WO2019203716A1 - Method and a control device for remotely controlling driving of a vehicle - Google Patents

Method and a control device for remotely controlling driving of a vehicle Download PDF

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Publication number
WO2019203716A1
WO2019203716A1 PCT/SE2019/050345 SE2019050345W WO2019203716A1 WO 2019203716 A1 WO2019203716 A1 WO 2019203716A1 SE 2019050345 W SE2019050345 W SE 2019050345W WO 2019203716 A1 WO2019203716 A1 WO 2019203716A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
control device
steering member
deceleration
acceleration
Prior art date
Application number
PCT/SE2019/050345
Other languages
French (fr)
Inventor
Lennaert KEMPERS
Martin LUNDQUIST
Pontus UNGER
Fredrik RUDENSTAM
Cecilia HERMANSSON
Frida ERIKSSON
Jesper Jonsson
Andreas ABSÉR
Johanna Vännström
Robert Friberg
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 CN201980025063.3A priority Critical patent/CN111954858B/en
Priority to DE112019002036.6T priority patent/DE112019002036T5/en
Publication of WO2019203716A1 publication Critical patent/WO2019203716A1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • 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
    • G05D1/005—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 by providing the operator with signals other than visual, e.g. acoustic, haptic
    • 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
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G09B9/048—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles a model being viewed and manoeuvred from a remote point

Definitions

  • the invention relates to a method performed by a control device for remotely controlling driving of a vehicle.
  • the invention also relates to a control device for remotely controlling driving of a vehicle.
  • the invention further relates to a vehicle.
  • the invention in addition relates to a computer program and a computer readable medium.
  • the vehicle In order to take advantage of the space made available of having no driver in the vehicle, the vehicle would need to be remotely controlled.
  • This remote control may be performed from within a control room or the like. This means that the driver is no longer in the vehicle but remotely located in such a control room.
  • Another object of the present invention is to provide a vehicle being operably connectable to such a control device.
  • an object of the invention is achieved by a method performed by a control device for remotely controlling driving of a vehicle.
  • a driving control arrangement for controlling drive of the vehicle is provided.
  • the driving control arrangement is remotely located from the vehicle.
  • the driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle.
  • the method comprising the steps of: determining change in vehicle movement; and moving the steering member based on the thus determined change in vehicle movement.
  • the step of determining change in vehicle movement comprises determining one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle.
  • driving performance may be improved and thus positively affect safety for other road users.
  • the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of moving the steering member away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
  • the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of laterally moving the steering member if a turn, lateral acceleration and deceleration of the vehicle, and/or yaw rate of the vehicle is determined.
  • the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of vertically moving the steering member if a vertical acceleration and deceleration of the vehicle is determined.
  • the method comprises the step of determining the extent of acceleration or deceleration in the change of vehicle movement, wherein the degree of movement of the steering member is based on the extent of acceleration or deceleration in the change of vehicle movement.
  • a control device for remotely controlling driving of a vehicle.
  • a driving control arrangement for controlling drive of the vehicle is provided.
  • the driving control arrangement is remotely located from the vehicle.
  • the driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle.
  • the control device is configured to: determine change in vehicle movement; and move the steering member based on the thus determined change in vehicle movement.
  • the control device when determining change in vehicle movement, is configured to determine one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle.
  • control device when moving the steering member based on the thus determined change in vehicle movement, is configured to move the steering member away from the driver if an acceleration is determined and configured to move the steering member closer to the driver if deceleration is determined.
  • control device when moving the steering member based on the thus determined change in vehicle movement, is configured to laterally move the steering member if a turn, lateral acceleration and deceleration of the vehicle, and/or yaw rate of the vehicle is determined.
  • control device when moving the steering member based on the thus determined change in vehicle movement, is configured to vertically move the steering member if a vertical acceleration and deceleration of the vehicle is determined.
  • control device is configured to determine the extent of acceleration or deceleration in the change of vehicle movement, wherein the control device is configured to control the degree of movement of the steering member based on the extent of acceleration or deceleration in the change of vehicle movement.
  • a vehicle operably connectable to a control device as set out herein.
  • a computer program for remotely controlling driving of a vehicle comprising program code which, when run on an control device or another computer connected to the control device, causes the control device to perform the method as set out herein.
  • a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.
