WO2015076735A1 - System and method to make possible autonomous operation and/or external control of a motor vehicle - Google Patents

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

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Publication number
WO2015076735A1
WO2015076735A1 PCT/SE2014/051373 SE2014051373W WO2015076735A1 WO 2015076735 A1 WO2015076735 A1 WO 2015076735A1 SE 2014051373 W SE2014051373 W SE 2014051373W WO 2015076735 A1 WO2015076735 A1 WO 2015076735A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
external control
control unit
control system
autonomous operation
Prior art date
Application number
PCT/SE2014/051373
Other languages
French (fr)
Inventor
Daniel Frylmark
Linus Bredberg
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 EP14863739.0A priority Critical patent/EP3072021A4/en
Publication of WO2015076735A1 publication Critical patent/WO2015076735A1/en

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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
    • G05D1/80—Arrangements for reacting to or preventing system or operator failure
    • G05D1/81—Handing over between on-board automatic and on-board manual control
    • 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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
    • 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
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • 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
    • 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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • 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 system to make possible autonomous operation and/or external control of a motor vehicle, which keeps the costs to a minimum.
  • 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, which system is safe for the motor vehicle and safe for objects and people in its surroundings.
  • 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 vehicle.
  • One purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, which method is safe for the motor vehicle and safe for objects and people in its surroundings.
  • a further purpose of the present invention is to achieve a method to make pos- sible 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 ve- hide for external users.
  • a system is provided to make possible autonomous operation and/or external control of a motor vehicle comprising:
  • an external control system arranged to generate a signal comprising at least one control parameter for autonomous operation and/or external control of a motor vehicle
  • control system that is internal to the vehicle comprising a control unit and operating systems, in which the control unit is arranged in communicative connection with the operating systems, and
  • a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control unit, and whereby the control unit is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow autonomous opera- tion and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit.
  • 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 system is provided to make possible the external control of a motor vehicle comprising:
  • an external control system arranged to generate a signal comprising at least one control parameter for the external control of the said motor vehicle, - a control system that is internal to the vehicle comprising a control unit and operating systems, in which the control unit is arranged in communicative connection with the operating systems, and
  • a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control unit, whereby the control unit is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow external control, whereby the authorisation level can be changed by reconfiguring the control unit.
  • 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
  • control system that is internal to the vehicle comprising a control unit and operating systems, in which the control unit is arranged in communicative connection with the operating systems, and
  • control system that is internal to the vehicle comprise several control units.
  • a signal or signals may concern a message or several mes- sages 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 the external control system.
  • the interface may constitute a part of the control system that is internal to the vehicle. In this way, the use of an external control system that is already commercially available for autonomous operation and/or external control of a motor vehicle, coupled with the motor vehicle, is made possible.
  • 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.
  • 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 vehicle.
  • the control system that is internal to the vehicle may comprise information and functions that the manufacturer of the vehi- cle 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 increased, 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 external 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 motor 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. It is appropriate that the external control system comprise hardware in the form of sensors, navigation systems, cameras and similar to determine the position of the motor vehicle and to detect continuously, for example, object, obstacles, people and animals, in order 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 external control system receives instructions concerning the desired operation of the motor vehicle at a high level, for example, "Drive from a position A to a po- sition 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 at least one of the above-mentioned hardware and the external units, to- gether 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 operation of the motor vehicle according to the route that has been de- termined.
  • the control parameters comprise instructions at a low level and can relate to steering angle, appropriate gear of a transmission, braking power, acceleration of the motor vehicle, angular velocity and/or torque at the steering wheel, and similar detailed control parameters.
  • the signal that is generated by the external control system comprises at least one such control parameter.
  • the control unit of the external control system determines control parameters based on a driving operation of the motor vehicle desired 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, deceler- ated, 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.
  • the external control system generate continuously several signals, each comprising one or several control parameters or requests.
  • the operating systems are constituted by a brake control system for the control of, for example, service brake, secondary brake and parking brake, driving means and/or control means.
  • the term "secondary brake” can be used to denote retarders, exhaust brakes, electrical secondary brakes and similar.
  • the operating systems are further constituted by 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 means are thus constituted by systems that through the control unit of the control sys- tern that is internal to the vehicle influence, among other things, the speed and direction of the motor vehicle.
  • the control unit of the control system that is internal to the vehicle is arranged for communication with the operating systems over a communication bus.
  • the communication bus comprise a CAN bus or other standard for the transmission of data.
  • control unit By configuring the control unit with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow autonomous operation and/or external control, it is ensured that the motor vehicle is driven autonomously and/or externally in a safe manner.
  • the system can be activated through the control system that is internal to the vehicle being configured such that all affected control units at the motor vehicle make possible through parameter settings autonomous operation and/or the external control, and such that the computer interface is activated.
  • spe- cial limitations are introduced at the setting of parameters by the control unit in order to ensure that autonomous operation and/or external control of the motor vehicle takes place in a safe and secure manner.
  • the motor vehicle is in this way set to have different authorisation levels with respect to autonomous operation and/or the external control.
  • the particular authorisation level with which the control unit is configured may depend on, for example, the application in which the motor vehicle is to be driven.
  • the authorisation level can differ, for example, between a motor vehicle that is to be driven in a mine application and a motor vehicle that is to transport passengers at an airport.
  • a certain authorisation level includes a certain parameter setting or configuration of the control unit, and in this way also at least a certain authorisation level. Since the authorisation level can be changed through reconfiguration of the control unit, a flexible system is achieved in which the authorisation level can be updated as required, and the safety can in this way be ensured.
  • the control unit is so configured, for example, that it comprises several predetermined authorisation requirements corresponding to the relevant authorisation level. It is appropriate that it is required that all authorisation require- merits are to be satisfied in order for autonomous operation and/or external control of motor vehicle to be allowed.
  • the control unit By configuring the control unit with a pre-determined authorisation level in or- der to allow autonomous operation and/or external control of the motor vehicle, it is ensured that autonomous operation and/or external control of the motor vehicle takes place in the desired manner.
  • the authorisation requirement concern requirements on the control parameter for autonomous and/or external control at the signal from the external control system.
  • the authorisation requirement may be associated with, for example, that the motor vehicle may be driven autonomously and/or externally only during a limited period of time.
  • the authorisation requirement may concern, for example, that the motor vehicle may be driven autonomously and/or externally with a certain maximum permitted speed.
  • the authorisation requirement may be as- sociated with, for example, a certain geographical region.
  • the authorisation requirement may be associated with, for example, how the motor vehicle may be braked, accelerated and/or turned during autonomous operation and/or external control.
  • the authorisation requirement may be associated with, for example, that the operator, who intends to drive the motor vehicle autonomously and/or externally, must be authorised, i.e. that the operator must have permission to drive the vehicle.
  • control unit is so configured that a high authorisation level entails less stringent or fewer limitations than a low authorisation level.
  • a high authorisation level may comprise less stringent or fewer authorisation requirements than a low authorisation level.
  • the control unit may be configured, for example, with a low authorisation level if it is the first time a certain operator is to drive a motor vehicle autonomously and/or externally, whereby an authorisation requirement may be, for example, that the motor ve- hide is allowed to be driven only with a speed below 20 km/hour.
  • control unit can be configured with a higher authorisation level, whereby an authorisation requirement may be, for example, that the motor vehicle is allowed to be driven only with a speed below 50 km/hour.
  • an authorisation requirement may be, for example, that the motor vehicle is allowed to be driven only with a speed below 50 km/hour.
  • the authorisation level is based on the ability and/or the experience of an operator of the motor vehicle.
  • the control unit be reconfigured such that a temporary increase and/or a temporary decrease of the authorisation level is achieved.
  • the term "operator” can denote one or several people. Alternatively, the term “operator” can denote a company or a customer of the vehicle manufacturer.
  • a system in which the pre-determined authorisation requirement concern requirements on the control parameter for autonomous and/or external control at the signal from the external control system.
  • the control parameter for autonomous operation and/or external control at the signal from the external control system can concern, for example, a speed request and/or a steering angle request and/or a braking request, and/or a request for a specific gear.
  • the control unit be configured with an authorisation level that includes at least one authorisation requirement with respect to this control parameter for autonomous operation and/or external control.
  • the authorisation requirement can include, for example, that a speed request from the external control system may not exceed a pre-determined maximum permitted speed.
  • the authorisation requirement can include that a steering angle request from the external control system may not exceed a pre-determined maximum permitted steering angle. It is in this way ensured that the motor vehicle is driven autonomously and/or externally in a safe and comfortable manner.
  • a system in which the pre-determined authorisation requirement concerns a period of time that the motor vehicle is allowed to be driven autonomously and/or externally.
  • the authorisation requirement may concern, for example, that the motor vehicle is allowed to be driven autonomously and/or externally solely during a predetermined contiguous period of time, for example 3 contiguous hours.
  • the authorisation requirement may concern, for example, that the motor vehicle is allowed to be driven autonomously and/or externally solely during a determined accumulated period of time, for example 10 hours, with or without interruptions in operation.
  • the authorisation requirement concerns that the motor vehicle is allowed to be driven autonomously and/or externally solely until a certain date.
  • the authorisation requirement with respect to a period of time that the motor vehicle may be driven autonomously and/or externally include a requirement also that the motor vehicle, after having been driven autonomously and/or externally for the determined period of time, must rest or be parked during a determined period of time before it can again be driven autonomously and/or externally.
  • the operator is warned when the period of time during which the motor vehicle may be driven autonomously and/or externally is approaching its end.
  • the control unit generate a message comprising the warning, which message is transmitted through the computer interface to the external control system.
  • the external control system comprise a user interface with the operator that presents the message.
  • the user interface be constituted by a presentation means such as a display. Audiovisual feedback to the operator is in this way achieved. It is appropriate that the message with the warning comprise instructions for how the operator should act in order to be allowed again to drive the motor vehicle autonomously and/or externally.
  • the pre-determined authorisation requirement is associated with requirements that the motor vehicle must be parked or must be driven manually for a certain duration between occasions on which it is driven autonomously and/or externally.
  • a system is provided in which the pre-determined authorisation requirement concerns the validity of a certificate issued to an operator of the motor vehicle.
