: - ett externt styrsystem anordnat att generera en signal innefattande atminsto- ne en styrparameter fOr autonom styrning av namnda motorfordon; - ett fordonsinternt styrsystem; och 4 - ett datagranssnitt anordnat i kommunikativ forbindelse med namnda externa styrsystem och namnda fordonsinterna styrsystem, varvid namnda datagranssnitt är anordnat att overfara namnda signal fran namnda externa styrsystem till namnda fordonsinterna styrsystem, och varvid namnda fordonsinterna styr- system innefattar en styrenhet som ãr anordnad att validera namnda signal fran namnda externa styrsystem, varvid valideringen innefattar kontroll av atminstone ett pa forhand bestamt kriterium gallande signalens format och/eller frekvens och/eller kontrollsumma. 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 control of said motor vehicle; an in-house control system; and 4 - a data interface arranged in communicative connection with said external control system and said in-vehicle control system, said data interface being arranged to transmit said signal from said external control system to said in-vehicle control system, and said in-vehicle control system comprising a control unit arranged to validating said signal from said external control system, the validation comprising checking at least one predetermined criterion validating the format and / or frequency and / or checksum of the signal.
Enligt en aspekt av foreliggande uppfinning tillhandahdlles ett system far maj- liggorande av extern styrning av ett motorfordon innefattande: - ett externt styrsystem anordnat att generera en signal innefattande dtminstone en styrparameter far extern styrning av namnda motorfordon; - ett fordonsinternt styrsystem; och - ett datagranssnitt anordnat i kommunikativ forbindelse med namnda externa styrsystem och namnda fordonsinterna styrsystem, varvid namnda datagranssnitt är anordnat att overfara namnda signal fran namnda externa styrsystem till namnda fordonsinterna styrsystem, och varvid namnda fordonsinterna styrsystem innefattar en styrenhet som är anordnad att validera namnda signal fran namnda externa styrsystem, varvid valideringen innefattar kontroll av at- minstone ett pa forhand bestamt kriterium gallande signalens format och/eller frekvens och/eller kontrollsumma . 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; an in-house control system; and - a data interface arranged in communicative communication with said external control system and said in-vehicle control system, said data interface being arranged to transfer said signal from said external control system to said in-vehicle control system, and said in-vehicle control system comprising a control unit arranged to validate said signal from the said external control system, the validation comprising checking at least one predetermined criterion defining the format and / or frequency and / or checksum of the signal.
Faretradesvis ãr det externa styrsystemet anordnat att generera ett flertal sig- naler innefattande styrparametrar far autonom drift och/eller extern styrning av motorfordonet. Preferably, the external control system is arranged to generate a plurality of signals comprising control parameters for autonomous operation and / or external control of the motor vehicle.
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 styrparametrar. 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 control parameters.
Det fordonsinterna styrsystemet är foretradesvis en del av motorfordonet i dess grundutfOrande och styr motorfordonet när motorfordonet framfors bemannat av en operator/forare. Genom att anordna ett datagranssnitt hos motorfordonet i kommunikativ forbindelse med det externa styrsystemet och det fordonsinterna styrsystemet, mOjliggors tvavagskommunikation mellan det ex- terna styrsystemet och det fordonsinterna styrsystemet. Granssnittet ãr sale-des konfigurerat fOr kommunikation mellan det fordonsinterna styrsystemet och ett externt styrsystem. Granssnittet kan utgOra en del av det fordonsinterna styrsystemet. Pa sâ salt mOjliggOrs anvandande av ett pa marknaden redan befintligt externt styrsystem for autonom drift och/eller extern styrning, kopplat till motorfordonet. Motorfordonet behOver saledes inte vid tillverkning forses med kostsamma 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 ex- tern styrning till det fOr andamalet konfigurerade datagranssnittet och det for- donsinterna styrsystemet. Darmed astadkommes en tidseffektiv och kostnadseffektiv losning for mojliggorande 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 dâ det fordonsinterna styrsystemet kan innefatta information och funktioner som fordonstillverkaren ej vill att externa anvandare ska ha tillgang till. Samtidigt kan abstraktionsnivan hOjas gentemot det externa styrsystemet fOr att fOrenkla anvandandet. Pa samma satt medfor systemet enligt foreliggandet uppfinning att det externa styrsystemet inte kan ta Over motorfordonets styrning utan att dess signaler forst har passerat datagranssnittet. Datagranssnittet medfor aven att paverkan pa motorfordonet minimeras i de fall som inkoppling av det externa styrsystemet sker pa ett felaktigt satt. The in-vehicle steering system is preferably part of the motor vehicle in its basic version and steers the motor vehicle when the motor vehicle is driven manned by an operator / driver. By arranging a data interface of the motor vehicle in communicative connection with the external control system and the in-vehicle control system, two-way communication between the external control system and the in-vehicle control system is possible. The interface is configured for communication between the in-vehicle control system and an external control system. The interface can form part of the in-vehicle control system. In this way, it is possible to use an external control system already existing 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 time 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. This provides a time-efficient and cost-effective solution for enabling autonomous operation and / or external control of a motor vehicle. By first receiving the signal generated by the external control system at the data interface, the external control system's access is limited by the vehicle internal control system. This is particularly advantageous as the in-vehicle control system may 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 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 in an incorrect manner.
Motorfordonet kan saledes styras antingen manuellt av en operator hos motor- fordonet eller autonomt eller externt genom det externa styrsystemet. 6 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 operatoren 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. 6 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 tillhandahalls och installeras av en part annan an fordonstillverkaren. Det externa styrsystem 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 erhalla en god omvarldsuppfattning. Lampligen innefattar det externa styrsystemet aven at- minstone 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 obtaining a good perception of the outside world. The external control system also includes at least one control unit, which receives instructions regarding 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 icor 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 autonoma 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 styrparametrar fOr 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 icor from a position A to a position B. The said control unit can further be arranged in communicative connection with external units such as an electronic map database or other similar systems. , which may provide information which may 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 consist of vehicle weight, vehicle height, acceleration shape, etc. The said control unit further determines suitable control parameters for autonomous steering of the motor vehicle according to the determined route.
Styrparametrarna innefattar instruktioner pa en lag niva och kan avse styrvin- kel, lamplig vaxel, bromsverkan, acceleration och liknande detaljerade styrpa- 7 rametrar. Den av det externa styrsystemet genererade signalen innefattar atminstone en sadan lagnivastyrparameter. The steering parameters include instructions at a low level and can refer to steering angle, adjustable gear, braking action, acceleration 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 has det externa styrsystemet styrparametrar baserat pa en av en operator indikerad Onskad framfOring av motorfordonet. Med extern styrning kan avses fjarrstyrning av ett motorfordon medelst fjarrstyrningsorgan sá som en barbar dator, en fjarrkontroll, joystick eller liknande organ hanterade av en operatOr. Det externa styrsystemet kan exempelvis innefatta en dator arrangerad has 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 has 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. In the case of external control of the motor vehicle, the control unit determines whether the external control system has control parameters based on an undesired performance of the motor vehicle indicated by an operator. External control can refer to remote control of a motor vehicle by means of remote control means such as a barbaric computer, a remote control, joystick or similar means handled by an operator. The external control system may, for example, comprise a computer arranged within the vehicle and the interface may consist of a signal line, whereby an operator may at the push of a button, for example, wish to accelerate, decelerate, shift and / or swing the motor vehicle. The steering parameters have the signal from the external steering system includes, just as in the autonomous operation of the motor vehicle, instructions at a low level and can refer to steering angle, lamp gear, braking action, acceleration and similar detailed steering parameters.
En styrparameter kan aven benamnas begaran. Saledes till handahaller det externa styrsystem en begaran gallande exempelvis en hastighet, med vilken motorfordonet bar framforas. Begaran fran det externa styrsystemet overfors via datagranssnittet till det fordonsinterna styrsystemet, som bearbetar bega- ran och avgOr 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. 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 moment pa ratten has motorfordonet. 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 could be 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 decides whether the request is 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. 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 includes a request, which consists of an angular velocity and / or torque on the steering wheel of the motor vehicle.
Foretradesvis genererar det externa styrsystem fortlOpande ett flertal signaler varje innefattande en eller flera styrparametrar/begaran. 8 Genom att styrenheten hos det fordonsinterna styrsystemet validerar den inkommande signalen fran det externa styrsystemet astadkommes en kontroll fore ndmnda signal finals styra motorfordonet. Pa sa sat sdkerstalls att inga orimliga eller skadliga signaler, eller signaler som styrenheten inte kan tolka, styr motorfordonet. Detta är sdrskilt viktigt dâ signalen fran det externa styrsy- stemet innefattar styrparametrar pa lag niva. Faretradesvis inbegriper valideringen kontroll av ett flertal pa fOrhand bestamda kriterier. Den av det externa styrsystemet genererade signalens frekvens avser hur ofta signaler fran det externa styrsystemet sands. Exempelvis, i det fall signaler är avsedda att san- das var fyrtionde millisekund men ett avbrott uppstar, stoppar styrenheten den autonoma driften respektive den externa styrningen. Valideringen innebar att formatet med vilket kommunikation sker via datagranssnittet maste ske enligt tydligt definierade kriterier for att mottagas av det fordonsinterna styrsystemet. Pa sã salt sakerstalls att fordonstillverkaren har kontroll Over hur fordonet styrs och darmed framfOrs aven nãr ett externt styrsystem anvdnds fOr autonom drift och/eller extern styrning. Vidare sakerstalls att det externa styrsystemet är ett godkant och tillatet styrsystem for autonom drift och/eller extern styrning av fordonet. Preferably, the external control system continuously generates a plurality of signals each comprising one or more control parameters / requests. Because the control unit of the in-vehicle control system validates the incoming signal from the external control system, a control is provided for the said motor final control of the motor vehicle. In such a way, no stalling or harmful signals, or signals that the control unit cannot interpret, control the motor vehicle. This is especially important as the signal from the external control system includes control parameters at team level. In any case, the validation involves checking a number of pre-determined criteria. The frequency of the signal generated by the external control system refers to 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 and the external control, respectively. 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 such a case, it is ensured that the vehicle manufacturer has control over how the vehicle is steered and thus also driven 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 aspekt av fOreliggande uppfinning innefattar namnda fordonsinterna styrsystem manOvreringssystem, varvid ndmnda styrenhet är anordnad for kommunikation med ndmnda manOvreringssystem. According to one aspect of the present invention, said in-vehicle control system comprises control system, said control unit being arranged for communication with said control system.