  • Fig. 1 schematically illustrates a side view of a vehicle according to an embodiment of the present invention
  • Fig. 2 schematically illustrates a driving control arrangement for remotely controlling a vehicle according to an embodiment of the present invention
  • Fig. 3 schematically illustrates a block diagram of a control device for remotely controlling driving of a vehicle according to an embodiment of the present invention
  • Fig. 4 schematically illustrates a flowchart of a method performed by a control device for remotely controlling driving of a vehicle according to an embodiment of the present invention
  • Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.
  • link refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non physical connector such as a wireless connection, for example a radio or microwave link.
  • remote controlling driving of a vehicle may refer to tele remote driving.
  • Fig. 1 schematically illustrates a side view of a vehicle V1 according to an embodiment of the present invention.
  • the vehicle V1 is a remotely controllable vehicle.
  • the vehicle may be a vehicle intended for autonomous drive.
  • the vehicle V1 may be a vehicle which is not intended to have a driver for driving the vehicle located in the vehicle.
  • the exemplified vehicle V1 is a heavy vehicle in the shape of a truck.
  • the vehicle V1 is travelling on a road R.
  • the vehicle according to the present invention may be any suitable vehicle such as a bus or a car.
  • the vehicle V1 may be operably connected to a control device 100 for remotely controlling driving of the vehicle V1.
  • the vehicle V1 may comprise or be operably connectable to a system I for remotely controlling driving of the vehicle V1.
  • the system I may comprise a control device 100 remotely controlling driving of the vehicle V1.
  • the vehicle V1 is, according to an embodiment, arranged to be operated in accordance with a method M1 performed by a control device for remotely controlling driving of a vehicle according to fig. 4.
  • Fig. 2 schematically illustrates a driving control arrangement DA for remotely controlling a vehicle V1 according to an embodiment of the present invention.
  • the driving control arrangement may also be denoted vehicle operation control arrangement.
  • the driving control arrangement DA is remotely located from the vehicle V1.
  • the driving control arrangement DA may be comprised in or constituted by a control room or the like.
  • the driving control arrangement DA comprises a steering member SM for steering the vehicle by a remotely located driver D of the vehicle V1 during drive of the vehicle.
  • the steering member SM according to the invention may be any suitable steering member for remotely steering a vehicle.
  • the steering member SM is according to this example a steering wheel.
  • the steering member SM comprises or is operably connected to a steering member movement mechanism M for facilitating movement of the steering member SM.
  • the steering member movement mechanism M may be configured to allow movement of the steering member SM away from the driver D, illustrated with arrow A1 , and towards the driver D, illustrated with arrow A2.
  • the steering member movement mechanism M may be configured to allow movement of the steering member SM in the vertical direction, illustrated with arrow A3.
  • the steering member movement mechanism M may be configured to allow movement of the steering member in the lateral direction, i.e. lateral tilting of the steering member SM, illustrated with arrow A4.
  • the vehicle V1 is here driving on a road R remote from the driving control arrangement DA.
  • the driver D is thus remotely located relative to the vehicle V1 and is thus not located in the vehicle.
  • the vehicle V1 may be essentially at any distance away from the remotely located driver D, the driver being located at the driving control arrangement DA.
  • the driver D is remotely steering the vehicle by means of the steering member SM, i.e. here by holding at least one hand on the steering member SM.
  • the driving control arrangement DA may comprise any relevant additional means for facilitating remotely driving the vehicle V1.
  • the driving control arrangement DA comprises according to this embodiment a gas pedal G for accelerating the vehicle V1.
  • the driving control arrangement DA comprises according to this embodiment a brake pedal B for breaking, i.e. decelerating, the vehicle V1.
  • the driving control arrangement DA comprises according to this embodiment visual means V for providing, for the remotely located driver D, visual information of the surrounding comprising the road R on which the vehicle V1 is driving.
  • the driver D has virtual reality glasses for the visual information.
  • the visual information may alternatively be provided via a screen or the like.
  • a control device 100 for remotely controlling driving of the vehicle V1 is provided.
  • the control device 100 may be a control device in accordance with the control device 100 described below with reference to fig. 3.
  • the control device 100 may be comprised in the driving control arrangement DA or operably connected to the driving control arrangement DA.
  • the control device 100 may be operably connected to the vehicle V1.
  • the control device 100 may be operably connected to the vehicle V1 via a wireless connection.