  • an authentication of authorised operators is achieved, and it is ensured that unauthorised people do not drive the motor vehicle autonomously and/or externally. It is in this way ensured that a motor vehicle, when it is sold to the next owner, cannot be driven autonomously and/or externally unless the new operator is authorised. In this way, a system is achieved to make possible autonomous operation and/or external control of a motor vehicle that is safe and that reduces to a minimum the risk that unauthorised people use the motor vehicle autonomously and/or externally.
  • the certificate that is issued to the operator of the motor vehicle is preferably renewable.
  • renewal of the certificate is required with a certain regularity, for example once a week, once a month, or once every other month. Alternatively, renewal of the certificate is required every day. Alternatively, renewal of the certificate is required on each occasion that the operator desires to drive the motor vehicle autonomously and/or externally. According to one execution of the present invention given as an example, a random check of the validity of the certificate is generated. It is preferable that the certificate be renewed wirelessly through a telematics unit arranged at the vehicle against a server owned by the manufacturer of the motor vehicle. Alternatively, the certificate can be renewed through the input of a single-use code through an input device.
  • the input device may be constituted by a workshop tool, an instrument cluster, a PDA, a mobile telephone or navigation equipment.
  • certificates be issued to service engineers at workshops authorised by the manufacturer of the vehicle. It is in this way ensured that solely authorised service engineers can configure the system and change the parameter setting, and in this way the authorisation level.
  • the control unit generate a message comprising the warning, which message is transmitted through the computer interface to the external control system.
  • the external control system comprise a user interface with the operator that presents the message.
  • the message comprise also instructions for how the operator can renew the certificate.
  • a system in which the control unit is arranged to determine whether the pre-determined authorisation requirement is satisfied. It is appropriate that this be achieved through the pre-determined authorisation requirement being stored at the control unit, whereby the control unit compares information from the control system that is internal to the vehicle and/or the signal from the external control system with the stored authorisation requirement.
  • a system is provided in which the control unit is arranged to allow, in the event that the authorisation requirement is satisfied, autonomous operation and/or external control of the motor vehicle.
  • autonomous operation and/or external control of the motor vehicle be allowed through the control unit processing or treating the signal from the external control system such that the processed signal can be interpreted by the operating systems.
  • the processed signal thus comprises the same request or control parameter as the signal from the external control system, but in a different format.
  • the control unit subsequently transfers the proc- essed signal to the operating systems. By transferring the processed signal to the operating systems, the operating systems are controlled in accordance with the control parameters in the signal from the external control system. Autonomous operation and/or external operation of the motor vehicle through the external control system is in this way achieved.
  • a system in which the control unit is arranged to, in the event that the authorisation requirement is satisfied, allow access to the control system that is internal to the vehicle.
  • control unit is arranged to prevent, when the authorisation requirement is not satisfied, autonomous operation and/or external control of the motor vehicle.
  • control unit be arranged to prevent, in the event that an authorisation requirement is not satisfied, autonomous operation and/or exter- nal control of the motor vehicle by stopping the signal from the external control system.
  • control unit be arranged to prevent, in the event that an authorisation requirement is not satisfied, autonomous operation and/or external control of the motor vehicle by generating a signal for internal control of the motor vehicle.
  • An internal control of the motor vehicle is in this way achieved when the pre-determined authorisation requirement is not satisfied.
  • the signal for internal control comprise control parameters that minimise the risk of damage to the motor vehicle and objects and/or people in its surroundings.
  • the internal control comprises, for example, control parameters that lead to the motor vehicle braked and/or stopped/ parked.
  • a system in which the control unit is arranged to lower, in the event that an authorisation requirement is not satisfied, the authorisation level. It is preferable that the lowering of the authorisation level comprise a limitation of the functionality of autonomous operation and/or the external control through the change of at least one authorisation requirement. It is appropriate that the change of au- thorisation requirement entails a more stringent limitation, and thus an increase of the authorisation requirement.
  • the functionality of autonomous operation and/or the external control may be, for example, limited through change of at least one authorisation requirement with respect to the control parameter from the external control system, such that..
  • the con- trol unit may be arranged to, in the event of an invalid certificate, increase the authorisation requirement with respect to the control parameter for autonomous operation and/or external control, and in this way to limit the function of the autonomous operation and/or the external control of the motor vehicle.
  • the control unit can be arranged to, in the event of an invalid certifi- cate, lower the allowed maximum speed by 20 km/hour. It is preferable that the control unit be arranged to modify the signal from the external control system, in the event of a lowering of the authorisation level and thus in the event of a change in the authorisation requirement, such that the modified signal satisfies the new authorisation requirement.
  • the control unit 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 and/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 control unit is arranged to generate, when autonomous operation and/or external control has been prevented and the control unit has generated a signal for internal control, a signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle.
  • control unit is further ar- ranged to transfer the signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle from the control system that is internal to the vehicle to the external control system over the 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 it is not controlling the motor vehicle.
  • a system in which the control unit is arranged to modify the signal from the external control system, in the event that an authorisation requirement with respect to the con- trol parameter for autonomous operation and/or external control is not satisfied at the signal from the external control system, such that the modified signal satisfies the pre-determined authorisation requirement. If the signal from the external control system demonstrates, for example, a requested speed parameter that exceeds a maximum permitted speed according to a predetermined authorisation requirement, 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 maximum permitted speed. The modified signal is subsequently transferred from the control unit to the operating systems for the execution of the control command according to the modified signal.
  • the control unit at the control system that is internal to the vehicle is arranged to modify the signal from the external control system, 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 sys- tern 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 a high steering angle. 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 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 system.
  • a system in which the control system that is internal to the vehicle is arranged to determine whether the control unit is receiving a signal from an operator regulator at the motor vehicle.
  • the operator regulator at the motor vehicle is preferably constituted by a regulator that can be operated manually by the operator when the operator is located inside the driver's cabin of the motor vehicle.
  • the term "op- erator" can denote a driver of the motor vehicle. Examples of operator regulators are steering wheel, accelerator pedal, brake pedal, gear change stick, indicators, etc.
  • an operator regulator is constituted by a regulator that indicates when activated that the operator desires to drive the vehicle manually.
  • autonomous operation and/or external control of the motor vehicle is not allowed, and the signal from the external control system is stopped at the control unit.
  • autonomous operation and/or ex- ternal control of the motor vehicle is prevented as soon as the indication is given that a person is present inside the motor vehicle and desires to drive the motor vehicle manually.
  • autonomous operation and/or external control is not allowed, manual operation of the motor vehicle is achieved through the control unit controlling the operating systems according to the signal received from the operator regulator. It is in this way ensured that manual operation of the motor vehicle is always given priority over autonomous operation and/or external control of the motor vehicle.
  • the control unit thus controls the operating systems, for example, on the basis of signals either from the operator regulators (manual operation), or from the external control system (autonomous operation or external control).
  • a system in which the control unit is arranged to validate the signal from the external con- trol system.
  • the control unit of the control system that is internal to the vehicle validating the incoming signal from the external control system, a check is achieved before the said signal is transferred to the operating systems and thus controls the motor vehicle. 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.
  • the validation preferably comprises the check of pre-determined criteria with respect to the format of signals of the external control system.
  • the validation comprises, for example, check of criteria with respect to the frequency of the signal generated by the external control system, i.e.
  • the control unit stops the autonomous operation.
  • criteria with respect to a checksum generated by the external control system can be checked during the validation.
  • the validation means that the format with which communication takes place over the computer interface must comply with clearly defined criteria in order to be received by the control system that is internal to the vehicle. It is in this way ensured that the manufacturer of the vehicle has control of how the vehicle is controlled and driven, even when an external control system is used for autonomous operation and/or external control. Furthermore, it is ensured that the external control system is an approved and allowed control system for autonomous operation and/or external control of the motor vehicle.
  • control unit stop the signal from the external control system when the validation shows that the signal from the external control sys- tern does not satisfy a pre-determined criterion. It is preferable that the control unit generates also a signal for internal control and transfers the signal for internal control to the operating systems.
  • the status of the motor vehi- cle is checked in order to determine whether autonomous operation and/or external control of the motor vehicle is to be allowed or not. It is appropriate that it is checked that the engine of the motor vehicle, its brake system or simi- lar do not demonstrate faults that can influence the performance during autonomous operation and/or external control.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the steps:
  • a method is provided to make possible the external control of a motor vehicle comprising the steps:
  • a method is provided to make possible the autonomous operation of a motor vehicle comprising the steps:
  • the external control system to transfer over a computer interface the signal from the external control system to a control system that is internal to the vehicle, comprising a control unit and operating systems, whereby the computer interface is arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the control unit is configured with a cer- tain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow autonomous operation, whereby the authorisation level can be changed by reconfiguring the control unit.
  • the external control system generate continuously several signals, whereby each signal can comprise one or several control parameters for autonomous operation and/or external control of the motor vehicle.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step:
  • control unit determine whether several pre-determined authorisation requirements are satisfied. It is appropriate that all authorisation requirements are to be satisfied in order for autonomous operation and/or external control of motor vehicle to be allowed.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step, in the event that the authorisation requirement is satisfied:
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step, in the event that the authorisation requirement is not satisfied:
  • a method is provided to make possible autonomous operation and/or external control of a motor vehi- cle comprising the steps, in the event that the authorisation requirement is not satisfied:
  • the signal from the external control system be modified, in the event that an authorisation requirement is not satisfied, such that the modi- fied signal demonstrates one or several control parameters that entail that the motor vehicle is not placed unnecessarily into situations that may be harmful to the motor vehicle and/or its surroundings.
  • a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step, in the event that the authorisation requirement is not satisfied:
  • the method comprises the steps, in the event that the authorisation requirement is not satisfied and autonomous operation and/or external control has been prevented:
  • the signal that the control unit generates for internal control of the motor vehicle comprise control parameters in order to stop the motor vehicle.
  • autonomous operation and/or the external control of the motor vehicle is prevented and the motor vehicle stops when the pre-determined authorisation requirement is not satisfied.