FOretradesvis innefattar det fordonsinterna styrsystemet ett flertal styrenheter. Preferably, the in-vehicle control system comprises a plurality of control units.
Manovreringssystemen utgOrs lampligen av ett bromsstyrningssystem fOr styrning av exempelvis fdrdbroms, hjalpbroms och parkeringsbroms.. Med hjalpbroms kan avses retarder, avgasbroms, elektrisk hjalpbroms eller liknande. Manovreringssystemen utgors vidare lampligen ett motorstyrningssystem for styrning av motorfordonets motor och framforande samt ett vdxlingsstyrnings- system fOr styrning av vdxling hos motorfordonet. Manovreringssystemen ut- 9 gars sdledes av system, som via det fordonsinterna styrsystemets styrenhet paverkar bland annat motorfordonets hastighet och riktning. The maneuvering systems suitably consist of a brake control system for controlling, for example, the front brake, auxiliary brake and parking brake. Auxiliary brake can refer to retarder, exhaust brake, electric auxiliary brake or the like. The maneuvering systems further constitute an engine control system for controlling the motor vehicle's engine and driving 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 in-vehicle control system, influence, among other things, the speed and direction of the motor vehicle.
Enligt en aspekt av foreliggande uppfinning är namnda styrenhet hos namnda fordonsinterna styrsystem anordnad for kommunikation med namnda manov- reringssystem via en kommunikationsbuss. Kommunikationsbussen innefattar lampligen en CAN-buss eller annan standard fOr dataaverforing. According to one aspect of the present invention, said control unit of said in-vehicle control system is arranged for communication with said maneuvering system via a communication bus. The communication bus suitably comprises a CAN bus or other standard for data transmission.
Enligt en aspekt av fOreliggande uppfinning är namnda datagranssnitt anord- nat i kommunikativ forbindelse med namnda styrenhet hos namnda fordonsin- terna styrsystem. Styrenheten mottager darmed signalen som via datagranssnittet overfOrs fran det externa styrsystemet till det fordonsinterna styrsystemet. Enligt en aspekt av foreliggande uppfinning utgor namnda datagranssnitt en del av det fordonsinterna styrsystemets styrenhet. According to an aspect of the present invention, said data interface is arranged in communicative connection with said control unit of said vehicle control systems. The control unit thus receives the signal which is transmitted via the data interface from the external control system to the in-vehicle control system. According to one aspect of the present invention, said data interface forms part of the control unit of the in-vehicle control system.
Enligt en aspekt av fOreliggande uppfinning innefattar valideringen kontroll av dtminstone ett pa fOrhand bestamt kriterium avseende dtminstone en styrparameter hos signalen fran det externa styrsystemet. Lampligen innefattar sale-des valideringen av signalen fran det externa styrsystemet kontroll av dtmin- stone ett pa fOrhand bestamt kriterium avseende begat hastighet, broms, vdxel och/eller styrvinkel. FOretrddesvis kontrolleras om det pa forhand bestamda kriteriet avseende dtminstone en styrparameter hos signalen fran det externa styrsystemet är uppfyllt endast i de fall dal- det pa fOrhand bestamda kriteriet avseende signalens format och/eller frekvens och/eller kontrollsumma är uppfyllt. According to one aspect of the present invention, the validation comprises checking at least one predetermined criterion regarding at least one control parameter of the signal from the external control system. As a result, the validation of the signal from the external control system includes control of at least one predetermined criterion regarding requested speed, brake, gearshift and / or steering angle. Preferably, it is checked whether the predetermined criterion regarding at least one control parameter of the signal from the external control system is met only in cases where the predetermined criterion regarding the format and / or frequency and / or checksum of the signal is met.
Enligt en aspekt av foreliggande uppfinning är styrenheten hos namnda fordonsinterna styrsystem anordnad att modifiera namnda signal fran namnda externa styrsystem nar det dtminstone ena pa fOrhand bestamda kriteriet av- seende signalens styrparametrar ej är uppfyllt. Signalen frdn det externa styr- systemet innefattar som tidigare namnts dtminstone en styrparameter. I vissa fall är operatOren av motorfordonet och/eller motorfordonet dlagt med be- gransningar gallande exempelvis hastighet, styrvinkel, vaxelval eller liknande. Operatoren kan exempelvis vara begransad till att framfOra motorfordonet autonomt med en pa fOrhand bestamd maximal hastighet. Det atminstone ena pa forhand bestamda kriteriet avseende signalens styrparametrar kan da vara att den begarda hastigheten maste vara under eller lika med den bestamda max- imala hastigheten. Om signalen fran det externa styrsystemet uppvisar en begard hastighet som overstiger namnda maximala hastighet, modifieras signalen fran det externa styrsystemet hos styrenheten, sá att den uppvisar en hastighet som Overensstammer med den tillatna maximala hastigheten. According to one aspect of the present invention, the control unit of said in-vehicle control system is arranged to modify said signal from said external control system when at least one predetermined criterion regarding the control parameters of the signal is not met. The signal from the external control system includes, as previously mentioned, at least one control parameter. In some cases, the operator of the motor vehicle and / or motor vehicle is subject to restrictions such as speed, steering angle, gear selection or the like. The operator may, for example, be limited to driving the motor vehicle autonomously at a predetermined maximum speed. The at least one predetermined criterion regarding the control parameters of the signal may then be that the requested speed must be below or equal to the determined maximum speed. If the signal from the external control system has a requested speed which exceeds said maximum speed, the signal from the external control system of the control unit is modified so that it has a speed which corresponds to the permitted maximum speed.
Lampligen modifieras den fran det externa styrsystemet genererade signalen, sâ att motorfordonet inte i onodan forsetts i situationer som kan vara skadliga for motorfordonet och/eller dess omgivning. En modifiering av signalen fran det externa styrsystemet kan exempelvis utf6ras dã signalen fran det externa styrsystemet innehaller samtidig begaran om gas/hastighet/acceleration och broms/deceleration. Modifiering av signalen fran det externa styrsystemet kan exempelvis utforas nar signalen fran det externa styrsystemet innehaller begaran om att lagga i backvaxeln eller neutrallage samtidigt som motorfordonet framfors med en hastighet. Modifiering av signalen fran det externa styrsyste- met kan exempelvis utforas nar signalen fran det externa styrsystemet innehal- ler samtidig begaran om kraftig acceleration och styrvinkel. Modifiering av signalen fran det externa styrsystemet kan exempelvis utfOras nar signalen fran det externa styrsystemet innehaller begaran om att tippa ett flak samtidigt som motorfordonet framfors med en far tippning fOr hOg hastighet. Modifiering av signalen fran det externa styrsystemet medfOr saledes att den modifierade signalen innefattar en begaran/styrparameter som skiljer sig fran den ursprungliga begaran/styrparametern hos signalen fran det externa styrsystemet. Modifieringen av signalen fran det externa styrsystemet medfor aven bearbetning av signalen sa att den modifierade signalen uppvisar ett format som ma- novreringssystemen fOrvantar sig och kan tolka. Den modifierade signalen overfOrs darefter till manOvreringssystemen och styr motorfordonet. 11 Enligt en aspekt av foreliggande uppfinning är namnda styrenhet anordnad att, dâ ndmnda signal fran namnda externa styrsystem uppfyller det vid valideringen kontrollerade atminstone ena pa forhand bestamda kriteriet avseende signalens format och/eller frekvens och/eller kontrollsumma, bearbe- ta/behandla/processa/omvandla ndmnda signal fran ndmnda externa styrsy- stem samt Overfora namnda bearbetade signal till namnda manovreringssystern. Foretrddesvis kontrollerar styrenheten hos det fordonsinterna styrsystemet vid valideringen att signalen fran det externa styrsystemet uppfyller ett flertal pa fOrhand bestdmda kriterier, varvid styrenheten bearbetar signalen och overt!' den till ndmnda manovreringssystem. The signal generated by the external control system is suitably modified so that the motor vehicle is not unnecessarily continued in situations which may be harmful to the motor vehicle and / or its surroundings. A modification of the signal from the external control system can be performed, for example, when the signal from the external control system simultaneously contains the request for gas / speed / acceleration and brake / deceleration. Modification of the signal from the external control system can be performed, for example, when the signal from the external control system contains the request to engage the reverse gear or neutral bearing while the motor vehicle is being driven at a speed. Modification of the signal from the external control system can be performed, for example, when the signal from the external control system also contains the request for strong acceleration and steering angle. Modification of the signal from the external control system can be performed, for example, when the signal from the external control system contains the request to tip a flatbed at the same time as the motor vehicle is driven at a high tipping speed. Modification of the signal from the external control system thus means that the modified signal comprises a request / control parameter which differs from the original request / control parameter of the signal from the external control system. The modification of the signal from the external control system also involves processing of the signal so that the modified signal has a format that the operating systems anticipate and can interpret. The modified signal is then transmitted to the maneuvering systems and controls the motor vehicle. According to an aspect of the present invention, said control unit is arranged that, if said signal from said external control system meets the at least one predetermined criterion checked during the validation regarding the signal format and / or frequency and / or checksum, process / process / process / convert said signal from said external control system and Transfer said processed signal to said maneuvering system. Preferably, during the validation, the control unit of the in-vehicle control system checks that the signal from the external control system meets a number of predetermined criteria, the control unit processing the signal and so on! ' it to the said maneuvering system.
I de fall dâ ndmnda signal fran namnda externa styrsystem uppfyller det vid valideringen kontrollerade atminstone ena pa farhand bestdmda kriteriet avseende signalens format och/eller frekvens och/eller kontrollsumma och dven uppfyller det atminstone ena pa fOrhand bestdmda kriteriet avseende atmin- stone en styrparameter hos signalen, bearbetas/behandlas/processas/omvandlas ndmnda signal fran ndmnda externa styrsystem varvid namnda bearbetade signal overfors till ndmnda manovreringssystem. In cases where the said signal from said external control system meets the validated at least one predetermined criterion regarding the format and / or frequency and / or checksum of the signal checked and also meets at least one predetermined criterion regarding at least one control parameter of the signal , said / processed / processed / converted said signal from said external control system, said processed signal being transmitted to said maneuvering system.