  • the control device 100 is configured to determine change in vehicle movement.
  • the vehicle V1 may comprise vehicle movement change determination means 1 10 arranged to determine change in vehicle movement.
  • the control device 100 is operably connected to the vehicle movement change determination means 1 10.
  • the vehicle movement change determination means 110 may be in accordance with the vehicle movement change determination means 1 10 described below with reference to fig. 3.
  • the control device 100 is, via a link, operably connected to the vehicle movement change determination means 110.
  • the control device 100 is arranged to receive a signal from the means 110 representing data about change in vehicle movement.
  • the data may comprise data about extent of acceleration or deceleration.
  • the control device 100 is configured to move the steering member SM based on the thus determined change in vehicle movement.
  • the control device 100 is, via a link, operably connected to the steering member SM via the steering member movement mechanism M.
  • the control device 100 is via the link arranged to send a signal to the steering member movement mechanism M representing data about moving the steering member SM based on the thus determined change in vehicle movement.
  • the data may comprise data about moving the steering member away from the driver, data about moving the steering member closer to the driver, data about laterally moving the steering member and/or vertically moving the steering member.
  • the data may comprise data about extent of acceleration or deceleration in the change of vehicle movement.
  • the control device 100 is configured to control the degree of movement of the steering member SM based on the extent of acceleration or deceleration in the change of vehicle movement.
  • Fig. 3 schematically illustrates a block diagram of a control device 100 for remotely controlling driving of a vehicle according to an embodiment of the present invention.
  • a driving control arrangement for controlling drive of the vehicle is provided.
  • the driving control arrangement is remotely located from the vehicle.
  • the driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle.
  • the driving control arrangement may be in accordance with the driving control arrangement DA described with reference to fig. 2.
  • the control device 100 for remotely controlling driving of a vehicle may be comprised in a system I for remotely controlling driving of a vehicle.
  • the control device may be implemented as a separate entity or distributed in two or more physical entities.
  • the control device may comprise one or more computers.
  • the control device may thus be implemented or realised by the control device comprising a processor and a memory, the memory comprising instructions, which when executed by the processor causes the control device to perform the herein disclosed method.
  • the control device 100 may comprise one or more electronic control units, processing units, computers, server units or the like for determining vehicle operation of at least one vehicle.
  • the control device 100 may comprise control device such as one or more electronic control units arranged on board a vehicle.
  • the control device 100 may comprise one or more electronic control units, processing units, computers, server units or the like of an off-board system arranged externally to the at least one vehicle and being operably connectable to the vehicle to be remotely controlled.
  • the control device 100 is configured to determine change in vehicle movement.
  • the system I may comprise vehicle movement change determination means 1 10 arranged to determine change in vehicle movement.
  • the control device 100 may comprise or be operably connectable to the vehicle movement change determination means 1 10.
  • the vehicle movement change determination means 110 arranged to determine change in vehicle movement may be arranged to determine acceleration and deceleration in the direction of travel of the vehicle, i.e. the longitudinal direction.
  • the vehicle movement change determination means 1 10 arranged to determine change in vehicle movement may be arranged to determine acceleration and deceleration in the vertical direction.
  • the vehicle movement change determination means 1 10 arranged to determine change in vehicle movement may be arranged to determine acceleration and deceleration during drive in a curve.
  • the vehicle movement change determination means 110 arranged to determine change in vehicle movement may be arranged to determine acceleration and deceleration in the lateral direction of the vehicle.
  • the vehicle movement change determination means 1 10 arranged to determine change in vehicle movement may be arranged to determine the yaw rate of the vehicle.
  • the vehicle movement change determination means 110 arranged to determine change in vehicle movement may comprise any suitable sensor/sensors for detecting change in vehicle movement.
  • sensors may comprise one or more accelerometers, one or more yaw rate sensors, one or more speedometers or the like.
  • sensor may comprise a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the vehicle along the road on which it is travelling.
  • GNSS Global Navigation satellite System
  • GPS Global Navigation satellite System
  • the control device 100 is configured to determine acceleration and deceleration in the driving direction of the vehicle.
  • the vehicle movement change determination means 1 10 comprises according to an embodiment longitudinal acceleration and deceleration determination means 112 for determining acceleration and deceleration in the driving direction of the vehicle.