  • stopping the vehicle when autonomous operation and/or external control is not taking place as desired it is en- sured 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. In this way, a method is achieved for autonomous operation and/or external control of a motor vehicle that is safe for the surroundings, 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, in the event that autonomous operation and/or external control has been prevented:
  • the signal from the external control system is stopped at the control unit and is thus not transferred to the operating systems.
  • the control unit generates then a signal that the control system that is internal to the vehicle is con- trolling the motor vehicle and transfers this signal to the external control system.
  • the external control system receives in this way information that it is not controlling the motor vehicle.
  • a system and a method are provided to make possible autonomous operation and/or external control of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the external control of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the autonomous operation 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 may be any one of a lorry, bus, forestry machine, mining machine, wheel loader or car.
  • a computer program comprises program code to carry out the method steps according to any one of claims 9-13, when the said computer program is run on a computer.
  • a computer program product comprising a program code to carry out the method steps according to any one of claims 9-13, when the said program code is run on a computer.
  • a computer program is provided, where the said computer program comprises program code to carry out any one of the method steps named in the current application, 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 any one of the method steps named in the current application, 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 any one of the method steps named in the current application, 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 any one of the method steps named in the current application, 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 4 illustrates schematically a computer according to one embodiment of the invention.
  • Figure 1 shows a side view of a motor vehicle 100 comprising a drawing vehicle 1 10 and a trailer 1 12.
  • the motor vehicle 100 comprises further a system 200 to make possible autonomous operation and/or external control of the motor vehicle according to one embodiment of the present invention.
  • the mo- tor vehicle may be a heavy vehicle, such as a lorry, bus, wheel loader, forestry machine, dumper, mining machine, tracked vehicle or tank.
  • 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 invention is advantageously applied to vehicles in association with mining.
  • FIG. 2 shows schematically a system 200 to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention.
  • 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 may be manufactured by a third-party supplier and comprises 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, and similar (not shown in the draw- ing).
  • the said sensors may be located at the motor vehicle 100 and/or external to the motor vehicle 100.
  • the external control system 205 comprises, according to one embodiment, at least one control unit (not shown in the drawings).
  • 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 that can contribute information that can influence autonomous operation and/or external control of the said vehicle.
  • 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 and the control system 270 that is internal to the vehicle can communicate with each other in that the computer interface is arranged in communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle.
  • the external control system 205 and the computer interface 210 are arranged for communication over a link L205, and the computer interface 210 and the control system 210 that is internal to the vehicle are arranged for communication over a link L210.
  • 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 over the link L210.
  • the operating systems 230, 240, 250 are constituted by systems that through the control unit 220 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, a system for change of gear 230, a brake-control system 240, and an engine-control system 250.
  • the external control system 205 is arranged to transmit the signal S1 over the link L205 to the computer interface 210.
  • the interface is further arranged to transmit the signal S1 onwards to the control unit 220 over the link L210.
  • the control unit 220 is arranged to communicate with a power supply 280 and an operator regulator 290 at the motor vehicle 100.
  • the said power supply 280 controls 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 a regulator that can be operated manually by the operator when the operator is located inside the drawing vehicle 1 10 of the motor vehicle 100. Examples of operator regulators 290 are steering wheel, accelerator pedal, brake pedal, gear change stick or paddle, indicators, etc.
  • 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 regulators 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 signal S4 comprises control parameters that correspond to the wishes of the operator with respect to operation of the motor vehicle 100.
  • the control unit 220 is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit 220 in order to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit 220.
  • the authorisation level may be based on the ability and/or the experience of a intended operator of the motor vehicle.
  • the control system 270 that is internal to the vehicle is arranged to determine whether the, at least one, pre-determined authorisation requirement to allow autonomous operation and/or external control of the motor vehicle 100 is satisfied. It is preferable that the control unit 220 is arranged to determine whether the pre-determined authorisation requirement to allow autonomous operation and/or external control of the motor vehicle 100 is satisfied.
  • the pre-determined authorisation requirement concerns, according to one embodiment, requirements on the control parameter for autonomous and/or external control at the signal S1 from the external control system 205.
  • the pre-determined authorisation requirement concerns, according to one embodiment, a period of time that the motor vehi- cle 100 is allowed to be driven autonomously and/or externally.
  • the predetermined authorisation requirement concerns, according to one embodiment, the validity of a certificate issued to an operator of the motor vehicle 100.
  • the control unit 220 is further arranged to process or convert, when the au- thorisation requirement for autonomous operation and/or external control is satisfied, the signal S1 from the external control system 205, such that the processed signal S1 b demonstrates a format that can be interpreted by the operating systems 230, 240, 250.
  • the control unit 220 transmits the processed signal S1 b to the operating systems 230, 240, 250 over the link L220.
  • the con- trol unit 220 may transmit the signal S1 b also over the link L280 to the power supply 280.
  • the said signal S1 b comprises at least one control parameter for autonomous operation and/or external control of the operating systems 230, 240, 250 and/or the power supply 280. Autonomous operation and/or external operation of the motor vehicle 100 is in this way achieved.
  • the control unit 220 is further arranged to prevent, in the event that an authorisation requirement is not satisfied, autonomous operation and/or external con- trol of the motor vehicle 100 by stopping the signal S1 from the external control system 205.
  • the control unit 220 is arranged also to generate, in the event that an authorisation requirement is not satisfied, a signal S2 for the internal control of the motor vehicle 100, and to transmit the said signal S2 to the operating systems 230, 240, 250 over the link L220 and/or the power supply 280 over the link L280.
  • control unit 220 is arranged to lower, in the event of an authorisation requirement not being satisfied, the authorisation level with which the control unit 220 is configured. It is appropriate that the lowering of the authorisation level comprise a limitation of the functionality of autonomous operation and/or external control of the motor vehicle 100. It is preferable that the functionality of the autonomous operation and/or the external control of motor vehicle 100 be limited through changing the, at least one, authorisation re- quirement stored at the control unit 220, such that it entails more stringent limitations with respect to, for example, the control parameter for autonomous operation and/or external control at the signal S1 from the external control system 205.
  • control unit 220 is arranged to modify, in the event of an authorisation requirement not being satisfied, the signal S1 from the external control system 205, such that the modified signal S1 m satisfies the pre-determined authorisation requirement.
  • the control unit is further arranged to transfer the modified signal S1 m to the operating systems 230, 240, 250 over the link L220.
  • the control unit 220 is arranged to generate, in the event that autonomous operation and/or external control is prevented, a signal S3 comprising information that the control system 270 that is internal to the vehicle is controlling the mo- tor vehicle 100.
  • the control unit 220 is further arranged to transmit the said signal S3 to the computer interface 210 over the link L210.
  • the computer interface 210 is arranged to transmit, in the event that autonomous operation and/or external control has been prevented, the signal S3 comprising information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100 over the link L205 to the external control system 205.
  • the control unit 220 is further arranged to transmit, on reception of the signal S4 from the operator regulator 290, the said signal S4 to the operating systems 230, 240, 250 and/or the power supply 280 for manual operation of the motor vehicle 100.
  • Figure 3a shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention.
  • the method comprises the step 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, comprising a control unit 220 and operating systems 230, 240, 250.
  • 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 control unit 220 is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit 220 in or- der to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit 220. It is appropriate that the transfer between the external control system 205 and the computer interface 210 be carried out over a link L205. It is appropriate that the transfer between the computer interface 210 and the external control sys- tern be carried out over a link L210. The method is terminated after the method step s301 .
  • Figure 3b shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one em- bodiment of the present invention.
  • the method comprises the step s310 of generating by means of an external control system 205 at least one 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, and whereby the control unit 220 is config- ured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit 220 in order to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit 220.
  • a method step s330 is carried out after the method step s320.
  • the method step s330 comprises to determine by means of the control unit 220 whether the, at least one, pre-determined authorisation requirement to allow autonomous operation and/or external control of the motor vehicle 100 is satisfied.
  • the authorisation requirement may concern, for example, requirements on the control parameter for autonomous and/or external control at the signal S1 from the external control system 205.
  • the authorisation requirement concerns the validity of a certificate issued to the operator of the motor vehicle 100. It is appropriate that the authorisation requirement be stored at the control unit 220.
  • a method step s340 or s350 is carried out after the method step s330.
  • the method s340 is carried out solely if it is determined in method step s330 that the pre-determined authorisation requirement is satisfied.
  • the method step s340 comprises the allowance of autonomous operation and/or external control of the motor vehicle 100.
  • the method step s340 to allow autonomous operation and/or external control of the motor vehicle 100 comprise that the control unit 220 process and convert the signal S1 from the external control system 205 and transfer the processed signal S1 b to the operating systems 230, 240, 250. It is appropriate that the transfer of the signal S1 b from 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. Alternatively, the method is repeated from the first method step s310.
  • the method s350 is carried out solely if it is determined in method step s330 that the pre-determined authorisation requirement is not satisfied.
  • the method step s350 comprises the prevention of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s350 to prevent initiation of autonomous operation and/or external control of the motor vehicle comprise stopping, by means of the control unit 220, the signal S1 from the external control system 205, and generating, by means of control unit 220, a signal S2 for the internal control of the motor vehicle 100, and transferring the signal S2 for internal control from the control unit 220 to the operating sys- terns 230, 240, 250.
  • the transfer of the signal S2 for the internal control be carried out over the link L220. It is appropriate that the signal S2 for internal control comprise control parameters to control the motor vehicle 100, such that the motor vehicle 100 stops.
  • the method is terminated after the method step s350. Alternatively, the method is repeated from the first method step s310.
  • FIG 4 shows a drawing of a design of an arrangement 400.
  • the external control system 205 and/or the control unit 220 that have been described with reference to Figure 2 may, in one design, comprise the arrangement 400.
  • the arrangement 400 comprises a non-transient memory 420, a data processing unit 410 and a read/write memory 450.
  • the non-transient memory 420 has a first section of memory 430 in which a computer program, such as an operat- ing 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 autonomous operation and/or external control of a motor vehicle 100, is provided at the ar- rangement 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 may comprise routines to process or convert the signal S1 .
  • the computer program P may comprise routines to modify the signal S1 .