Styrenheten bearbetar lampligen signalen fran det externa styrsystemet sã att den bearbetade signalen uppvisar ett format som manovreringssystemen hos det fordonsinterna styrsystemet fOrvantar sig och kan tolka. Den bearbetade signalen innefattar saledes samma begaran/styrparameter som signalen fran det externa styrsystemet men uppvisar ett annat format. Genom att OverfOra den bearbetade signalen till manovreringssystemen styrs manovreringssystemen i enlighet med styrparametrarna hos signalen fran det externa styrsystemet. Pa sa satt astadkommes autonom drift respektive extern styrning av motorfordonet genom det externa styrsystemet. The control unit suitably processes the signal from the external control system so that the processed signal has a format which the maneuvering systems of the in-vehicle control system anticipate and can interpret. The processed signal thus comprises the same request / control parameter as the signal from the external control system but has a different format. By transferring the processed signal to the maneuvering systems, the maneuvering systems are controlled in accordance with the control parameters of the signal from the external control system. In this way, autonomous operation and external control of the motor vehicle is achieved through the external control system.
Enligt en aspekt av fOreliggande uppfinning ãr namnda styrenhet hos det fordonsinterna styrsystemet anordnad att generera en signal Mr intern styrning ay 12 namnda motorfordon, dã namnda signal frail namnda externa styrsystem vid valideringen ej uppfyller det atminstone ena pa forhand bestamda kriteriet avseende signalens format och/eller frekvens och/eller kontrollsumma. Alternativt as namnda styrenhet anordnad att generera en signal far intern styrning av namnda motorfordon, dã namnda signal vid valideringen ej uppfyller det at- minstone ena pa forhand bestamda kriteriet avseende atminstone en styrparameter hos signalen. Pa sa salt a'stadkommes en intern styrning av motorfordonet nar signalen fran det externa styrsystemet ej uppfyller ett pa farhand bestamt kriterium. Faretradesvis innefattar signalen far intern styrning styrpa- rametrar, 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. According to one aspect of the present invention, said control unit of the internal vehicle control system is arranged to generate a signal Mr internal control of said motor vehicle, then said signal from said external control system upon validation does not meet at least one predetermined criterion regarding signal format and / or frequency and / or checksum. Alternatively, if said control unit is arranged to generate a signal for internal control of said motor vehicle, then said signal during the validation does not meet at least one predetermined criterion regarding at least one control parameter of the signal. In this case, an internal control of the motor vehicle is achieved when the signal from the external control system does not meet a criterion determined in advance. The danger signal includes internal control control parameters, which 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 that cause the motor vehicle to be braked and / or stopped / parked.
Enligt en aspekt av fareliggande uppfinning genererar styrenheten hos det for- donsinterna styrsystemet en signal far intern styrning av motorfordonet dá granssnittet och/eller det fordonsinterna styrsystemet under pagaende auto-nom drift eller extern styrning inte mottager flagon signal ails fran det externa styrsystemet. Pa. sâ salt kan det interna styrsystemet exempelvis stanna mo- torfordonet nar den autonoma driften eller externa styrningen av nagon anled- ning 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 of the in-vehicle control system generates a signal for internal control of the motor vehicle when the interface and / or the in-vehicle control system during ongoing auto operation or external control does not receive flag signal ails from the external control system. Pa. such salt, the internal control system can, for example, stop the motor vehicle when the autonomous operation or external control for some reason has been interrupted. This protects both the motor vehicle and objects and / or people in its vicinity.
Enligt en aspekt av fareliggande uppfinning är namnda styrenhet hos det for- donsinterna styrsystemet anordnad att generera en signal innefattande infor- mation am att namnda fordonsinterna styrsystem styr namnda motorfordon, dâ namnda signal fran namnda externa styrsystem vid valideringen ej uppfyller det atminstone ena pa forhand bestamda kriteriet avseende signalens format och/eller frekvens och/eller kontrollsumma och dar namnda styrenhet ar an- ordnad att overfara namnda signal fran namnda fordonsinterna styrsystem till namnda externa styrsystem via namnda granssnitt. Alternativt ãr namnda styrenhet hos det fordonsinterna styrsystemet anordnad att generera en signal 13 innefattande information om att ndmnda fordonsinterna styrsystem styr namnda motorfordon, dã namnda signal vid valideringen ej uppfyller det atminstone ena pa forhand bestdmda kriteriet avseende atminstone en styrparameter hos signalen och dar namnda styrenhet är anordnad att Overfora namnda signal fran namnda fordonsinterna styrsystem till namnda externa styrsystem via namnda granssnitt. Pa sa sat erhaller det externa styrsystemet, och ddrmed operatoren, information om att det inte styr motorfordonet och vad anledningen till detta dr. According to one aspect of the present invention, said control unit of the in-vehicle control system is arranged to generate a signal comprising information that said in-vehicle control system controls said motor vehicle, then said signal from said external control system upon validation does not meet at least one predetermined the criterion regarding the signal format and / or frequency and / or checksum and where said control unit is arranged to transfer said signal from said in-vehicle control system to said external control system via said interface. Alternatively, said control unit of the in-vehicle control system is arranged to generate a signal 13 comprising information that said in-vehicle control system controls said motor vehicle, then said signal during validation does not meet the at least one predetermined criterion regarding at least one control parameter of the signal and said control unit. arranged to transfer said signal from said in-vehicle control system to said external control system via said interface. In this way, the external control system, and thus the operator, receives information that it does not control the motor vehicle and what the reason for this is.
Enligt en aspekt av foreliggande uppfinning är namnda styrenhet anordnad att avbryta autonom drift respektive extern styrning av ndmnda motorfordon dâ ndmnda styrenhet mottager en signal fran atminstone ett operatorsreglage hos ndmnda motorfordon. According to an aspect of the present invention, said control unit is arranged to interrupt autonomous operation and external control of said motor vehicle, respectively, said control unit receiving a signal from at least one operator control of said motor vehicle.
Nar motorfordonet framfOrs manuellt av en operator lokaliserad hos motorfor- donet, styrs det fOretradesvis genom att operatOren paverkar ett eller flera operatorsreglage. OperatOrsreglage hos motorfordonet utgors enligt en utforingsform av reglage som kan manovreras direkt av operatoren när operatOren är lokaliserad inuti motorfordonets forarhytt. Exempel pa operatorsreglage är ratt, gaspedal, bromspedal, vaxelspak, signaleringsorgan etc. Merparten av opera- torsreglagen inuti motorfordonets forarhytt är lampligen kopplade till nagot av manovreringssystemen. Enligt en utforingsform utgOr operatorsreglaget ett reglage, som ej är kopplat till ett manOvreringssystem, sasom en knapp som indikerar att operatOren vill framfora motorfordonet manuellt. Signaler fran ope- ratOrsreglagen skickas till styrenheten hos det fordonsinterna styrsystemet som overfOr signalerna till manovreringssystemen. Signalerna fran operatorsreglagen innefattar lampligen styrparametrar sa som hastig het, bromsverkan, styrvinkel, onskad vaxel och liknande. Pa sa sdtt framfOrs motorfordonet manuellt. When the motor vehicle is driven manually by an operator located at the motor vehicle, it is preferably controlled by the operator influencing one or more operator controls. The operator controls of the motor vehicle are according to an embodiment of controls that can be maneuvered directly by the operator when the operator is located inside the driver's cab of the motor vehicle. Examples of operator controls are steering wheel, accelerator pedal, brake pedal, gear lever, signaling means, etc. Most of the operator controls inside the motor vehicle's cab are aptly connected to some of the maneuvering systems. According to one embodiment, the operator control is a control, which is not connected to a maneuvering system, such as a button indicating that the operator wants to drive the motor vehicle manually. Signals from the operator controls are sent to the control unit of the in-vehicle control system which transmits the signals to the control systems. The signals from the operator controls suitably include control parameters such as speed, braking action, steering angle, desired gear and the like. In this way, the motor vehicle is driven manually.
Nar motorfordonet framfOrs autonomt eller via extern styrning är det signalen fran det externa styrsystemet som bearbetas och OverfOrs, via styrenheten, till 14 manovreringssystemen och darmed styr motorfordonet. Genom att forhindra overforingen av signalen fran det externa styrsystemet till manovreringssystemen, och clamed forhindra den autonoma driften respektive den externa styrningen, nar styrenheten mottager en signal fran ett operatarsreglage, saker- stalls att motorfordonet ej tillâts framforas autonomt eller externt nar indikatio- nen ges att en person befinner sig inuti motorfordonet och vill framfora motorfordonet manuellt. Darmed sakerstalls att manuell drift av motorfordonet prioriteras framfar autonom drift respektive extern styrning. When the motor vehicle is driven autonomously or via external control, it is the signal from the external control system that is processed and transferred, via the control unit, to the 14 maneuvering systems and thus controls the motor vehicle. By preventing the transmission of the signal from the external control system to the maneuvering systems, and clamed prevent the autonomous operation and the external control, respectively, when the control unit receives a signal from an operator control, ensure that the motor vehicle is not allowed to drive autonomously or externally when the indication is given a person is inside the motor vehicle and wants to drive the motor vehicle manually. This means that manual operation of the motor vehicle is given priority over autonomous operation and external control, respectively.
Enligt en aspekt av foreliggande uppfinning tillhandahalles ett forfarande far mojliggorande av autonom drift och/eller extern styrning av ett motorfordon innefattande stegen att: - generera en signal innefattande atminstone en styrparameter for autonom drift och/eller extern styrning av namnda motorfordon medelst ett externt styr- system; - via ett datagranssnitt overfora namnda signal fran namnda externa styrsystem till ett fordonsinternt styrsystem varvid namnda fordonsinterna styrsystem innefattar en styrenhet samt manovreringssystem; och - validera namnda signal fran nannnda externa styrsystem medelst namnda styrenhet hos namnda fordonsinterna styrsystem, varvid valideringen innefattar kontroll av atminstone ett pa farhand bestamt kriterium gallande signalens for- mat och/eller frekvens och/eller kontrollsumma. 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 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 transmitting said signal from said external control system to an in-house control system, said in-vehicle control system comprising a control unit and a maneuvering system; and - validating said signal from said external control system by means of said control unit of said in-vehicle control system, the validation comprising checking at least one predetermined criterion defining the format and / or frequency and / or checksum of the signal.
Enligt en aspekt av fareliggande uppfinning tillhandahalles ett farfarande far majliggarande av autonom drift av ett motorfordon innefattande stegen att: - generera en signal innefattande atminstone en styrparameter far autonom styrning av namnda motorfordon medelst ett externt styrsystem; - via ett datagranssnitt overfora namnda signal fran namnda externa styrsystern till ett fordonsinternt styrsystem varvid namnda fordonsinterna styrsystem innefattar en styrenhet samt manovreringssystem; och - validera namnda signal fran namnda externa styrsystem medelst namnda styrenhet hos namnda fordonsinterna styrsystem, varvid valideringen innefattar kontroll av atminstone ett pa forhand bestamt kriterium gallande signalens format och/eller frekvens och/eller kontrollsumma. According to an 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 control of said motor vehicle by means of an external control system; via a data interface transmitting said signal from said external control system to an in-house control system, said in-vehicle control system comprising a control unit and a maneuvering system; and - validating said signal from said external control system by means of said control unit of said in-vehicle control system, the validation comprising checking at least one predetermined criterion defining the format and / or frequency and / or checksum of the signal.