  • the control device 100 is configured to determine turn of the vehicle.
  • the vehicle movement change determination means 110 comprises according to an embodiment vehicle turn determination means 1 14 for determining turning movement of the vehicle.
  • the control device 100 is configured to determine vertical acceleration and deceleration of the vehicle.
  • the vehicle movement change determination means 1 10 comprises according to an embodiment vertical acceleration and deceleration determination means 1 16 for determining acceleration and deceleration in the vertical direction.
  • the control device 100 is configured to determine lateral acceleration and deceleration of the vehicle.
  • the vehicle movement change determination means 1 10 comprises according to an embodiment lateral acceleration and deceleration determination means 1 18 for determining acceleration and deceleration in the lateral direction of the vehicle.
  • the control device 100 is configured to determine yaw rate of the vehicle.
  • the vehicle movement change determination means 1 10 comprises according to an embodiment yaw rate determination means 1 19 for determining yaw rate of the vehicle.
  • the control device 100 is configured to move the steering member based on the thus determined change in vehicle movement. According to an embodiment the control device 100, when determining change in vehicle movement, is configured to determine one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
  • control device 100 when moving the steering member based on the thus determined change in vehicle movement, is configured to move the steering member away from the driver if an acceleration is determined and configured to move the steering member closer to the driver if deceleration is determined.
  • control device 100 when moving the steering member based on the thus determined change in vehicle movement, is configured to laterally move the steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined. According to an embodiment the control device 100, when moving the steering member based on the thus determined change in vehicle movement, is configured to vertically move the steering member if a vertical acceleration and deceleration is determined.
  • the control device 100 is configured to determine the extent of acceleration or deceleration in the change of vehicle movement.
  • the system I may comprise acceleration and deceleration extent determination means 110a arranged to determine the extent of acceleration or deceleration in the change of vehicle movement.
  • the acceleration and deceleration extent determination means 110a may be comprised in the vehicle movement change determination means 1 10.
  • the control device 100 may comprise or be operably connectable to the acceleration and deceleration extent determination means 1 10a.
  • the longitudinal acceleration and deceleration determination means 1 12 is according to an embodiment arranged to determine the extent of acceleration or deceleration in the driving direction of the vehicle.
  • the turn determination means 1 14 is according to an embodiment arranged to determine the extent of acceleration or deceleration when the vehicle is driving in a curve.
  • the vertical acceleration and deceleration determination means 1 16 is according to an embodiment arranged to determine the extent of acceleration or deceleration in the vertical direction.
  • the lateral acceleration and deceleration determination means 1 18 is according to an embodiment arranged to determine the extent of acceleration or deceleration in the lateral direction of the vehicle.
  • the yaw rate determination means 1 19 is according to an embodiment arranged to determine the extent of acceleration or deceleration of the yaw rate of the vehicle.
  • the control device 100 is configured to control the degree of movement of the steering member based on the extent of acceleration or deceleration in the change of vehicle movement. For example, a higher acceleration in the driving direction of the vehicle will result in a greater degree of movement of the steering member away from the driver.
  • the control device 100 is, via a link 10, operably connected to the vehicle movement change determination means 1 10.
  • the control device 100 is via the link 10 arranged to receive a signal from the means 1 1 0 representing data about change in vehicle movement.
  • the data may comprise data about extent of acceleration or deceleration.
  • the control device 100 is, via a link 12, operably connected to the longitudinal acceleration and deceleration determination means 1 12.
  • the control device 100 is via the link 12 arranged to receive a signal from the means 1 1 2 representing data about longitudinal acceleration and deceleration.
  • the data may comprise data about extent of acceleration or deceleration in the driving direction of the vehicle.
  • the control device 100 is, via a link 14, operably connected to the vehicle turn determination means 1 14.
  • the control device 100 is via the link 14 arranged to receive a signal from the means 1 14 representing data about turning movement of the vehicle.
  • the data may comprise data about extent of acceleration or deceleration when the vehicle is driving in a curve.
  • the control device 100 is, via a link 16, operably connected to the vertical acceleration and deceleration determination means 1 16.
  • the control device 100 is via the link 16 arranged to receive a signal from the means 1 1 6 representing data about vertical acceleration and deceleration of the vehicle.
  • the data may comprise data about extent of acceleration or deceleration in the vertical direction.