  • the computer program P may comprise routines to determine whether at least one pre-determined authorisa- tion requirement to allow autonomous operation and/or external control of the motor vehicle is satisfied.
  • the computer program P may comprise routines to allow autonomous operation and/or external control of the motor vehicle 100, in the event that an authorisation requirement is satisfied.
  • the computer program P may comprise routines to transfer, in the event that the authorisation requirement is satisfied, the said signal S1 to the operating systems 230, 240, 250 and in this way to allow autonomous operation and/or external control of the motor vehicle 100.
  • the computer program P may comprise routines to prevent, in the event that an authorisation requirement is not satisfied, autonomous operation and/or external control of the motor vehicle.
  • the computer program P may comprise routines to generate, in the event that an authorisation requirement is not satisfied, 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 an authorisation requirement 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 control sys- tern 270 that is internal to the vehicle to the external control system 205 over the computer interface 210.
  • 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). When data is received at the data port 499 it is temporarily stored in the second section of memory 440.
  • signals received at the data port 499 comprise parameters for the autonomous operation of the motor vehicle 100.
  • signals received at the data port 499 comprise control 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 information about the period during which the motor vehicle 100 has been driven autonomously and/or externally.
  • signals received at the data port 499 comprise information about a certificate that has been issued to an operator.
  • 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 al- lowed to be driven autonomously and/or externally, or to be prevented from being driven autonomously and/or externally.
  • the signals that have been received at the data port 499 can be used by the arrangement 400 to determine whether autonomous operation and/or external control of the motor vehicle 100 is to be limited.
  • 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.
  • the arrangement 400 runs the program, the method described here is executed.

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  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention concerns a system (200) to make possible autonomous opera- tion and/or external control of a motor vehicle, comprising an external control system (205) arranged to generate a signal (S1) comprising at least one control parameter for autonomous operation and/or external control of the said motor vehicle, and a control system (270) that is internal to the vehicle, comprising a control unit (220) and operating systems (230; 240; 250), in which the control unit (220) is arranged in communicative connection with the operating systems (230; 240; 250). A computer interface (210) is arranged at the system (200) in communicative connection with the external control system (205) and the control system (270) that is internal to the vehicle, whereby the computer interface (210) is arranged to transfer the signal (S1) from the external control system (205) to the control system (270) that is internal to the vehicle. The control unit (220) is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit (220) in order to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit (220). The invention concerns also a method to make possible autonomous operation and/or external control of a motor vehicle, and a motor vehicle (100, 110) comprising such a system (200).

Description

System and method to make possible autonomous operation and/or external control of a motor vehicle
TECHNICAL AREA
The present invention concerns a system to make possible autonomous operation and/or external control of a motor vehicle, a method to make possible autonomous operation and/or external control of a motor vehicle, and a motor vehicle comprising such a system.
BACKGROUND AND PRIOR ART
To drive a motor vehicle places high demands on the operator since there are many complex predictable and unpredictable situations that must be consid- ered. Aids are currently available to facilitate the work of the operator such as adaptive cruise-control systems, emergency braking, carriageway warnings, and similar. These aids, however, require that an operator be present in the motor vehicle who can himself or herself assess the situation and take appropriate action.
The operator constitutes a large part of the operating cost of a motor vehicle, also in cases in which the load on the operator is very low. This is the case, for example, in mining applications in which the journeys often consist of loading at one location in order subsequently to drive to a second location and unload. A second example is the transport of passengers between an airplane and an airport terminal. The traffic conditions in these applications are controlled and no pedestrians, cyclists or similar disturbances are present. Mines, for example, are in addition located in such a manner that transport and infrastructure are required for the personnel. This generates large costs. In order to minimise the costs, it is therefore desirable in certain types of operation to fully automate the driving of the motor vehicles. In order to, in a safe manner, drive a motor vehicle autonomously, in other words without an operator or driver controlling the motor vehicle while present at the vehicle, there is required an accurate assessment of the surroundings of the motor vehicle. This can be achieved through the use of sensors with high precision and advanced information processing, and communication between the various control units of the motor vehicle. It is time-consuming and expensive to develop and implement such a solution for the autonomous operation or remote control of a motor vehicle. Various methods and systems have been suggested in the prior art technology in order to achieve autonomous operation. In document US 2012/0239238 A1 , for example, there is revealed how an industrial vehicle is autonomously guided along a defined pathway through the use of a guidance and navigation system. The guidance and navigation system creates and transmits a com- mand with respect to the speed over a communication network to a processor module. The processor module transmits the command onwards to the control unit of the industrial vehicle, which in turn controls the drive system based on the said command. The pathway may be defined by a cable under the floor, tape, or other references on the floor, which the guidance and navigation sys- tern detects. While it is true that this system achieves autonomous operation of the industrial vehicle, it requires a pathway that has been defined in advance along which the industrial vehicle is to be driven, and an internal guidance and navigation system. Despite the prior art solutions in the field, there is still a need to further develop a cost-efficient system and method for autonomous operation and/or external control of a motor vehicle that minimises the operating costs and the development costs.
SUMMARY OF THE INVENTION One purpose of the present invention is to achieve a system to make possible autonomous operation and/or external control of a motor vehicle, which keeps the costs to a minimum. 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, which system is safe for the motor vehicle and safe for objects and people in its surroundings. 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 vehicle.
One purpose of the present invention is to achieve a method to make possible autonomous operation and/or external control of a motor vehicle, which method is safe for the motor vehicle and safe for objects and people in its surroundings.
A further purpose of the present invention is to achieve a method to make pos- sible 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 ve- hide for external users.
The purposes described above are achieved by a system according to claim 1 and through a method according to claim 9. According to one aspect of the present invention, a system is provided to make possible autonomous operation and/or external control of a motor vehicle comprising:
- an external control system arranged to generate a signal comprising at least one control parameter for autonomous operation and/or external control of a motor vehicle,
- a control system that is internal to the vehicle comprising a control unit and operating systems, in which the control unit is arranged in communicative connection with the operating systems, and
- a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control unit, and whereby the control unit is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow autonomous opera- tion and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit.
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. According to one aspect of the present invention, a system is provided to make possible the external control of a motor vehicle comprising:
- an external control system arranged to generate a signal comprising at least one control parameter for the external control of the said motor vehicle, - a control system that is internal to the vehicle comprising a control unit and operating systems, in which the control unit is arranged in communicative connection with the operating systems, and
- a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control unit, whereby the control unit is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow external control, whereby the authorisation level can be changed by reconfiguring the control unit.
According to one aspect of the present invention, a system is provided to make possible the autonomous operation of a motor vehicle comprising:
- an external control system arranged to generate a signal comprising at least one control parameter for the autonomous operation of the said motor vehicle,
- a control system that is internal to the vehicle comprising a control unit and operating systems, in which the control unit is arranged in communicative connection with the operating systems, and
- a computer interface arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the computer interface is arranged to transfer the signal from the external control system to the control unit, whereby the control unit is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow autonomous operation, whereby the authorisation level can be changed by reconfiguring the control unit. It is preferable that the control system that is internal to the vehicle comprise several control units.
In this respect, a signal or signals may concern a message or several mes- sages comprising one or several signals. A signal within a message can comprise one or several control parameters.
The control system that is internal to the vehicle is preferably a part of the motor vehicle in its fundamental design and controls the motor vehicle when the motor vehicle is driven with an operator or driver present. By arranging a computer interface at the motor vehicle in communicative connection with the external control system and the control system that is internal to the vehicle, two- way communication between the external control system and control system that is internal to the vehicle is made possible. Thus, the interface is configured for communication between the control system that is internal to the vehicle and the external control system. The interface may constitute a part of the control system that is internal to the vehicle. In this way, the use of an external control system that is already commercially available for autonomous operation and/or external control of a motor vehicle, coupled with the motor vehicle, is made possible. Thus, the motor vehicle does not need to be provided during manufacture with expensive systems and tools in order to achieve autonomous operation and/or external control: the purchaser of the motor vehicle can on a later occasion connect an existing external control system for autonomous operation and/or external control to the computer interface that has been configured for this purpose and to the control system that is internal to the vehicle. In this way, a time-efficient and cost-effective solution is achieved to make possible autonomous operation and/or external control of a motor vehicle. Through the fact that the signal generated by the external control system is received first at the computer interface, the access of the external control system is limited by the control system that is internal to the vehicle. This is particularly advantageous since the control system that is internal to the vehicle may comprise information and functions that the manufacturer of the vehi- cle 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 increased, in order to simplify the use. In the same way, the system according to the present invention makes it impossible for the external control system to take over the control of the motor vehicle unless its signals have first passed over the computer interface. The computer interface means also that the influence on the motor vehicle is held at a minimum in the cases in which connection of the external 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 motor vehicle may be driven autonomously in a first condition and driven under the control of an operator (manually or externally) in a second condition. An operator, for example a driver, can thus use the same computer interface as during autonomous operation when the operator desires to control the vehicle externally. Thus, the said operator can control the vehicle by means of a control means, where the operator is located external to or by the side of the vehicle, in, for example, a basket or an aerial work platform, or manually through regulators that are arranged in a cabin at the vehicle.
The external control system is defined as a control system that is provided and installed by a party other than the manufacturer of the vehicle. The external control system may comprise units that are arranged at the motor vehicle and/or units that are arranged not at the motor vehicle. It is appropriate that the external control system comprise hardware in the form of sensors, navigation systems, cameras and similar to determine the position of the motor vehicle and to detect continuously, for example, object, obstacles, people and animals, in order to obtain an accurate assessment of its surroundings. It is appropriate that the external control system comprise also at least one control unit that receives instructions with respect to the desired operation of the motor vehicle. During autonomous operation of the motor vehicle, the control unit at the external control system receives instructions concerning the desired operation of the motor vehicle at a high level, for example, "Drive from a position A to a po- sition 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 at least one of the above-mentioned hardware and the external units, to- gether 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 operation of the motor vehicle according to the route that has been de- termined. The control parameters comprise instructions at a low level and can relate to steering angle, appropriate gear of a transmission, braking power, acceleration of the motor vehicle, angular velocity and/or torque at the steering wheel, and similar detailed control parameters. The signal that is generated by the external control system comprises at least one such control parameter.