Enligt en aspekt av foreliggande uppfinning tillhandahalles ett forfarande far mojliggorande av extern styrning av ett motorfordon innefattande stegen att: - generera en signal innefattande atminstone en styrparameter for extern styrning av namnda motorfordon medelst ett externt styrsystem; och - via ett datagranssnitt overfara namnda signal fran namnda externa styrsystern till ett fordonsinternt styrsystem varvid namnda fordonsinterna styrsystem innefattar en styrenhet samt manovreringssystem; och - validera namnda signal fran namnda externa styrsystem medelst namnda styrenhet hos namnda fordonsinterna styrsystem, varvid valideringen innefattar kontroll av atminstone ett pa farhand bestamt kriterium gallande signalens format och/eller frekvens och/eller kontrollsumma. According to an aspect of the present invention, there is provided a method for 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; and - transmitting via a data interface said signal from said external control system to an in-house control system, said in-vehicle control system comprising a control unit and a maneuvering system; and - validating said signal from said external control system by means of said control unit of said in-vehicle control system, the validation comprising checking at least one predetermined criterion defining the format and / or frequency and / or checksum of the signal.
Enligt en aspekt av fareliggande uppfinning innefattar valideringen kontroll av atminstone ett pa forhand bestamt kriterium avseende atminstone en styrparameter hos signalen. Lampligen avser det atminstone ena pa forhand bestamda kriteriet begard hasighet, broms, vaxel och/eller styrvinkel. According to one aspect of the present invention, the validation comprises checking at least one predetermined criterion regarding at least one control parameter of the signal. In light of this, the at least one predetermined criterion refers to the required speed, brake, gear and / or steering angle.
Enligt en aspekt av foreliggande uppfinning innefattar forfarandet steget att, dâ det atminstone ena pa forhand bestamda kriteriet avseende atminstone en styrparameter hos signalen ej är uppfyllt: - modifiera namnda signal fran namnda externa styrsystem medelst namnda styrenhet, sâ att den modifierande signalen innefattar atminstone en styrpara- meter som skiljer sig fran den ursprungliga styrparametern hos signalen fran det externa styrsystemet; och att - overfora namnda modifierade signal fran namnda styrenhet till namnda manavreringssystem hos namnda fordonsinterna styrsystem Enligt en aspekt av foreliggande uppfinning innefattar forfarandet vidare ste- gen att, dã namnda signal fran namnda externa styrsystem vid valideringen 16 uppfyller det atminstone ena pa fOrhand bestamda kriteriet avseende signalens format och/eller frekvens och/eller kontrollsumma: - bearbeta namnda signal fran namnda externa styrsystem, medelst namnda styrenhet; och att - overfora namnda bearbetade signal fran namnda styrenhet till namnda ma- nOvreringssystem hos namnda fordonsinterna styrsystem. According to one aspect of the present invention, the method comprises the step of, when the at least one predetermined criterion regarding at least one control parameter of the signal is not met: - modifying said signal from said external control system by means of said control unit, so that the modifying signal comprises at least one control pair meters that differ from the original control parameter of the signal from the external control system; and - transmitting said modified signal from said control unit to said operating system of said in-vehicle control system. According to one aspect of the present invention, the method further comprises the steps of, then said signal from said external control system upon validation 16 satisfies at least one predetermined criterion of the format and / or frequency and / or checksum format of the signal: - processing said signal from said external control system, by means of said control unit; and - transmitting said processed signal from said control unit to said maneuvering system of said in-vehicle control system.
Enligt en aspekt av fOreliggande uppfinning innefattar fOrfarandet stegen att dá namnda signal fran namnda externa styrsystem vid valideringen ej uppfyller det pa forhand bestamda kriteriet avseende signalens format och/eller fre- kvens och/eller kontrollsumma: - generera en signal fOr intern styrning av namnda fordon medelst namnda styrenhet; och att - overfora namnda signal Iran styrenheten till namnda manovreringssystem. According to an aspect of the present invention, the method comprises the steps of said signal from said external control system upon validation not meeting the predetermined criterion regarding the signal format and / or frequency and / or checksum: - generating a signal for internal control of said vehicle by means of said control unit; and - transferring said signal Iran control unit to said maneuvering system.
I det fall dâ en signal fran det externa styrsystemet vid valideringen uppvisar egenskaper som inte stammer Overens med atminstone ett pa forhand bestamt kriterium avseende signalens format och/eller frekvens och/eller kontrollsumma, exempelvis att signalen fran det externa styrsystemet sands med en felak- tig frekvens, stoppas signalen hos styrenheten och overfOrs darmed inte till manovreringssystemen. lstallet genererar styrenheten en signal for intern styrning av motorfordonet och overfOr namnda signal till manOvreringssystemen. In the event that a signal from the external control system during validation exhibits properties that do not agree with at least one predetermined criterion regarding the signal's format and / or frequency and / or checksum, for example that the signal from the external control system is sent with an incorrect frequency, the signal is stopped at the control unit and thus not transferred to the maneuvering systems. Instead, the control unit generates a signal for internal control of the motor vehicle and transmits the said signal to the control systems.
FOretradesvis innefattar signalen, som styrenheten genererar fOr intern styr- ning av motorfordonet, styrparametrar fOr att stanna motorfordonet. Saledes forhindras den autonoma driften respektive den externa styrningen av motorfordonet och motorfordonet stannar, nar signalen fran det externa styrsystemet inte uppfyller ett pa f6rhand bestamt kriterium. Genom att stanna fordonet nar den autonoma driften/externa styrningen ar osaker sakerstalls att motorfordo- net inte framfors pa ett felaktigt och farligt salt. Darmed skyddas bade motor- fordonet och objekt och personer i dess omgivning. Pa sâ satt astadkommes ett fOr omgivningen sakert f6rfarande fOr autonom drift och/eller extern styrning 17 av ett motorfordon samt ett far namnda motorfordon sakert forfarande for autonom drift och/eller extern styrning av ett motorfordon. Preferably, the signal generated by the control unit for internal control of the motor vehicle includes control parameters for stopping the motor vehicle. Thus, the autonomous operation and the external control of the motor vehicle are prevented and the motor vehicle stops when the signal from the external control system does not meet a predetermined criterion. By stopping the vehicle when the autonomous operation / external control is in place, it is ensured that the motor vehicle is not driven on a faulty and dangerous salt. This protects both the motor vehicle and objects and people in its vicinity. In this way, an environmentally safe procedure for autonomous operation and / or external steering 17 of a motor vehicle is provided, as well as a motor vehicle for the said vehicle for safe operation and / or external control of a motor vehicle.
Enligt en aspekt av foreliggande uppfinning innefattar forfarandet stegen att: - generera en signal innefattande information om att namnda fordonsinterna styrsystem styr namnda fordon medelst namnda styrenhet, och - overfora namnda signal Iran namnda fordonsinterna styrsystem till namnda externa styrsystem via namnda datagranssnitt. According to one aspect of the present invention, the method comprises the steps of: - generating a signal comprising information that said in-vehicle control system controls said vehicle by means of said control unit, and - transmitting said signal Iran said in-vehicle control system to said external control system via said data interface.
I de fall da signalen fran det externa styrsystemet vid valideringen uppvisar egenskaper som inte uppfyller atminstone ett pa forhand bestamt kriterium, exempelvis en felaktig frekvens, stoppas signalen hos styrenheten och Over-fors darmed inte till manavreringssystemen. Styrenheten genererar dã en signal om att det fordonsinterna styrsystemet styr motorfordonet och overfar den signalen till det externa styrsystemet. Pa sa salt erhaller det externa styrsy- stemet information om att det inte styr motorfordonet. In cases where the signal from the external control system during validation exhibits properties which do not meet at least one predetermined criterion, for example an incorrect frequency, the signal is stopped at the control unit and thus does not transfer to the operating systems. The control unit then generates a signal that the in-vehicle control system controls the motor vehicle and transmits that signal to the external control system. On such salt, the external steering system receives information that it does not steer the motor vehicle.
Enligt en aspekt av foreliggande uppfinning innefattar forfarandet steget att - forhindra autonom drift och/eller extern styrning av namnda motorfordon pa basis av en signal fran atminstone ett operatorsreglage hos namnda motorfor- don. According to one aspect of the present invention, the method comprises the step of - preventing autonomous operation and / or external control of said motor vehicle on the basis of a signal from at least one operator control of said motor vehicle.
Enligt en aspekt av fareliggande uppfinning tillhandahalls ett system och farfarande far majliggarande av autonom drift av ett motorfordon. Enligt en aspekt av fareliggande uppfinning tillhandahalls ett system och farfarande far majlig- gorande av extern styrning av ett motorfordon. Enligt en aspekt av fareliggande uppfinning tillhandahalls ett system och forfarande for mojliggorande av autonom drift och/eller extern styrning av ett motorfordon. 18 De hari beskrivna systemen och forfarandena kan anpassas fOr bade autonom drift, extern styrning samt autonom drift och/eller extern styrning av namnda motorfordon. Med extern styrning kan avses fjarrstyrning av ett motorfordon. According to one aspect of the present invention, there is provided a system and method for locating autonomous operation 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 and / or external control of a motor vehicle. 18 The systems and procedures described herein can be adapted for both autonomous operation, external control and autonomous operation and / or external control of said motor vehicle. External control can refer to remote control of a motor vehicle.
Ovanstaende syften uppnas ocksa med ett motorfordon innefattande ett sy- stern fOr autonom drift och/eller extern styrning. Motorfordonet kan vara en lastbil, buss eller personbil. Namnda motorfordon kan vara nagot av en lastbil, buss, skogsmaskin, gruvmaskin, hjullastare eller personbil. The above objects are also achieved with a motor vehicle including a system for 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.
Enligt en aspekt av uppfinningen tillhandahalls ett datorprogram, dar namnda datorprogram innefattar programkod for att utfora fOrfarandestegen enligt nã-got av krav 9-15, da 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 9-15, wherein said computer program is crossed on a computer.
Enligt en aspekt av uppfinningen tillhandahalls en datorprogramprodukt inne- fattande en programkod fOr att utfora forfarandestegen enligt nagot av krav 9- 15, dâ namnda datorprogram kOrs pa en dator. According to one aspect of the invention, there is provided a computer program product comprising a program code for performing the procedure steps according to any one of claims 9 to 15, wherein said computer program is run on a computer.