  • the control device 100 is, via a link 18, operably connected to the lateral acceleration and deceleration determination means 1 18.
  • the control device 100 is via the link 18 arranged to receive a signal from the means 1 18 representing data about lateral acceleration and deceleration of the vehicle.
  • the data may comprise data about extent of acceleration or deceleration in the lateral direction of the vehicle.
  • the control device 100 is, via a link 19, operably connected to the yaw rate determination means 1 19.
  • the control device 100 is via the link 19 arranged to receive a signal from the means 1 19 representing data about lateral acceleration and deceleration of the vehicle.
  • the data may comprise data about extent of acceleration or deceleration of the yaw rate of the vehicle.
  • the control device 100 is, via a link L, operably connected to the steering member SM of the driving control arrangement.
  • the control device 100 is via the link L arranged to send a signal to the steering member SM representing data about moving the steering member based on the thus determined change in vehicle movement.
  • the data may comprise data about moving the steering member away from the driver, data about moving the steering member closer to the driver, data about laterally moving the steering member and/or vertically moving the steering member.
  • the control device 100 for remotely controlling driving of a vehicle is, according to an embodiment, adapted to perform the method M1 described below with reference to fig. 4.
  • Fig. 4 schematically illustrates a flowchart of a method M1 performed by a control device for remotely controlling driving of a vehicle according to an embodiment of the present invention.
  • a driving control arrangement for controlling drive of the vehicle is provided.
  • the driving control arrangement is remotely located from the vehicle.
  • the driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle.
  • the method for remotely controlling driving of a vehicle comprises a step S1.
  • change in vehicle movement is determined.
  • the method is configured to be performed by a control device such as a control device 100 described with reference to fig. 3.
  • the change in vehicle movement is according to an embodiment arranged to be determined by means of the vehicle movement change determination means 1 10 described with reference to according to fig. 3.
  • the step of determining change in vehicle movement comprises determining one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
  • the method comprises a step S2.
  • the steering member is moved based on the thus determined change in vehicle movement.
  • the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of moving the steering member away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
  • the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of laterally moving the steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined.
  • the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of vertically moving the steering member if a vertical acceleration and deceleration is determined.
  • the degree of movement of the steering member is based on the extent of acceleration or deceleration in the change of vehicle movement.
  • the method M1 performed by a control device for remotely controlling driving of a vehicle is according to an embodiment adapted to be performed by the system I described above with reference to fig. 3.
  • a diagram of a computer 500/apparatus 500 is shown.
  • the control device 100 described with reference to fig. 3 may according to an embodiment comprise apparatus 500.
  • Apparatus 500 comprises a non volatile memory 520, a data processing device 510 and a read/write memory 550.
  • Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500.
  • apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown).
  • Non-volatile memory 520 also has a second memory portion 540.
  • a computer program P comprising routines for remotely controlling driving of a vehicle.
  • a driving control arrangement for controlling drive of the vehicle is provided.
  • the driving control arrangement is remotely located from the vehicle.
  • the driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle.
  • the program P comprises routines for determining change in vehicle movement.
  • the program P comprises routines for moving the steering member based on the thus determined change in vehicle movement.
  • the routines for determining change in vehicle movement comprises routines for determining one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
  • the routines for moving the steering member based on the thus determined change in vehicle movement comprises routines for moving the steering member away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
  • the routines for moving the steering member based on the thus determined change in vehicle movement comprises routines for laterally moving the steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined.
  • the routines for moving the steering member based on the thus determined change in vehicle movement comprises routines for vertically moving the steering member if a vertical acceleration and deceleration is determined.
  • the program P may comprise routines for determining the extent of acceleration or deceleration in the change of vehicle movement, the degree of movement of the steering member being based on the extent of acceleration or deceleration in the change of vehicle movement.
  • the computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
  • data processing device 510 When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.
  • Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515.
  • Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512.
  • Separate memory 560 is adapted for communication with data processing device 510 via a data bus 51 1.
  • Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control unit 100 may be connected.
  • the signals received on data port 599 may be used by apparatus 500 for determining change in vehicle movement.
  • the signals received on data port 599 may be used by apparatus 500 for moving the steering member based on the thus determined change in vehicle movement.