During external control of the motor vehicle, the control unit of the external control system determines control parameters based on a driving operation of the motor vehicle desired 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, deceler- ated, undergo a change of gear and/or turned. The control parameters of the signal from the external control system comprise, just as during autonomous operation of the motor vehicle, instructions at a low level and can relate to steering angle, appropriate gear, braking power, acceleration and similar detailed control parameters.
A control parameter can be known also as a "request". Thus, the external con- trol system provides a request with respect to, for example, a speed at which the motor vehicle should be driven. The request from the external control system is transferred over the computer interface to the control system that is internal to the vehicle, which processes the request and determines whether the request is to be executed. According to one embodiment, the signal from the external control system comprises a request that is constituted by a positive or negative speed request and/or a braking request, and a desired steering angle. Alternatively, the signal from the external control system constitutes a request that is constituted by an acceleration and/or deceleration request and a desired steering angle. Alternatively, the signal from the external control sys- tern comprises a request that is constituted by an angular velocity and/or a torque at the steering wheel.
It is preferable that the external control system generate continuously several signals, each comprising one or several control parameters or requests.
It is appropriate that the operating systems are constituted by a brake control system for the control of, for example, service brake, secondary brake and parking brake, driving means and/or control means. The term "secondary brake" can be used to denote retarders, exhaust brakes, electrical secondary brakes and similar. It is appropriate that the operating systems are further constituted by 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 means are thus constituted by systems that through the control unit of the control sys- tern that is internal to the vehicle influence, among other things, the speed and direction of the motor vehicle. According to one aspect of the present invention, the control unit of the control system that is internal to the vehicle is arranged for communication with the 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.
By configuring the control unit with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow autonomous operation and/or external control, it is ensured that the motor vehicle is driven autonomously and/or externally in a safe manner. The system can be activated through the control system that is internal to the vehicle being configured such that all affected control units at the motor vehicle make possible through parameter settings autonomous operation and/or the external control, and such that the computer interface is activated. Thus, spe- cial limitations are introduced at the setting of parameters by the control unit in order to ensure that autonomous operation and/or external control of the motor vehicle takes place in a safe and secure manner. The motor vehicle is in this way set to have different authorisation levels with respect to autonomous operation and/or the external control. The particular authorisation level with which the control unit is configured may depend on, for example, the application in which the motor vehicle is to be driven. The authorisation level can differ, for example, between a motor vehicle that is to be driven in a mine application and a motor vehicle that is to transport passengers at an airport. Thus, a certain authorisation level includes a certain parameter setting or configuration of the control unit, and in this way also at least a certain authorisation level. Since the authorisation level can be changed through reconfiguration of the control unit, a flexible system is achieved in which the authorisation level can be updated as required, and the safety can in this way be ensured. The control unit is so configured, for example, that it comprises several predetermined authorisation requirements corresponding to the relevant authorisation level. It is appropriate that it is required that all authorisation require- merits are to be satisfied in order for autonomous operation and/or external control of motor vehicle to be allowed.
By configuring the control unit with a pre-determined authorisation level in or- der to allow autonomous operation and/or external control of the motor vehicle, it is ensured that autonomous operation and/or external control of the motor vehicle takes place in the desired manner. It is appropriate that the authorisation requirement concern requirements on the control parameter for autonomous and/or external control at the signal from the external control system. The authorisation requirement may be associated with, for example, that the motor vehicle may be driven autonomously and/or externally only during a limited period of time. The authorisation requirement may concern, for example, that the motor vehicle may be driven autonomously and/or externally with a certain maximum permitted speed. The authorisation requirement may be as- sociated with, for example, a certain geographical region. The authorisation requirement may be associated with, for example, how the motor vehicle may be braked, accelerated and/or turned during autonomous operation and/or external control. The authorisation requirement may be associated with, for example, that the operator, who intends to drive the motor vehicle autonomously and/or externally, must be authorised, i.e. that the operator must have permission to drive the vehicle.
It is preferable that the control unit is so configured that a high authorisation level entails less stringent or fewer limitations than a low authorisation level. Thus, a high authorisation level may comprise less stringent or fewer authorisation requirements than a low authorisation level. The control unit may be configured, for example, with a low authorisation level if it is the first time a certain operator is to drive a motor vehicle autonomously and/or externally, whereby an authorisation requirement may be, for example, that the motor ve- hide is allowed to be driven only with a speed below 20 km/hour. For an experienced and accustomed operator, the control unit can be configured with a higher authorisation level, whereby an authorisation requirement may be, for example, that the motor vehicle is allowed to be driven only with a speed below 50 km/hour. A system is achieved in this way for autonomous operation and/or external control of a motor vehicle, which is safe for the motor vehicle and for objects and people in its surroundings.
According to one aspect of the present invention, the authorisation level is based on the ability and/or the experience of an operator of the motor vehicle. Through the fact that it is possible to change the authorisation level by reconfiguring the control unit, it is possible in this way that an operator receive with time a higher authorisation level. In the same manner, an operator who for some reason cannot carry out his or her tasks in an adequate manner, for medical reasons for example, can be given a lower authorisation level. It is appropriate that the control unit be reconfigured such that a temporary increase and/or a temporary decrease of the authorisation level is achieved.
The term "operator" can denote one or several people. Alternatively, the term "operator" can denote a company or a customer of the vehicle manufacturer.
According to one aspect of the present invention, a system is provided in which the pre-determined authorisation requirement concern requirements on the control parameter for autonomous and/or external control at the signal from the external control system.
The control parameter for autonomous operation and/or external control at the signal from the external control system can concern, for example, a speed request and/or a steering angle request and/or a braking request, and/or a request for a specific gear. It is preferable that the control unit be configured with an authorisation level that includes at least one authorisation requirement with respect to this control parameter for autonomous operation and/or external control. The authorisation requirement can include, for example, that a speed request from the external control system may not exceed a pre-determined maximum permitted speed. Alternatively, the authorisation requirement can include that a steering angle request from the external control system may not exceed a pre-determined maximum permitted steering angle. It is in this way ensured that the motor vehicle is driven autonomously and/or externally in a safe and comfortable manner.
According to one aspect of the present invention, a system is provided in which the pre-determined authorisation requirement concerns a period of time that the motor vehicle is allowed to be driven autonomously and/or externally.
The authorisation requirement may concern, for example, that the motor vehicle is allowed to be driven autonomously and/or externally solely during a predetermined contiguous period of time, for example 3 contiguous hours. Alternatively, the authorisation requirement may concern, for example, that the motor vehicle is allowed to be driven autonomously and/or externally solely during a determined accumulated period of time, for example 10 hours, with or without interruptions in operation. Alternatively, the authorisation requirement concerns that the motor vehicle is allowed to be driven autonomously and/or externally solely until a certain date. It preferable that the authorisation requirement with respect to a period of time that the motor vehicle may be driven autonomously and/or externally include a requirement also that the motor vehicle, after having been driven autonomously and/or externally for the determined period of time, must rest or be parked during a determined period of time before it can again be driven autonomously and/or externally. According to one execution given as an example, the operator is warned when the period of time during which the motor vehicle may be driven autonomously and/or externally is approaching its end. It is appropriate that the control unit generate a message comprising the warning, which message is transmitted through the computer interface to the external control system. It is appropriate that the external control system comprise a user interface with the operator that presents the message. It is appropriate that the user interface be constituted by a presentation means such as a display. Audiovisual feedback to the operator is in this way achieved. It is appropriate that the message with the warning comprise instructions for how the operator should act in order to be allowed again to drive the motor vehicle autonomously and/or externally. According to one aspect of the present invention, the pre-determined authorisation requirement is associated with requirements that the motor vehicle must be parked or must be driven manually for a certain duration between occasions on which it is driven autonomously and/or externally. According to one aspect of the present invention, a system is provided in which the pre-determined authorisation requirement concerns the validity of a certificate issued to an operator of the motor vehicle.
By posing the requirement that the operator of the motor vehicle possess a valid certificate or licence in order to be allowed to drive the motor vehicle autonomously and/or externally, an authentication of authorised operators is achieved, and it is ensured that unauthorised people do not drive the motor vehicle autonomously and/or externally. It is in this way ensured that a motor vehicle, when it is sold to the next owner, cannot be driven autonomously and/or externally unless the new operator is authorised. In this way, a system is achieved to make possible autonomous operation and/or external control of a motor vehicle that is safe and that reduces to a minimum the risk that unauthorised people use the motor vehicle autonomously and/or externally. The certificate that is issued to the operator of the motor vehicle is preferably renewable. It is appropriate that renewal of the certificate is required with a certain regularity, for example once a week, once a month, or once every other month. Alternatively, renewal of the certificate is required every day. Alternatively, renewal of the certificate is required on each occasion that the operator desires to drive the motor vehicle autonomously and/or externally. According to one execution of the present invention given as an example, a random check of the validity of the certificate is generated. It is preferable that the certificate be renewed wirelessly through a telematics unit arranged at the vehicle against a server owned by the manufacturer of the motor vehicle. Alternatively, the certificate can be renewed through the input of a single-use code through an input device. The input device may be constituted by a workshop tool, an instrument cluster, a PDA, a mobile telephone or navigation equipment.
It is preferable that certificates be issued to service engineers at workshops authorised by the manufacturer of the vehicle. It is in this way ensured that solely authorised service engineers can configure the system and change the parameter setting, and in this way the authorisation level.
It is preferable that the operator be warned when the validity of the certificate is about to expire. It is appropriate that the control unit generate a message comprising the warning, which message is transmitted through the computer interface to the external control system. It is appropriate that the external control system comprise a user interface with the operator that presents the message. It is appropriate that the message comprise also instructions for how the operator can renew the certificate.
According to one aspect of the present invention, a system is provided in which the control unit is arranged to determine whether the pre-determined authorisation requirement is satisfied. It is appropriate that this be achieved through the pre-determined authorisation requirement being stored at the control unit, whereby the control unit compares information from the control system that is internal to the vehicle and/or the signal from the external control system with the stored authorisation requirement. According to one aspect of the present invention, a system is provided in which the control unit is arranged to allow, in the event that the authorisation requirement is satisfied, autonomous operation and/or external control of the motor vehicle.