Enligt en aspekt av uppfinningen tillhandahalls ett datorprogram, dar namnda datorprogram innefattar programkod for att utfora forfarandestegen enligt nâ- got av krav 9-15, nar namnda datorprogram kOrs pa en elektronisk styrenhet. According to one aspect of the invention, there is provided a computer program, wherein said computer program includes program code for performing the procedure steps according to any of claims 9-15, when said computer program is run 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 forfarandestegen enligt nagot av krav 9-15, 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 the method steps of any of claims 9-15, when said program code is run on an electronic controller.
Enligt en aspekt av foreliggande uppfinning tillhandahalls en datorprogramprodukt innefattande en programkod lagrad pa ett, av en dator lasbart, medium fOr att utfora forfarandestegen enligt nagot av krav 9-15, nar namnda programkod kOrs pa en dator. 19 Enligt en aspekt av foreliggande uppfinning tillhandahdlls en datorprogramprodukt direkt lagrad pa ett internt minne hos en dator, innefattande ett datorprogram innefattande programkod anordnat att utfora forfarandestegen enligt krav 9-15, da namnda datorprogram kors pd 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 the method steps of any of claims 9-15, when said program code is executed on a computer. 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 the method steps according to claims 9-15, said computer program being crossed on an electronic control unit.
Ytterligare syften, fordelar och nya sardrag hos den foreliggande uppfinningen kommer att framga far fackmannen av foljande detaljer, liksom via utavning av uppfinningen. Medan uppfinningen ãr beskriven nedan, bar det framgã att uppfinningen inte är begransad till de specifika beskrivna detaljerna. Fackman som har tillgang till larorna han kommer att karma igen ytterligare applikationer, modifieringar och inforlivanden inom andra omraden, vilka an inom omfanget for uppfinningen. 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 practice of the invention. While the invention is described below, it was apparent that the invention is not limited to the specific details described. Those skilled in the art having access to the teachings will again appreciate further applications, modifications and incorporations within other fields which fall within the scope of the invention.
KORT BESKRIVNING AV RITNINGARNA I det foljande beskrivs, sasom ett exempel, foredragna utforingsformer av uppfinningen med hanvisning till bifogade ritningar, pa vilka: Fig. 1visar en schematisk sidovy av ett fordon; Fig. 2visar schematiskt ett system for majliggorande av autonom drift och/eller extern styrning av ett motorfordon enligt en utfaringsform av foreliggande uppfinning; Fig. 3avisar ett flodesschema for ett farfarande for majliggorande av au- tonom drift och/eller extern styrning av ett motorfordon enligt en utforingsform av foreliggande uppfinning; Fig. 3bvisar ett flodesschema for ett farfarande for majliggorande av au- tonom drift och/eller extern styrning av ett motorfordon enligt en utfaringsform av fareliggande uppfinning; Fig. 3c visar ett flodesschema for ett farfarande far majliggorande av autonom drift och/eller extern styrning av ett motorfordon enligt en utforingsform av foreliggande uppfinning; visar ett fladesschema far ett forfarande for majliggorande av autonom drift och/eller extern styrning av ett motorfordon enligt en utfaringsform av fareliggande uppfinning; och Fig. 3d Fig. 4schematiskt illustrerar en dator, enligt en utfaringsform av forelig- gande uppfinning. BRIEF DESCRIPTION OF THE DRAWINGS In the following, as an example, preferred embodiments of the invention are described with reference to the accompanying drawings, in 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. 3 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. 3b shows a flow chart of a procedure for enabling autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention; Fig. 3c shows a flow chart of a procedure for automating autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention; shows a flow chart showing a method for enabling autonomous operation and / or external control of a motor vehicle according to an embodiment of the present invention; and Fig. 3d Fig. 4 schematically illustrates a computer, according to an embodiment of the present invention.
DETALJERAD BESKRIVNING AV UPPFINNINGEN Hari hanfOr sig termen "lank" till en kommunikationslank som kan vara en fy- sisk ledning, sasom en opto-elektronisk kommunikationsledning, eller en ickefysisk ledning, sasom en tradlos anslutning, till exempel en radio- eller mikrovagslank. DETAILED DESCRIPTION OF THE INVENTION The term "lank" refers to a communication line which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a wireless connection, for example a radio or microwave line.
Med hanvisning till Figur 1 visas en sidovy av ett motorfordon 100. Det exemp- lifierade motorfordonet 100 bestar av en dragbil 110 och en slapvagn 112. Motorfordonet kan vara ett tungt fordon, sasom en lastbil, buss, hjullastare, skogsmaskin, dumper, gruvmaskin, bandvagn eller stridsvagn. Motorfordonet kan alternativt vara en personbil. Motorfordonet 100 kan enligt ett utfarande vara ett hybridfordon. Motorfordonet 100 kan enligt ett utfarande vara ett elf or- don med en elektrisk motor. Motorfordonet innefattar ett system 200 far mojliggorande av autonom drift och/eller extern styrning av motorfordonet. Uppfinningen är med fardel applicerbar pa fordon i samband med gruvdrift. Referring to Figure 1, a side view of a motor vehicle 100 is shown. The exemplary motor vehicle 100 consists of a tractor 110 and a trailer 112. The motor vehicle may be a heavy vehicle, such as a truck, bus, wheel loader, forestry machine, dump truck, mining machine, bandwagon or tank. The motor vehicle can alternatively be a car. According to one method, the motor vehicle 100 may be a hybrid vehicle. According to one embodiment, the motor vehicle 100 may be an eleven vehicle with an electric motor. The motor vehicle comprises a system 200 enabling autonomous operation and / or external control of the motor vehicle. The invention is applicable to vehicles in connection with mining operations.
Med hanvisning till Figur 2 visas ett system 200 for mojliggorande av autonom drift och/eller extern styrning av ett motorfordon 100. Systemet 200 innefattar ett externt styrsystem 205, ett datagranssnitt 210 samt ett fordonsinternt styr- 21 system 270. Det externa styrsystemet 205 är tillverkat av en tredjepartsleverant& och är ett styrsystem for autonom drift och/eller extern styrning av ett motorfordon. Referring to Figure 2, there is shown a system 200 for enabling autonomous operation and / or external control of a motor vehicle 100. 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 is fabricated by a third party supplier & and is 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, laserorgan eller liknande (ej visade). Sensororganen kan vara placerade hos motorfordonet 100 och/eller externt motorfordonet 100. Det externa styrsystemet 205 innefattar enligt en utfOringsform vidare atminstone en styrenhet (ej visad) lampligen anordnad hos motorfordonet 100. According to one embodiment, the external control system 205 comprises sensor means such as cameras, radar means, laser means or the like (not shown). The sensor means may be located on the motor vehicle 100 and / or externally on the motor vehicle 100. According to one embodiment, the external control system 205 further comprises at least one control unit (not shown) suitably arranged on the motor vehicle 100.
Namnda styrenhet bearbetar signalerna fran respektive sensororgan. Namnda styrenhet kan vidare vara anordnad i kommunikativ forbindelse med externa enheter sasom en elektronisk kartdatabas eller andra liknande system eller mjukvaror som kan bidra med information som kan paverka den autonoma driften och/eller den externa styrningen av namnda motorfordon 100. 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 or software which may contribute information which may affect the autonomous operation and / or the external control of said motor vehicle 100.
Det externa styrsystemet 205 är anordnat att fortlOpande generera en signal Si, innefattande atminstone en styrparameter for autonom och/eller extern styrning av namnda motorfordon 100. Det externa styrsystemet 205 är anordnat att fortlopande generera en signal Si, innefattande atminstone en styrpa- rameter/begaran pa lag niva, sa som en hastighetsbegaran, bromsbegaran, styrvinkelbegaran eller liknande. Det externa styrsystemet 205 är vidare anordnat att fortlopande skicka namnda signal Si till datagranssnittet 210 Over en lank L205. 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 cup, brake cup, steering angle cup or the like. The external control system 205 is further arranged to continuously send said signal Si to the data interface 210 over a line L205.
Det fordonsinterna styrsystemet 270 innefattar en styrenhet 220 samt manOv- reringssystem 230, 240, 250. Styrenheten 220 är anordnad i kommunikativ forbindelse med manovreringssystemen 230, 240, 250 genom en lank L220 och med datagranssnittet 210 genom en lank L210. Lanken L220 är enligt en utforingsform en kommunikationsbuss, foretradesvis en CAN-buss. The in-vehicle control system 270 comprises a control unit 220 and operating systems 230, 240, 250. The control unit 220 is arranged in communicative connection with the operating systems 230, 240, 250 through a long L220 and with the data interface 210 through a long L210. The link L220 is according to one embodiment a communication bus, preferably a CAN bus.
Datagranssnittet 210 är konfigurerat fOr kommunikation mellan det externa styrsystemet 205 och det fordonsinterna styrsystemet 270 och är saledes an- 22 ordnat att fortlopande skicka vidare signalen Si fran det externa styrsystemet 205 till styrenheten 220 Over lanken L210. The data interface 210 is configured for communication between the external control system 205 and the in-vehicle control system 270 and is thus arranged to continuously forward the signal Si from the external control system 205 to the control unit 220 Overlank L210.
Manovreringssystemen 230, 240, 250 utgors lampligen av system, som genom det fordonsinterna styrsystemets 270 styrenhet 220 paverkar bland annat mo- torfordonets 100 hastighet och riktning. Manovreringssystemen 230, 240, 250 utgors i detta exempelutforande av ett vdxlingsstyrningssystem 230, ett bromsstyrningssystem 240 och ett motorstyrningssystem 250. Vdxlingsstyrningssystemet 230 kan exempelvis inbegripa en styrenhet f6r en automatise- rad transmission. Bromsstyrningssystemet 240 kan exempelvis inbegripa en styrenhet far elektriskt eller hydrauliskt styrda hjulbromsar. Motorstyrningssystemet 250 kan exempelvis inbegripa motorstyrningsorgan sasom en styrenhet for bransletillforsel. The maneuvering systems 230, 240, 250 are suitably constituted by systems which, through the control unit 220 of the in-vehicle control system 270, influence, among other things, the speed and direction of the motor vehicle 100. The maneuvering systems 230, 240, 250 in this exemplary embodiment consist of a shift control system 230, a brake control system 240 and an engine control system 250. The shift control system 230 may, for example, include a control unit for an automated transmission. The brake control system 240 may include, for example, a control unit for electrically or hydraulically controlled wheel brakes. The engine control system 250 may include, for example, engine control means such as a fuel supply control unit.
