WO2015076733A1 - Système et procédé pour rendre possible un fonctionnement autonome et/ou une commande externe d'un véhicule à moteur - Google Patents

Système et procédé pour rendre possible un fonctionnement autonome et/ou une commande externe d'un véhicule à moteur Download PDF

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Publication number
WO2015076733A1
WO2015076733A1 PCT/SE2014/051371 SE2014051371W WO2015076733A1 WO 2015076733 A1 WO2015076733 A1 WO 2015076733A1 SE 2014051371 W SE2014051371 W SE 2014051371W WO 2015076733 A1 WO2015076733 A1 WO 2015076733A1
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WO
WIPO (PCT)
Prior art keywords
signal
control system
motor vehicle
external control
vehicle
Prior art date
Application number
PCT/SE2014/051371
Other languages
English (en)
Inventor
Linus Bredberg
Daniel Frylmark
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to EP14863247.4A priority Critical patent/EP3072020A4/fr
Publication of WO2015076733A1 publication Critical patent/WO2015076733A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—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

Definitions

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

Landscapes

  • 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 Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système pour rendre possible un fonctionnement autonome et/ou une commande externe d'un véhicule à moteur, comprenant un système de commande externe (205) conçu pour générer un signal (S1) comprenant au moins un paramètre de commande pour la commande dudit véhicule à moteur, et un système de commande (270) qui est interne au véhicule. Une interface informatique (210) est connectée pour communiquer avec ledit système de commande externe (205) et ledit système de commande (270) qui est interne au véhicule, ladite interface informatique (210) étant conçue pour transférer ledit signal (S1) dudit système de commande externe (205) audit système de commande (270) qui est interne au véhicule, et ledit système de commande (270) qui est interne au véhicule comprend une unité de commande (220) qui est conçue pour valider ledit signal (S1) provenant dudit système de commande externe (205), la validation comprenant la vérification d'au moins un critère prédéterminé relativement au format et/ou à la fréquence, et/ou d'une somme de contrôle du signal (S1). La présente invention concerne également un procédé pour rendre possible un fonctionnement autonome et/ou une commande externe d'un véhicule à moteur, et un véhicule à moteur (100) comprenant un tel système.
PCT/SE2014/051371 2013-11-21 2014-11-19 Système et procédé pour rendre possible un fonctionnement autonome et/ou une commande externe d'un véhicule à moteur WO2015076733A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP14863247.4A EP3072020A4 (fr) 2013-11-21 2014-11-19 Système et procédé pour rendre possible un fonctionnement autonome et/ou une commande externe d'un véhicule à moteur

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SE1351383-3 2013-11-21
SE1351383 2013-11-21

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SE (1) SE538077C2 (fr)
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SE1451386A1 (sv) 2015-05-22
EP3072020A4 (fr) 2017-08-02
SE538077C2 (sv) 2016-02-23
EP3072020A1 (fr) 2016-09-28

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