It is preferable that autonomous operation and/or external control of the motor vehicle be allowed through the control unit processing or treating the signal from the external control system such that the processed signal can be interpreted by the operating systems. The processed signal thus comprises the same request or control parameter as the signal from the external control system, but in a different format. The control unit subsequently transfers the proc- essed signal to the operating systems. By transferring the processed signal to the operating systems, the operating systems are controlled in accordance with the control parameters in the signal from the external control system. Autonomous operation and/or external operation of the motor vehicle through the external control system is in this way achieved.
According to one aspect of the present invention, a system is provided in which the control unit is arranged to, in the event that the authorisation requirement is satisfied, allow access to the control system that is internal to the vehicle.
It is possible in this way for a service engineer, by satisfying a specific authorisation requirement, such as a valid certificate, to obtain access to the control system that is internal to the vehicle and in this way to change parameter settings at the control system that is internal to the vehicle.
According to one aspect of the present invention, a system is provided in which the control unit is arranged to prevent, when the authorisation requirement is not satisfied, autonomous operation and/or external control of the motor vehicle.
It is preferable that the control unit be arranged to prevent, in the event that an authorisation requirement is not satisfied, autonomous operation and/or exter- nal control of the motor vehicle by stopping the signal from the external control system.
It is appropriate that the control unit be arranged to prevent, in the event that an authorisation requirement is not satisfied, autonomous operation and/or external control of the motor vehicle by generating a signal for internal control of the motor vehicle. An internal control of the motor vehicle is in this way achieved when the pre-determined authorisation requirement is not satisfied. It is preferable that the signal for internal control comprise control parameters that minimise the risk of damage to the motor vehicle and objects and/or people in its surroundings. The internal control comprises, for example, control parameters that lead to the motor vehicle braked and/or stopped/ parked.
According to one aspect of the present invention, a system is provided in which the control unit is arranged to lower, in the event that an authorisation requirement is not satisfied, the authorisation level. It is preferable that the lowering of the authorisation level comprise a limitation of the functionality of autonomous operation and/or the external control through the change of at least one authorisation requirement. It is appropriate that the change of au- thorisation requirement entails a more stringent limitation, and thus an increase of the authorisation requirement. The functionality of autonomous operation and/or the external control may be, for example, limited through change of at least one authorisation requirement with respect to the control parameter from the external control system, such that.. For example, the con- trol unit may be arranged to, in the event of an invalid certificate, increase the authorisation requirement with respect to the control parameter for autonomous operation and/or external control, and in this way to limit the function of the autonomous operation and/or the external control of the motor vehicle. For example, the control unit can be arranged to, in the event of an invalid certifi- cate, lower the allowed maximum speed by 20 km/hour. It is preferable that the control unit be arranged to modify the signal from the external control system, in the event of a lowering of the authorisation level and thus in the event of a change in the authorisation requirement, such that the modified signal satisfies the new authorisation requirement.
According to one aspect of the present invention, the control unit 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 and/or external control has been interrupted for any reason. Both the motor vehicle and objects and/or people in its surroundings are in this way protected. According to one aspect of the present invention, the control unit is arranged to generate, when autonomous operation and/or external control has been prevented and the control unit has generated a signal for internal control, a signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle. It is appropriate that the control unit is further ar- ranged to transfer the signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle from the control system that is internal to the vehicle to the external control system over the 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 it is not controlling the motor vehicle.
According to one aspect of the present invention, a system is provided in which the control unit is arranged to modify the signal from the external control system, in the event that an authorisation requirement with respect to the con- trol parameter for autonomous operation and/or external control is not satisfied at the signal from the external control system, such that the modified signal satisfies the pre-determined authorisation requirement. If the signal from the external control system demonstrates, for example, a requested speed parameter that exceeds a maximum permitted speed according to a predetermined authorisation requirement, 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 maximum permitted speed. The modified signal is subsequently transferred from the control unit to the operating systems for the execution of the control command according to the modified signal.
According to one aspect of the present invention, the control unit at the control system that is internal to the vehicle is arranged to modify the signal from the external control system, such that the motor vehicle is not unnecessarily placed into situations that may be harmful for the motor vehicle and/or its surroundings. Such a modification of the signal from the external control system may be carried out, for example, when the signal from the external control sys- tern 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 a high steering angle. 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 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 system.
According to one embodiment of the present invention, a system is provided in which the control system that is internal to the vehicle is arranged to determine whether the control unit is receiving a signal from an operator regulator at the motor vehicle. The operator regulator at the motor vehicle is preferably constituted by a regulator that can be operated manually by the operator when the operator is located inside the driver's cabin of the motor vehicle. The term "op- erator" can denote a driver of the motor vehicle. Examples of operator regulators are steering wheel, accelerator pedal, brake pedal, gear change stick, indicators, etc. According to one embodiment, an operator regulator is constituted by a regulator that indicates when activated that the operator desires to drive the vehicle manually. In the cases in which the control unit receives sig- nals from an operator regulator, autonomous operation and/or external control of the motor vehicle is not allowed, and the signal from the external control system is stopped at the control unit. By preventing the transfer of signals from the external control system to the operating systems when the control unit receives a signal from an operator regulator, autonomous operation and/or ex- ternal control of the motor vehicle is prevented as soon as the indication is given that a person is present inside the motor vehicle and desires to drive the motor vehicle manually. When autonomous operation and/or external control is not allowed, manual operation of the motor vehicle is achieved through the control unit controlling the operating systems according to the signal received from the operator regulator. It is in this way ensured that manual operation of the motor vehicle is always given priority over autonomous operation and/or external control of the motor vehicle.
The control unit thus controls the operating systems, for example, on the basis of signals either from the operator regulators (manual operation), or from the external control system (autonomous operation or external control).
According to one aspect of the present invention, a system is provided in which the control unit is arranged to validate the signal from the external con- trol system. Through the control unit of the control system that is internal to the vehicle validating the incoming signal from the external control system, a check is achieved before the said signal is transferred to the operating systems and thus controls the motor vehicle. 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. The validation preferably comprises the check of pre-determined criteria with respect to the format of signals of the external control system. The validation comprises, for example, check of criteria with respect to the frequency of the signal generated by the external control system, i.e. how often signals from the external control system are transmitted. For example, in the case in which sig- nals are intended to be transmitted every 40 milliseconds but an interruption occurs, the control unit stops the autonomous operation. Furthermore, criteria with respect to a checksum generated by the external control system can be checked during the validation. The validation means that the format with which communication takes place over the computer interface must comply with clearly defined criteria in order to be received by the control system that is internal to the vehicle. It is in this way ensured that the manufacturer of the vehicle has control of how the vehicle is controlled and driven, even when an external control system is used for autonomous operation and/or external control. Furthermore, it is ensured that the external control system is an approved and allowed control system for autonomous operation and/or external control of the motor vehicle.
It is appropriate that the control unit stop the signal from the external control system when the validation shows that the signal from the external control sys- tern does not satisfy a pre-determined criterion. It is preferable that the control unit generates also a signal for internal control and transfers the signal for internal control to the operating systems.
According to one aspect of the present invention, the status of the motor vehi- cle is checked in order to determine whether autonomous operation and/or external control of the motor vehicle is to be allowed or not. It is appropriate that it is checked that the engine of the motor vehicle, its brake system or simi- lar do not demonstrate faults that can influence the performance during autonomous operation and/or external control.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the steps:
- to generate a signal comprising at least one control parameter for autonomous operation and/or external control of a motor vehicle by means of an external control system; and
- to transfer over a computer interface the signal from the external control system to a control system that is internal to the vehicle, comprising a control unit and operating systems, whereby the computer interface is arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the control unit is configured with a cer- tain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit. According to one aspect of the present invention, a method is provided to make possible the external control of a motor vehicle comprising the steps:
- to generate a signal comprising at least one control parameter for the external control of the said motor vehicle by means of an external control system; and
- to transfer over a computer interface the signal from the external control system to a control system that is internal to the vehicle, comprising a control unit and operating systems, whereby the computer interface is arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the control unit is configured with a cer- tain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow external control, whereby the authorisation level can be changed by reconfiguring the control unit.
According to one aspect of the present invention, a method is provided to make possible the autonomous operation of a motor vehicle comprising the steps:
- to generate a signal comprising at least one control parameter for the autonomous operation of the said motor vehicle by means of an external control system; and
- to transfer over a computer interface the signal from the external control system to a control system that is internal to the vehicle, comprising a control unit and operating systems, whereby the computer interface is arranged in communicative connection with the external control system and the control system that is internal to the vehicle, whereby the control unit is configured with a cer- tain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit in order to allow autonomous operation, whereby the authorisation level can be changed by reconfiguring the control unit. It is appropriate that the external control system generate continuously several signals, whereby each signal can comprise one or several control parameters for autonomous operation and/or external control of the motor vehicle.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step:
- to determine whether the, at least one, pre-determined authorisation requirement to allow autonomous operation and/or external control of the motor vehicle is satisfied, by means of the control system.
It is preferable that the control unit determine whether several pre-determined authorisation requirements are satisfied. It is appropriate that all authorisation requirements are to be satisfied in order for autonomous operation and/or external control of motor vehicle to be allowed.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step, in the event that the authorisation requirement is satisfied:
- to allow autonomous operation and/or external operation of the motor vehicle. It is preferable that autonomous operation and/or external control of the motor vehicle be allowed through processing or treatment of the signal from the external control system by means of the control unit, and through transferring the processed signal to the operating systems. According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step, in the event that the authorisation requirement is not satisfied:
- to prevent autonomous operation and/or external operation of the motor vehi- cle.
It is preferable that autonomous operation and/or external control of the motor vehicle is prevented through the control unit stopping the signal from the external control system, which signal is in this way not transferred to the operating systems.
Alternatively, autonomous operation and/or external control of the motor vehicle is prevented through the signal from the external control system being modified, by means of the control unit. According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehi- cle comprising the steps, in the event that the authorisation requirement is not satisfied:
- to modify the signal from the external control system by means of the control unit; and
- to transfer the modified signal to the operating systems, by means of the control unit.