Styrenheten 220 ãr vidare anordnad att validera signalen Si fran det fordons- externa styrsystemet 205. The control unit 220 is further arranged to validate the signal Si from the vehicle external control system 205.
Styrenheten 220 är anordnad att, dã namnda signal Si vid valideringen uppfyller dtminstone ett pa forhand bestamt kriterium avseende signalens Si format och/eller frekvens och/eller kontrollsumma, fortlOpande bearbe- ta/behandla/omvandla/processa namnda signal Si och overfora den bearbetade signalen S1b till manOvreringssystemen 230, 240, 250 Over lanken L220, fOr autonom styrning och/eller extern styrning av motorfordonet 100. Kriteriet kan finnas inlagrat i ett minne hos styrenheten 220. The control unit 220 is arranged that, when said signal Si at the validation meets at least one predetermined criterion regarding the format and / or frequency and / or checksum of the signal Si, continuously processing / processing / converting / processing said signal Si and transmitting the processed signal S1b to the control systems 230, 240, 250 Overlanken L220, for autonomous control and / or external control of the motor vehicle 100. The criterion can be stored in a memory of the control unit 220.
Styrenheten 220 är vidare anordnad att, cid namnda signal Si vid valideringen ej uppfyller dtminstone ett pa forhand bestamt kriterium avseende atminstone en styrparameter has signalen Si, modifiera namnda signal Si och overfOra den modifierade signalen S1m till manovreringssystemen 230, 240, 250 Over lanken L220. 23 Styrenheten 220 är vidare anordnad att, dá namnda signal Si vid valideringen ej uppfyller atminstone ett pa fOrhand bestamt kriterium avseende signalens Si format och/eller frekvens och/eller kontrollsumma, stoppa signalen Si fran det externa styrsystemet 205 och darmed forhindra autonom drift och/eller ex- tern styrning av motorfordonet 100. Styrenheten 220 är aven anordnad att, dã namnda signal Si ej uppfyller atminstone ett pa fOrhand bestamt kriterium avseende signalens Si format och/eller frekvens och/eller kontrollsumma, generera en signal S2 fOr intern styrning av motorfordonet 100 och skicka signalen S2 fer intern styrning till manOvreringssystemen 230, 240, 250 Over lanken L220. The control unit 220 is further arranged that, if said signal Si at the validation does not meet at least one predetermined criterion regarding at least one control parameter, the signal Si, modify said signal Si and transmit the modified signal S1m to the maneuvering systems 230, 240, 250. The control unit 220 is further arranged that, when said signal Si does not meet at least one predetermined criterion regarding the format and / or frequency and / or checksum of the signal Si, stopping the signal Si from the external control system 205 and thereby preventing autonomous operation and / or or external control of the motor vehicle 100. The control unit 220 is also arranged that, then said signal Si does not meet at least one predetermined criterion regarding the format and / or frequency and / or checksum of the signal Si, generating a signal S2 for internal control of the motor vehicle 100 and send the signal S2 for internal control to the operating systems 230, 240, 250 Overlanken L220.
Styrenheten 220 är vidare anordnad att, dá namnda signal Si ej uppfyller at- minstone ett pa fOrhand bestamt kriterium avseende signalens Si format och/eller frekvens och/eller kontrollsumma, generera en signal S3 innefattande information om att det fordonsinterna styrsystemet 270 styr motorfordonet 100. The control unit 220 is further arranged that, when said signal Si does not meet at least one predetermined criterion regarding the format and / or frequency and / or checksum of the signal Si, generating a signal S3 comprising information that the in-vehicle control system 270 controls the motor vehicle 100.
Styrenheten 220 är aven anordnad att skicka namnda signal S3 till datagranssnittet 210 via lanken L210. The control unit 220 is also arranged to send said signal S3 to the data interface 210 via the line L210.
Datagranssnittet 210 är anordnat att skicka signalen S3 innefattande informa- tion om att det fordonsinterna styrsystemet 270 styr motorfordonet 100 via Ian- ken L205 till det externa styrsystemet 205. The data interface 210 is arranged to send the signal S3 including information that the in-vehicle control system 270 controls the motor vehicle 100 via the lane L205 to the external control system 205.
Styrenheten 220 är anordnad att kommunicera med ett kraftaggregat 280 och ett operatorsreglage 290 hos motorfordonet 100. Kraftaggregatet 280 styr funktioner hos motorfordonet 100, sasom tippning av flak, hissning av gripklo, styrning av kran etc. Operatorsreglaget 290 utgor reglage, som kan manovreras manuellt av en operator liar operatoren dr lokaliserad inuti motorfordonets 100 dragbil 110. Exempel pa operatorsreglage 290 är gaspedal, bromspedal, vaxelspak/paddel, signaleringsorgan etc. Merparten av operatorsreglagen 290 är lampligen kopplade till manovreringssystemen 230, 240, 250. Enligt en utfo- ringsform utgor operatOrsreglaget 290 ett reglage ej kopplat till ett manOvreringssystem. Styrenheten 220 är anordnad i kommunikativ fOrbindelse med 24 kraftaggregatet 280 via en lank L280. Styrenheten 220 är vidare anordnad i kommunikativ forbindelse med operatorsreglaget 290 via en lank L290. Operatorsreglaget är anordnat att vid anvandning skicka en signal S4 till styrenheten 220 via lanken L290. Namnda signal S4 fran operatorsreglaget 290 innefattar atminstone en parameter for manuell styrning av namnda motorfordon 100. The control unit 220 is arranged to communicate with a power unit 280 and an operator control 290 of the motor vehicle 100. The power unit 280 controls functions of the motor vehicle 100, such as tilting the platform, hoisting the grab claw, steering the crane, etc. The operator control 290 is manually operated by an operator liar the operator dr located inside the motor vehicle 100 tractor 110. Examples of operator controls 290 are accelerator pedal, brake pedal, gear lever / paddle, signaling means, etc. Most of the operator controls 290 are suitably connected to the maneuvering systems 230, 240, 250. According to one embodiment, the operator control is 290 a control not connected to a maneuvering system. The control unit 220 is arranged in communicative connection with the 24 power supply 280 via a long L280. The control unit 220 is further arranged in communicative connection with the operator control 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. Said signal S4 from the operator control 290 comprises at least one parameter for manual control of said motor vehicle 100.
Styrenheten 220 är vidare anordnad att vid mottagande av signalen S4 Iran operatorsreglaget 290, stoppa signalen Si fran det externa styrsystemet 205 och darmed fOrhindra autonom drift och/eller extern styrning av motorfordonet 100. Styrenheten 220 är vidare anordnad att skicka signalen S4 fran opera- torsreglaget 290 till manovreringssystemen 230, 240, 250 och/eller kraftaggregatet 280 for manuell drift av namnda motorfordon 100. The control unit 220 is further arranged to, upon receiving the signal S4 from the operator control 290, stop the signal Si from the external control system 205 and thereby prevent autonomous operation and / or external control of the motor vehicle 100. The control unit 220 is further arranged to send the signal S4 from the operator control 290 to the maneuvering systems 230, 240, 250 and / or the power unit 280 for manual operation of said motor vehicle 100.
Styrenheten 220 är vidare anordnad att, vid mottagande av signalen S4 fran operatorsreglaget 290, generera signalen S3 innefattande information om att det fordonsinterna styrsystemet 270 styr motorfordonet 100. Styrenheten 220 är aven anordnad att skicka signalen S3 innefattande information om att det fordonsinterna styrsystemet 270 styr motorfordonet 100 till datagranssnittet 210 via lanken L210. Datagranssnittet 210 är anordnat att, skicka signalen S3 innefattande information om att det fordonsinterna styrsystemet 270 styr mo- torfordonet 100 via lanken L205 till det externa styrsystemet 205. The control unit 220 is further arranged to, upon receiving the signal S4 from the operator control 290, generate the signal S3 including information that the in-vehicle control system 270 controls the motor vehicle 100. The control unit 220 is also arranged to send the signal S3 including information that the in-vehicle control system 270 controls the motor vehicle 100 to the data interface 210 via the line L210. The data interface 210 is arranged to send the signal S3 including information that the in-vehicle control system 270 controls the motor vehicle 100 via the line L205 to the external control system 205.
Styrenheten 220 är anordnad att fortlOpande skicka en signal Sib, Sim, S2, S4 till kraftaggregatet 280 Over lanken L280. Signalen Si, Si m, S2, S4 inne- fattar atminstone en parameter fOr styrning av kraftaggregatet 280 anordnat hos motorfordonet 100. The control unit 220 is arranged to continuously send a signal Sib, Sim, S2, S4 to the power supply 280 Over the line L280. The signal Si, Si m, S2, S4 comprises at least one parameter for controlling the power unit 280 arranged at the motor vehicle 100.
Med hanvisning till Figur 3a visas ett flodesschema for ett forfarande for mojliggOrande av autonom drift och/eller extern styrning av ett motorfordon 100 enligt en utfOringsform av foreliggande uppf inning. FOrfarandet innefattar ste- get s301 att via ett datagranssnitt 210 overfOra en signal Si fran ett externt styrsystem 205 till ett fordonsinternt styrsystem 270 och validera namnda sig- nal Si fran namnda externa styrsystem 205, varvid valideringen innefattar kontroll av atminstone ett pa forhand bestamt kriterium gallande signalens Si format och/eller frekvens och/eller kontrollsumma. Datagranssnittet 210 är anordnat i kommunikativ forbindelse med det externa styrsystemet 205 och det for- donsinterna styrsystemet 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. Efter fOrfarandesteget s301 avslutas forfarandet. Referring to Figure 3a, there is shown a flow chart of a method for enabling autonomous operation and / or external control of a motor vehicle 100 in accordance with 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 and validating said signal Si from said external control system 205, the validation comprising checking at least one predetermined criterion validating the format and / or frequency and / or checksum of the signal Si. The data interface 210 is arranged in communicative connection 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 external control system is suitably performed via a long L210. After the procedure step s301, the procedure is terminated.
Med hanvisning till Figur 3b visas ett flodesschema for ett forfarande for moj- liggorande av autonom drift och/eller extern styrning av ett motorfordon 100 enligt en utf6ringsform av foreliggande uppf inning. FOrfarandet innefattar steget s310 att medelst ett externt styrsystem 205 generera en signal Si innefattande atminstone en styrparameter f6r autonom drift och/eller extern styrning av namnda motorfordon 100. Efter fOrfarandesteget s310 utfOrs ett fOrfarande- steg s320. Referring to Figure 3b, there is shown a flow chart of a method for enabling autonomous operation and / or external control of a motor vehicle 100 in accordance with an embodiment of the present invention. The method comprises the step s310 of generating by means of an external control system 205 a 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.
Forfarandesteget s320 innefattar att via ett datagranssnitt 210 overfOra signalen Si fran det externa styrsystemet 205 till ett fordonsinternt styrsystem 270, innefattande en styrenhet 220 samt manovreringssystem 230, 240, 250, varvid datagranssnittet 210 ãr anordnat i kommunikativ forbindelse 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 270 utfOrs lampligen via en lank L210. Efter fOrfarandesteget s320 utfOrs ett fOrfarandesteg s330. The method step s320 comprises transmitting via a data interface 210 the signal Si from the external control system 205 to a pre-internal control system 270, comprising a control unit 220 and maneuvering systems 230, 240, 250, the data interface 210 being arranged in communicative connection with the external control system 205 and the vehicle interior the 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 270 is suitably performed via a long L210. After the procedure step s320, a procedure step s330 is performed.
Forfarandesteget s330 innefattar att medelst styrenheten 220 hos det fordonsinterna styrsystemet 270 validera signalen Si fran det externa styrsystemet 205. Styrenheten 220 avgor darmed huruvida signalen Si uppfyller ett pa for- hand bestamt kriterium eller flera pa fOrhand bestamda kriterier avseende sig- 26 nalens Si format och/eller frekvens och/eller kontrollsumma.. Efter forfarandesteget s330 utfors ett forfarandesteg s340. The process step s330 comprises, by means of the control unit 220 of the in-vehicle control system 270, validating the signal Si from the external control system 205. The control unit 220 thus determines whether the signal Si meets a predetermined criterion or several predetermined criteria regarding the signal Si format and / or frequency and / or checksum. After the procedure step s330, a procedure step s340 is performed.
Forfarandesteget s340 innefattar att, nar signalen Si fran det externa styrsy- stemet 205 uppfyller det pa forhand bestamda kriteriet avseende signalens Si format och/eller frekvens och/eller kontrollsumma, bearbeta/omvandla signalen Si fran det externa styrsystemet 205 och skicka den bearbetade signalen Sib fran styrenheten 220 till manavreringssystemen 230, 240, 250 hos det fordonsinterna styrsystemet 270. Signalen Si bearbetas lampligen sa att den bearbe- tade signalen S1b uppvisar ett format som manovreringssystemen 230, 240, 250 kan tolka. Overforingen av signalen Sib mellan styrenheten 220 och manovreringssystemen 230, 240, 250 utfors lampligen via en lank L220. Efter forfarandesteget s340 avslutas fOrfarandet alternativt repeteras farfarandet fran forfarandesteg s310. The process step s340 comprises, when the signal Si from the external control system 205 meets the predetermined criterion regarding the format and / or frequency and / or checksum of the signal Si, processing / converting the signal Si from the external control system 205 and sending the processed signal Sib from the control unit 220 to the operating systems 230, 240, 250 of the in-vehicle control system 270. The signal Si is suitably processed so that the processed signal S1b has a format which the operating systems 230, 240, 250 can interpret. The transmission of the signal Sib between the control unit 220 and the maneuvering systems 230, 240, 250 is suitably performed via a long L220. After procedure step s340, the procedure is terminated or the procedure is repeated from procedure step s310.
Med hanvisning till Figur 3c visas ett flOdesschema fOr ett fOrfarande fOr mOjliggorande av autonom drift och/eller extern styrning av ett motorfordon 100 enligt en utfOringsform av foreliggande uppf inning. FOrfarandet innefattar forfarandestegen s310, s320 och s330 beskrivna med hanvisning till Figur 3b, med tillagget att valideringen av signalen Si fran det externa styrsystemet 205 i forfarandesteget s330 aven innefattar kontroll av atminstone ett pa forhand bestamt kriterium avseende atminstone en styrparameter has signalen Si. Efter fOrfarandesteget s330 utfOrs ett fOrfarandesteg s350. Referring to Figure 3c, there is shown a flow chart of a method for enabling autonomous operation and / or external control of a motor vehicle 100 in accordance with an embodiment of the present invention. The method comprises the method steps s310, s320 and s330 described with reference to Figure 3b, with the addition that the validation of the signal Si from the external control system 205 in the method step s330 also comprises checking at least one predetermined criterion regarding at least one control parameter has the signal Si. After the procedure step s330, a procedure step s350 is performed.
FOrfarandesteget s350 innefattar att, nar signalen Si fran det externa styrsy- stemet 205 vid valideringen uppfyller det pa forhand bestamda kriteriet avseende signalens Si format och/eller frekvens och/eller kontrollsumma men inte uppfyller det pa forhand bestamda kriteriet avseende signalens Si styrparameter, modifiera signalen Si fran det externa styrsystemet 205 medelst styr- enheten 220. Signalen Si fran det externa styrsystemet 205 mod ifieras lamp- ligen, sâ att den mod ifierade signalen S1m uppvisar en eller flera lampliga styrparametrar fOr autonom och/eller extern styrning av motorfordonet 100, sa 27 att motorfordonet 100 inte i onodan forsetts i situationer som kan vara skadliga fOr motorfordonet 100 och/eller dess omgivning. Den modifierande signalen Sim innefattar saledes atminstone en styrparameter som skiljer sig fran den ursprungliga signalen Si fran det externa styrsystemet 205. Modifieringen in- nefattar lampligen aven bearbetning av signalen Si m, sâ att den uppvisar ett format som manOvreringssystemen 230, 240, 250 kan tolka. Efter forfarandesteget s350 utfors ett forfarandesteg s360. The process step s350 comprises that, when the signal Si from the external control system 205 during the validation meets the predetermined criterion regarding the signal Si format and / or frequency and / or checksum but does not meet the predetermined criterion regarding the signal Si control parameter, Si from the external control system 205 by means of the control unit 220. The signal Si from the external control system 205 is modified suitably, so that the modified signal S1m has one or more suitable control parameters for autonomous and / or external control of the motor vehicle 100, so 27 that the motor vehicle 100 is not unnecessarily continued in situations that may be harmful to the motor vehicle 100 and / or its surroundings. The modifying signal Sim thus comprises at least one control parameter which differs from the original signal Si from the external control system 205. The modification suitably also includes processing of the signal Si m so that it has a format which the operating systems 230, 240, 250 can interpret . After the step step s350, one step step s360 is performed.
FOrfarandesteget s360 innefattar att OverfOra den modifierade signalen Sim fran styrenheten 220 till manovreringssystemen 230, 240, 250 has det fordons- interna styrsystemet 270. Overforingen av den modifierade signalen S1m melIan styrenheten 220 och manOvreringssystemen 230, 240, 250 utfors lampligen via lanken L220. Efter forfarandesteget s360 avslutas forfarandet alternativt repeteras forfarandet fran forfarandesteg s310. The process step s360 comprises transmitting the modified signal Sim from the control unit 220 to the control systems 230, 240, 250 having the vehicle internal control system 270. The transmission of the modified signal S1m between the control unit 220 and the control systems 230, 240, 250 is suitably performed via the line L220. After procedure step s360, the procedure is terminated or the procedure from procedure step s310 is repeated.
Med hanvisning till Figur 3d visas ett flOdesschema fOr ett fOrfarande fOr auto-nom drift och/eller extern styrning av ett motorfordon 100 enligt en utfOringsform av foreliggande uppfinning. Forfarandet innefattar fOrfarandestegen s310, s320 och s330 beskrivna med hanvisning till Figur 3b. Efter forfarandesteget s330 utfars ett forfarandesteg s370. Referring to Figure 3d, there is shown a flow chart of a method for automatically operating and / or externally controlling a motor vehicle 100 in accordance with an embodiment of the present invention. The method includes the process steps s310, s320 and s330 described with reference to Figure 3b. After the step step s330, one step step s370 is performed.
FOrfarandesteget s370 innefattar att, nar signalen Si fran det externa styrsystemet 205 ej uppfyller det pa fOrhand bestamda kriteriet avseende signalens Si format och/eller frekvens och/eller kontrollsumma, generera en signal S2 fOr intern styrning av motorfordonet, medelst styrenheten 220, och att Overfera signalen S2 for intern styrning fran styrenheten 220 till manovreringssystemen 230, 240, 250. Pa sa satt styr det fordonsinterna styrsystemet 270 motorfordonet 100. Overforingen av signalen S2 fOr intern styrning mellan styrenheten 220 och manOvreringssystemen 230, 240, 250 utfors lampligen via lanken L220. Efter forfarandesteget s370 utfOrs ett fOrfarandesteg s380. 28 Forfarandesteget s380 innefattar att, nãr signalen Si fran det externa styrsystemet 205 ej uppfyller det pa fOrhand bestamda kriteriet avseende signalens Si format och/eller frekvens och/eller kontrollsumma, generera en signal S3 innefattande information om att det fordonsinterna styrsystemet 270 styr mo- torfordonet 100, medelst styrenheten 220, och overfOra signalen S3 innefat- tande information om att det fordonsinterna styrsystemet 270 styr motorfordonet 100 frdn det fordonsinterna styrsystemet 270 till det externa styrsystemet 205 via datagranssnittet 210. Overforingen fran det fordonsinterna styrsystemet 270 till datagranssnittet 210 utfors lampligen via lanken L210 och OverfO- ringen fran datagranssnittet 210 till det externa styrsystemet utfors lampligen via lanken L205. Efter forfarandesteget s380 avslutas forfarandet alternativt repeteras forfarandet fran forfarandesteg s310. The process step s370 comprises, when the signal Si from the external control system 205 does not meet the predetermined criterion regarding the format and / or frequency and / or checksum of the signal Si, generating a signal S2 for internal control of the motor vehicle, by means of the control unit 220, and the signal S2 for internal control from the control unit 220 to the control systems 230, 240, 250. Then the in-vehicle control system 270 controls the motor vehicle 100. The transmission of the signal S2 for internal control between the control unit 220 and the control systems 230, 240, 250 is suitably performed via the line L220. After the procedure step s370, one procedure step s380 is performed. The method step s380 comprises, when the signal Si from the external control system 205 does not meet the predetermined criterion regarding the format and / or frequency and / or checksum of the signal Si, generating a signal S3 including information that the vehicle internal control system 270 controls the motor vehicle 100, by means of the control unit 220, and transmitting the signal S3 including information that the in-vehicle control system 270 controls the motor vehicle 100 from the in-vehicle control system 270 to the external control system 205 via the data interface 210. The transfer from the in-vehicle control system 270 to the data interface 210 is performed lamp-wise. L210 and the transfer from the data interface 210 to the external control system is suitably performed via the line L205. After procedure step s380, the procedure is terminated or the procedure from procedure step s310 is repeated.