It is appropriate that the signal from the external control system be modified, in the event that an authorisation requirement is not satisfied, such that the modi- fied signal demonstrates one or several control parameters that entail that the motor vehicle is not placed unnecessarily into situations that may be harmful to the motor vehicle and/or its surroundings.
According to one aspect of the present invention, a method is provided to make possible autonomous operation and/or external control of a motor vehicle comprising the step, in the event that the authorisation requirement is not satisfied:
- to lower the authorisation level with which the control unit is configured. It is preferable that a lowering of the authorisation level comprise through a limitation of the functionality of autonomous operation and/or the external control of the motor vehicle]. It is appropriate that a limitation of the functionality of the autonomous operation and/or the external control of the motor vehicle is achieved through changing the parameter setting or configuration of the con- trol unit such that at least one authorisation requirement is changed and thus entails that the motor vehicle may be driven autonomously and/or externally under more stringent limitations than previously. It is preferable that the signal from the external control system is modified by means of the control unit, such that the modified signal satisfies the, at least one, new authorisation require- ment. According to one aspect of the present invention, the method comprises the steps, in the event that the authorisation requirement is not satisfied and autonomous operation and/or external control has been prevented:
- to generate a signal for the internal control of the motor vehicle by means of the control unit; and
- to transfer the signal for internal control from the control unit 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. Thus, autonomous operation and/or the external control of the motor vehicle is prevented and the motor vehicle stops when the pre-determined authorisation requirement is not satisfied. By stopping the vehicle when autonomous operation and/or external control is not taking place as desired, it is en- sured 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. In this way, a method is achieved for autonomous operation and/or external control of a motor vehicle that is safe for the surroundings, together with a method for autonomous operation and/or external control of a motor vehicle that is safe for the said motor vehicle.
According to one aspect of the present invention, the method comprises the steps, in the event that autonomous operation and/or external control has been prevented:
- to generate a signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle by means of the control unit; and
- to transfer the signal comprising information that the control system that is internal to the vehicle is controlling the motor vehicle from the control system that is internal to the vehicle to the external control system over the computer interface. In the cases in which the pre-determined authorisation requirement is not satisfied, the signal from the external control system is stopped at the control unit and is thus not transferred to the operating systems. The control unit generates then a signal that the control system that is internal to the vehicle is con- trolling the motor vehicle and transfers this signal to the external control system. The external control system receives in this way information that it is not controlling the motor vehicle.
According to one aspect of the present invention, a system and a method are provided to make possible autonomous operation and/or external control of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the external control of a motor vehicle. According to one aspect of the present invention, a system and a method are provided to make possible the autonomous operation 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 may be any one of a lorry, bus, forestry machine, mining machine, wheel loader or car.
According to one aspect of the invention, a computer program is provided, where the said computer program comprises program code to carry out the method steps according to any one of claims 9-13, when the said computer program is run on a computer.
According to one aspect of the invention, a computer program product is provided, comprising a program code to carry out the method steps according to any one of claims 9-13, when the said program code is run on a computer. According to one aspect of the invention, a computer program is provided, where the said computer program comprises program code to carry out any one of the method steps named in the current application, when the said computer program is run on an electronic control unit.
According to one aspect of the present invention, a computer program product is provided comprising a program code stored on a medium that can be read by a computer, in order to carry out any one of the method steps named in the current application, when the said program code is run on an electronic control unit. According to one aspect of the present invention, a computer program product is provided comprising a program code stored on a medium that can be read by a computer, in order to carry out any one of the method steps named in the current application, when the said program code is run on a computer. According to one aspect of the present invention, a computer program product is provided directly stored in an internal memory of a computer, comprising a computer program comprising program code arranged to carry out any one of the method steps named in the current application, when the said computer program is run on an electronic control unit.
Further purposes, advantages and new distinctive features of the present invention will be made clear for one skilled in the arts by the following details, as also during execution of the invention. While the invention is described below, it should be obvious that the invention is not limited to the specific details de- scribed. Those skilled in the arts will recognise further applications, modifications and executions within other fields, which lie within the scope of the invention.
BRIEF DESCRIPTION OF DRAWINGS Preferred embodiments of the invention will be described as examples below with reference to attached drawings, of which:
Figure 1 shows a schematic side view of a vehicle,
Figure 2 shows schematically a system to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention, Figure 3a shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention.
Figure 3b shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle according to one embodiment of the present invention.
Figure 4 illustrates schematically a computer according to one embodiment of the invention.
DETAILED DESCRIPTION OF THE INVENTION
Figure 1 shows a side view of a motor vehicle 100 comprising a drawing vehicle 1 10 and a trailer 1 12. The motor vehicle 100 comprises further a system 200 to make possible autonomous operation and/or external control of the motor vehicle according to one embodiment of the present invention. The mo- tor 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 invention is advantageously applied to vehicles in association with mining. Figure 2 shows schematically a system 200 to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention. 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 may be manufactured by a third-party supplier and comprises 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, and similar (not shown in the draw- ing). The said sensors may be located at the motor vehicle 100 and/or external to the motor vehicle 100. The external control system 205 comprises, according to one embodiment, at least one control unit (not shown in the drawings). 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 that can contribute information that can influence autonomous operation and/or external control of the said vehicle. 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 and the control system 270 that is internal to the vehicle can communicate with each other in that the computer interface is arranged in communicative connection with the external control system 205 and the control system 270 that is internal to the vehicle. The external control system 205 and the computer interface 210 are arranged for communication over a link L205, and the computer interface 210 and the control system 210 that is internal to the vehicle are arranged for communication over a link L210. 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 over the link L210. It is appropriate that the operating systems 230, 240, 250 are constituted by systems that through the control unit 220 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, a system for change of gear 230, a brake-control system 240, and an engine-control system 250. The external control system 205 is arranged to transmit the signal S1 over the link L205 to the computer interface 210. The interface is further arranged to transmit the signal S1 onwards to the control unit 220 over the link L210.
The control unit 220 is arranged to communicate with a power supply 280 and an operator regulator 290 at the motor vehicle 100. The said power supply 280 controls 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 a regulator that can be operated manually by the operator when the operator is located inside the drawing vehicle 1 10 of the motor vehicle 100. Examples of operator regulators 290 are steering wheel, accelerator pedal, brake pedal, gear change stick or paddle, indicators, etc. 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 regulators 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 signal S4 comprises control parameters that correspond to the wishes of the operator with respect to operation of the motor vehicle 100.
The control unit 220 is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit 220 in order to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit 220. The authorisation level may be based on the ability and/or the experience of a intended operator of the motor vehicle. The control system 270 that is internal to the vehicle is arranged to determine whether the, at least one, pre-determined authorisation requirement to allow autonomous operation and/or external control of the motor vehicle 100 is satisfied. It is preferable that the control unit 220 is arranged to determine whether the pre-determined authorisation requirement to allow autonomous operation and/or external control of the motor vehicle 100 is satisfied. The pre-determined authorisation requirement concerns, according to one embodiment, requirements on the control parameter for autonomous and/or external control at the signal S1 from the external control system 205. The pre-determined authorisation requirement concerns, according to one embodiment, a period of time that the motor vehi- cle 100 is allowed to be driven autonomously and/or externally. The predetermined authorisation requirement concerns, according to one embodiment, the validity of a certificate issued to an operator of the motor vehicle 100.
The control unit 220 is further arranged to process or convert, when the au- thorisation requirement for autonomous operation and/or external control is satisfied, the signal S1 from the external control system 205, such that the processed signal S1 b demonstrates a format that can be interpreted by the operating systems 230, 240, 250. The control unit 220 transmits the processed signal S1 b to the operating systems 230, 240, 250 over the link L220. The con- trol unit 220 may transmit the signal S1 b also over the link L280 to the power supply 280. The said signal S1 b comprises at least one control parameter for autonomous operation and/or external control of the operating systems 230, 240, 250 and/or the power supply 280. Autonomous operation and/or external operation of the motor vehicle 100 is in this way achieved.
The control unit 220 is further arranged to prevent, in the event that an authorisation requirement is not satisfied, autonomous operation and/or external con- trol of the motor vehicle 100 by stopping the signal S1 from the external control system 205. The control unit 220 is arranged also to generate, in the event that an authorisation requirement is not satisfied, a signal S2 for the internal control of the motor vehicle 100, and to transmit the said signal S2 to the operating systems 230, 240, 250 over the link L220 and/or the power supply 280 over the link L280.
Alternatively, the control unit 220 is arranged to lower, in the event of an authorisation requirement not being satisfied, the authorisation level with which the control unit 220 is configured. It is appropriate that the lowering of the authorisation level comprise a limitation of the functionality of autonomous operation and/or external control of the motor vehicle 100. It is preferable that the functionality of the autonomous operation and/or the external control of motor vehicle 100 be limited through changing the, at least one, authorisation re- quirement stored at the control unit 220, such that it entails more stringent limitations with respect to, for example, the control parameter for autonomous operation and/or external control at the signal S1 from the external control system 205. Alternatively, the control unit 220 is arranged to modify, in the event of an authorisation requirement not being satisfied, the signal S1 from the external control system 205, such that the modified signal S1 m satisfies the pre-determined authorisation requirement. The control unit is further arranged to transfer the modified signal S1 m to the operating systems 230, 240, 250 over the link L220.
The control unit 220 is arranged to generate, in the event that autonomous operation and/or external control is prevented, a signal S3 comprising information that the control system 270 that is internal to the vehicle is controlling the mo- tor vehicle 100. The control unit 220 is further arranged to transmit the said signal S3 to the computer interface 210 over the link L210. The computer interface 210 is arranged to transmit, in the event that autonomous operation and/or external control has been prevented, the signal S3 comprising information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100 over the link L205 to the external control system 205. The control unit 220 is further arranged to transmit, on reception of the signal S4 from the operator regulator 290, the said signal S4 to the operating systems 230, 240, 250 and/or the power supply 280 for manual operation of the motor vehicle 100. Figure 3a shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one embodiment of the present invention. The method comprises the step 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, comprising a control unit 220 and operating systems 230, 240, 250. 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 control unit 220 is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit 220 in or- der to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit 220. It is appropriate that the transfer between the external control system 205 and the computer interface 210 be carried out over a link L205. It is appropriate that the transfer between the computer interface 210 and the external control sys- tern be carried out over a link L210. The method is terminated after the method step s301 .