Med hanvisning till Figur 4 visas ett diagram av ett utforande av en anordning 400. Det externa styrsystemet 205 och/eller styrenheten 220 som beskrivs med hdnvisning till Fig. 2 kan i ett utfOrande innefatta anordningen 400. Anordningen 400 innefattar ett icke-flyktigt minne 420, en databehandlingsenhet 410 och ett Ids/skriv-minne 450. Det icke-flyktiga minnet 420 har en forsta minnesdel 430 van i ett datorprogram, sâ som ett operativsystem, är lagrat for att styra funktionen hos anordningen 400. Vidare innefattar anordningen 400 en buss-controller, en seriell kommunikationsport, 1/0-organ, en A/Domvandlare, en tids- och datum inmatnings- och Overforingsenhet, en handelseraknare och en avbrytningscontroller (ej visade). Det icke-flyktiga minnet 420 har ocksâ en andra minnesdel 440. Referring to Figure 4, there is shown a diagram of an embodiment of a device 400. The external control system 205 and / or control unit 220 described with reference to Fig. 2 may in one embodiment include the device 400. The device 400 includes 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. Further, the device 400 includes a bus -controller, a serial communication port, I / O devices, an A / Judgment Converter, a time and date input and Transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 420 also has a second memory portion 440.
Has anordningen 400 tillhandahalls ett datorprogram P, som kan innefatta rutiner for autonom drift av ett motorfordon 100. Has the device 400 provided with a computer program P, which may include routines for autonomous operation of a motor vehicle 100.
Datorprogrammet P kan innefatta rutiner fOr att generera en signal Si innefat- tande atminstone en styrparameter for autonom drift och/eller extern styrning av namnda motorfordon 100 samt rutiner for att via ett datagranssnitt 210 skicka/mottaga signalen Si. Datorprogram met P kan innefatta rutiner fOr att 29 validera signalen Si. Datorprogrammet P kan innefatta rutiner for att bearbeta/behandla/omvandla/processa signalen Si och generera en bearbetad signal Sib. Datorprogrammet P kan innefatta rutiner for att modifiera signalen Si och generera en modifierad signal Sim. Datorprogrammet P kan innefatta rutiner for att avgOra huruvida signalen Si uppfyller ett pa forhand bestamt kriterium. The computer program P may comprise routines for generating a signal Si comprising at least one control parameter for autonomous operation and / or external control of said motor vehicle 100 as well as routines for sending / receiving the signal Si via a data interface 210. Computer programs with P may include routines for validating the signal Si. The computer program P may include routines for processing / processing / converting / processing the signal Si and generating a processed signal Sib. The computer program P may include routines for modifying the signal Si and generating a modified signal Sim. The computer program P may include routines for determining whether the signal Si satisfies a predetermined criterion.
Datorprogrammet P kan innefatta rutiner fOr att, vid uppfyllt kriterium, Overfora namnda signal Si till manovreringssystem 230, 240, 250 och darmed tillâta autonom drift respektive extern styrning av motorfordonet 100. Datorprogrammet P kan innefatta rutiner fOr att, vid ej uppfyllt kriterium, generera en signal S2 fOr intern styrning av motorfordonet 100 och overfora namnda signal S2 till manovreringssystemen 230, 240, 250. Datorprogrammet P kan innefatta rutiner for att, vid ej uppfyllt kriterium, generera en signal S3 innefattande information om att ett fordonsinternt styrsystem 270 styr motorfordonet 100, och Over-fora namnda signal S3 fran det externa styrsystemet 270 till ett externt styrsy- stem 205 via datagranssnittet 210. Datorprogrammet P kan innefatta rutiner fOr att vid mottagande av en signal S4 frail operatOrsreglage hos motorfordonet 100, forhindra autonom drift respektive extern styrning av namnda motorfordon 100. The computer program P may comprise routines for, if the criterion is met, transfer the said signal Si to maneuvering systems 230, 240, 250 and thereby allow autonomous operation and external control of the motor vehicle 100. The computer program P may include routines for generating a, if the criterion is not met. signal S2 for internal control of the motor vehicle 100 and transmitting said signal S2 to the maneuvering systems 230, 240, 250. The computer program P may comprise routines for, if the criterion is not met, generating a signal S3 including information that a pre-internal control system 270 controls the motor vehicle 100, and Transfer said signal S3 from the external control system 270 to an external control system 205 via the data interface 210. The computer program P may include routines for, upon receipt of a signal S4 from the operator control of the motor vehicle 100, preventing autonomous operation and external control of the said vehicle. motor vehicle 100.
Datorprogrammet P kan vara lagrat pa ett exekverbart vis eller pa komprimerat vis i ett minne 460 och/eller i ett Ids/skrivminne 450. The computer program P may be stored in an executable manner or in a compressed manner in a memory 460 and / or in an Ids / write memory 450.
NI& det är beskrivet att databehandlingsenheten 410 utfOr en viss funktion ska det forstas att databehandlingsenheten 410 utfor en viss del av programmet vilket är lagrat i minnet 460, eller en viss del av programmet som är lagrat i Ids/skrivminnet 450. NI & 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 Ids / 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 är avsett att kommunicera med databehandlingsenheten 410 via en data-buss 411. Las/skrivminnet 450 är anordnat att kommunicera med databehand- lingsenheten 410 via en databuss 414. Till dataporten 499 kan t.ex. lankarna L205, L210, L220, L280 och L290 anslutas (se Figur 2). The data processing device 410 can 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 Figure 2).
Nar data mottages pa. dataporten 499 lagras det temporart i den andra min- nesdelen 440. Nar mottagen indata temporart har lagrats, är databehandlings- enheten 410 iordningstalld att utfora exekvering av kod pa ett vis som beskrivits ovan. When data is received by. the data port 499 is temporarily stored in the second memory portion 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 styrning 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 utfOrande 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. Enligt ett utfOrande innefattar signaler mottagna pa dataporten 499 parametrar gallande pa forhand bestamda kriterier. According to one embodiment, signals received at the data port comprise 499 parameters for autonomous control and / or external control of the motor vehicle 100. According to one embodiment, signals received at include. the data port 499 parameters for internal control of the motor vehicle 100. According to one embodiment, signals received at the data port 499 include information from an operator control 290. According to one embodiment, signals received at the data port 499 include information from a power unit 280. According to one embodiment, the data port comprises signals received. 499 information that the in-vehicle control system 270 controls the motor vehicle 100. According to one embodiment, signals received at the data port include 499 parameters defining predetermined criteria.
De mottagna signalerna pa. dataporten 499 kan anvandas av anordningen 400 for att avgOra om namnda motorfordon 100 ska framforas autonomt, externt eller manuellt. De mottagna signalerna pa dataporten 499 kan anvandas av anordningen 400 fOr att avgbra huruvida namnda signal Si bOr modifieras eller inte. The received signals pa. the data port 499 may be used by the device 400 to determine whether said motor vehicle 100 is to be driven autonomously, externally or manually. The received signals on the data port 499 may be used by the device 400 to determine whether or not said signal Si should be modified.
Delar av metoderna beskrivna hari kan utforas av anordningen 400 med hjalp av databehandlingsenheten 410 som kat- programmet lagrat i minnet 460 eller las/skrivminnet 450. Nar anordningen 400 Icor programmet, exekveras hari beskrivna fOrfaranden. Parts of the methods described herein may be performed by the device 400 using the data processing unit 410 which the cat program has stored in the memory 460 or read / write memory 450. When the device 400 runs the program, the methods described herein are executed.
Den fOregaende beskrivningen av de foredragna utforingsformerna av fOreliggande uppf inning har tillhandahallits i syftet att illustrera och beskriva uppfin- 31 ningen. Det är inte avsett att vara uttommande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer manga modifieringar och variationer att framgâ far fackmannen. Utforingsformerna valdes och beskrevs for att bast farklara principerna av uppfinningen och dess praktiska tillamp- ningar, och darmed majliggara far fackman att forstâ uppfinningen far olika utforingsformer och med de olika modifieringarna som ãr lampliga for det avsedda bruket. 32 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 explain the principles of the invention and its practical applications, and thus it will be more convenient for a person skilled in the art to understand the invention in different embodiments and with the various modifications which are suitable for the intended use. 32
Claims (19)
Priority Applications (1)
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| SE1451386A SE538077C2 (en) | 2013-11-21 | 2014-11-19 | System and method for enabling autonomous operation and / or external control of a motor vehicle |
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| SE1451386A SE538077C2 (en) | 2013-11-21 | 2014-11-19 | System and method for enabling autonomous operation and / or external control of a motor vehicle |
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| US11703859B2 (en) | 2019-07-05 | 2023-07-18 | Liebherr Mining Equipment Newport News Co. | Method for autonomously controlling a vehicle |
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| US5448479A (en) * | 1994-09-01 | 1995-09-05 | Caterpillar Inc. | Remote control system and method for an autonomous vehicle |
| AU2001262975A1 (en) * | 2000-05-15 | 2001-11-26 | Modular Mining Systems, Inc. | Permission system for control of autonomous vehicles |
| RU2428744C2 (en) * | 2006-09-14 | 2011-09-10 | Краун Эквипмент Корпорейшн | Handling machine remote control auxiliary system and method of its operation |
| US20100106344A1 (en) * | 2008-10-27 | 2010-04-29 | Edwards Dean B | Unmanned land vehicle having universal interfaces for attachments and autonomous operation capabilities and method of operation thereof |
| EP2476011A1 (en) * | 2009-09-07 | 2012-07-18 | BAE Systems Plc | Safety system |
| US8428790B2 (en) * | 2009-12-22 | 2013-04-23 | Caterpillar Inc. | Systems and methods for machine control in designated areas |
| US8793036B2 (en) * | 2010-09-22 | 2014-07-29 | The Boeing Company | Trackless transit system with adaptive vehicles |
| US8433469B2 (en) | 2011-03-18 | 2013-04-30 | The Raymond Corporation | Communication technique by which an autonomous guidance system controls an industrial vehicle |
| US9547945B2 (en) * | 2011-03-18 | 2017-01-17 | The Raymond Corporation | Integration of an autonomous industrial vehicle into an asset management system |
| US20130268138A1 (en) * | 2012-04-05 | 2013-10-10 | Caterpillar Inc. | High Availability For Autonomous Machine Control System |
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