Figure 3b shows a flow diagram for a method to make possible autonomous operation and/or external control of a motor vehicle 100 according to one em- bodiment of the present invention. The method comprises the step s310 of generating by means of an external control system 205 at least one 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, and whereby the control unit 220 is config- ured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit 220 in order to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit 220. 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 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 to determine by means of the control unit 220 whether the, at least one, pre-determined authorisation requirement to allow autonomous operation and/or external control of the motor vehicle 100 is satisfied. The authorisation requirement may concern, for example, requirements on the control parameter for autonomous and/or external control at the signal S1 from the external control system 205. Alternatively, the authorisation requirement concerns the validity of a certificate issued to the operator of the motor vehicle 100. It is appropriate that the authorisation requirement be stored at the control unit 220. A method step s340 or s350 is carried out after the method step s330.
The method s340 is carried out solely if it is determined in method step s330 that the pre-determined authorisation requirement is satisfied. The method step s340 comprises the allowance of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s340 to allow autonomous operation and/or external control of the motor vehicle 100 comprise that the control unit 220 process and convert the signal S1 from the external control system 205 and transfer the processed signal S1 b to the operating systems 230, 240, 250. It is appropriate that the transfer of the signal S1 b from 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. Alternatively, the method is repeated from the first method step s310.
The method s350 is carried out solely if it is determined in method step s330 that the pre-determined authorisation requirement is not satisfied. The method step s350 comprises the prevention of autonomous operation and/or external control of the motor vehicle 100. It is appropriate that the method step s350 to prevent initiation of autonomous operation and/or external control of the motor vehicle comprise stopping, by means of the control unit 220, the signal S1 from the external control system 205, and generating, by means of control unit 220, a signal S2 for the internal control of the motor vehicle 100, and transferring the signal S2 for internal control from the control unit 220 to the operating sys- terns 230, 240, 250. It is appropriate that the transfer of the signal S2 for the internal control be carried out over the link L220. It is appropriate that the signal S2 for internal control comprise control parameters to control the motor vehicle 100, such that the motor vehicle 100 stops. The method is terminated after the method step s350. Alternatively, the method is repeated from the first method step s310.
Figure 4 shows a drawing of a design of an arrangement 400. The external control system 205 and/or the control unit 220 that have been described with reference to Figure 2 may, in one design, comprise the arrangement 400. The arrangement 400 comprises a non-transient memory 420, a data processing unit 410 and a read/write memory 450. The non-transient memory 420 has a first section of memory 430 in which a computer program, such as an operat- ing system, is stored in order to control the function of the arrangement 400. Furthermore, the arrangement 400 comprises a bus controller, a serial communication port, I/O means, an A/D converter, a unit for the input and transfer of time and date, an event counter and an interrupt controller (not shown in the drawing). The non-transient memory 420 has also a second section of memory 440.
A computer program P, which may comprise routines for autonomous operation and/or external control of a motor vehicle 100, is provided at the ar- rangement 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 may comprise routines to process or convert the signal S1 . The computer program P may comprise routines to modify the signal S1 . The computer program P may comprise routines to determine whether at least one pre-determined authorisa- tion requirement to allow autonomous operation and/or external control of the motor vehicle is satisfied. The computer program P may comprise routines to allow autonomous operation and/or external control of the motor vehicle 100, in the event that an authorisation requirement is satisfied. The computer program P may comprise routines to transfer, in the event that the authorisation requirement is satisfied, the said signal S1 to the operating systems 230, 240, 250 and in this way to allow autonomous operation and/or external control of the motor vehicle 100. The computer program P may comprise routines to prevent, in the event that an authorisation requirement is not satisfied, autonomous operation and/or external control of the motor vehicle. The computer program P may comprise routines to generate, in the event that an authorisation requirement is not satisfied, 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 an authorisation requirement 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 control sys- tern 270 that is internal to the vehicle to the external control system 205 over the computer interface 210.
The computer program P may be stored in an executable form or in a compressed form in at least one of a memory 460 and a read/write memory 450.
When it is described that the data processing unit 410 carries out a certain function, it is to be understood that the data processing unit 410 carries out a certain part of the program that is stored in the memory 460, or a certain part of the program that is stored in the read/write memory 450.
The data processing arrangement 410 can communicate with a data port 499 over a data bus 415. The non-transient memory 420 is intended for communication with the data processing unit 410 over a data bus 412. The separate memory 460 is intended to communicate with the data processing unit 410 over a data bus 41 1 . The read/write memory 450 is arranged to communicate with the data processing unit 410 over a data bus 414. The links L205, L210, L220, L280, and L290, for example, can be connected to the data port 499 (see Figure 2). When data is received at the data port 499 it is temporarily stored in the second section of memory 440. When the data that has been received has been temporarily stored, the data processing unit 410 is prepared for the execution of code in a manner that has been described above. According to one design, signals received at the data port 499 comprise parameters for the autonomous operation of the motor vehicle 100. According to one design, signals received at the data port 499 comprise control parameters for the internal control of the motor vehicle 100. According to one design, signals received at the data port 499 comprise information from an operator regulator 290. According to one design, signals received at the data port 499 comprise information from a power supply 280. According to one design, signals received at the data port 499 comprise information that the control system 270 that is internal to the vehicle is controlling the motor vehicle 100. According to one design, signals received at the data port 499 comprise information about the period during which the motor vehicle 100 has been driven autonomously and/or externally. According to one design, signals received at the data port 499 comprise information about a certificate that has been issued to an operator.
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 al- lowed to be driven autonomously and/or externally, or to be prevented from being driven autonomously and/or externally. The signals that have been received at the data port 499 can be used by the arrangement 400 to determine whether autonomous operation and/or external control of the motor vehicle 100 is to be limited.
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 arrangement 400 runs the program, the method described here is executed.
The previous description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description of the invention. It is not intended to be exhaustive or to limit the invention to the variants that have been described. Many modifications and variations will be obvious for one skilled in the arts. The embodiments were selected and described in order to best explain the principles of the invention and its practical applications, and thus to make it possible for those skilled in the arts to under- stand the invention for various embodiments and with the various modifications that are appropriate for the intended use.

Claims

Claims
1 . A system (200) to make possible autonomous operation and/or external control of a motor vehicle comprising:
- an external control system (205) arranged to generate a signal (S1 ) compris- ing at least one control parameter for autonomous operation and/or external control of the said motor vehicle, and
- a control system (270) that is internal to the vehicle comprising a control unit (220) and operating systems (230; 240; 250), in which the control unit (220) is arranged in communicative connection with the operating systems (230; 240; 250), characterised in that:
- a 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, whereby the computer interface (201 ) is arranged to transfer the signal (S1 ) from the external control system (205) to the control unit, and whereby the control unit (220) is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit (220) in order to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit (220).
2. The system according to claim 1 , in which the authorisation level is based on the ability and/or the experience of an operator of the motor vehicle.
3. The system according to claim 1 or 2, in which the, at least one, pre- determined authorisation requirement comprises requirements on the control parameter at the signal (S1 ) from the external control system (205).
4. The system according to any one of claims 1 -3, in which the, at least one, pre-determined authorisation requirement concerns the validity of a certificate issued to an operator of the motor vehicle.
5. The system according to any one of claims 1 -4, in which the control unit (220) is arranged to determine whether the pre-determined authorisation requirement is satisfied.
6. The system according to any one of claims 1 -5, in which the control unit (220) is arranged to allow, when the authorisation requirement is satisfied, autonomous operation and/or external control of the motor vehicle.
7. The system according to any one of claims 1 -5, in which the control unit (220) is arranged to prevent, when the authorisation requirement is not satisfied, autonomous operation and/or external control of the motor vehicle.
8. The system according to any one of claims 1 -5, in which the control unit (220) is arranged to lower, in the event that an authorisation requirement is not satisfied, the authorisation level.
9. A method to make possible autonomous operation and/or external control of a motor vehicle comprising the steps:
- to generate a signal (S1 ) comprising at least one control parameter for the autonomous operation of the said motor vehicle by means of an external control system (205);
characterised by the following step:
- to transfer 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, whereby the control unit (220) is configured with a certain authorisation level that includes at least one pre-determined authorisation requirement stored at the control unit (220) in order to allow autonomous operation and/or external control, whereby the authorisation level can be changed by reconfiguring the control unit (220).
1 0. The method according to claim 9, further comprising the step:
- to determine whether the, at least one, pre-determined authorisation requirement to allow autonomous operation and/or external control of the motor vehicle is satisfied, by means of the control unit (220).
1 1 . The method according to claim 1 0, further comprising the step, in the event that the authorisation requirement is satisfied:
- to allow autonomous operation and/or external operation of the motor vehicle.
1 2. The method according to claim 1 0, further comprising the step, in the event that the authorisation requirement is not satisfied:
- to prevent autonomous operation and/or external operation of the motor vehicle.
1 3. The method according to claim 1 0, further comprising the step, in the event that the authorisation requirement is not satisfied:
- to lower the authorisation level with which the control unit (220) is configured.
14. A motor vehicle (100; 1 1 0) comprising a system according to any one of claims 1 -8.
1 5. The motor vehicle (1 00, 1 10) according to claim 14, whereby the motor vehicle is any one of a lorry, bus, forestry machine, mining machine, wheel loader or car.
1 6. A computer program (P), where the said computer program (P) comprises program code to carry out the method steps according to any one of claims 9- 1 3, when the said computer program is run on a computer (205; 220).
17. A computer program product comprising a program code to carry out the method steps according to any one of claims 9-13, when the said program code is run on a computer (205; 220).
PCT/SE2014/051373 2013-11-21 2014-11-19 System and method to make possible autonomous operation and/or external control of a motor vehicle WO2015076735A1 (en)

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EP3072021A1 (en) 2016-09-28
SE538079C2 (en) 2016-03-01
SE1451388A1 (en) 2015-05-22

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