  • the signals used for determining change in vehicle movement may comprise signals used for determining one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
  • the signals used for moving the steering member based on the thus determined change in vehicle movement may comprise signals used for moving the steering member away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
  • the signals used for moving the steering member based on the thus determined change in vehicle movement may comprise signals used for laterally moving the steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined.
  • the signals used for moving the steering member based on the thus determined change in vehicle movement may comprise signals used for vertically moving the steering member if a vertical acceleration and deceleration is determined.
  • the signals received on data port 599 may be used by apparatus 500 for determining the efficiency of the required vehicle operation based on one or more of the thus stored logged parameters. Parts of the methods described herein may be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

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  • Educational Technology (AREA)
  • Acoustics & Sound (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention relates to a method performed by a control device (100) for remotely controlling driving of a vehicle (V1). A driving control arrangement (DA) for controlling drive of the vehicle is provided. The driving control arrangement (DA) is remotely located from the vehicle (V1). The driving control arrangement (DA) comprises a steering member (SM) for steering the vehicle (V1) by a remotely located driver (D) of the vehicle during drive of the vehicle (V1). The method comprises the steps of: determining change in vehicle movement; and moving the steering member (SM) based on the thus determined change in vehicle movement. The present invention also relates to a control device for remotely controlling driving of a vehicle. The present invention also relates to a vehicle. The present invention also relates to a computer program and a computer readable medium.

Description

METHOD AND A CONTROL DEVICE FOR REMOTELY CONTROLLING
DRIVING OF A VEHICLE
TECHNICAL FIELD The invention relates to a method performed by a control device for remotely controlling driving of a vehicle. The invention also relates to a control device for remotely controlling driving of a vehicle. The invention further relates to a vehicle. The invention in addition relates to a computer program and a computer readable medium.
BACKGROUND ART
In the near future automation in vehicles will increase. If a vehicle is autonomously driven there is no need for a driver and thus no need for a driver seat. That means that the space that is now taken by the driver may be used for e.g. more goods, more passengers or the like. Until vehicles, such as trucks and buses, are fully autonomous it may be required that a human driver drives such a vehicle for at least part of the trip.
In order to take advantage of the space made available of having no driver in the vehicle, the vehicle would need to be remotely controlled. This remote control may be performed from within a control room or the like. This means that the driver is no longer in the vehicle but remotely located in such a control room.
However, such remote control of a vehicle needs to be performed safely. There is thus a need to facilitate remotely controlling driving of a vehicle. OBJECTS OF THE INVENTION
An object of the present invention is to provide a method performed by a control device for remotely controlling driving of a vehicle which facilitates improved driving performance. Another object of the present invention is to provide a control device for remotely controlling driving of a vehicle which facilitates improved driving performance.
Another object of the present invention is to provide a vehicle being operably connectable to such a control device.
SUMMARY OF THE INVENTION
These and other objects, apparent from the following description, are achieved by a method, a control device, a vehicle, a computer program and a computer readable medium, as set out in the appended independent claims. Preferred embodiments of the method and the control device are defined in appended dependent claims.
Specifically an object of the invention is achieved by a method performed by a control device for remotely controlling driving of a vehicle. A driving control arrangement for controlling drive of the vehicle is provided. The driving control arrangement is remotely located from the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle. The method comprising the steps of: determining change in vehicle movement; and moving the steering member based on the thus determined change in vehicle movement.
Hereby driving performance may be improved and thus positively affect safety for other road users. Hereby change in vehicle movement, i.e. acceleration and deceleration, may be efficiently perceived by the remotely located driver, facilitating improved driving performance of the driver. Thus, the driving experience is hereby improved in an efficient way. Hereby a cost effective solution is obtained. Hereby biodynamic feedthrough is minimized. Biodynamic feedthrough happens when a person experiences acceleration through a vehicle or simulator. Biodynamic feedthrough can cause involuntary limb motions, which in turn result in involuntary control inputs.
According to an embodiment of the method the step of determining change in vehicle movement comprises determining one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle. Hereby driving performance may be improved and thus positively affect safety for other road users. According to an embodiment of the method the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of moving the steering member away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined. According to an embodiment of the method the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of laterally moving the steering member if a turn, lateral acceleration and deceleration of the vehicle, and/or yaw rate of the vehicle is determined. According to an embodiment of the method the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of vertically moving the steering member if a vertical acceleration and deceleration of the vehicle is determined. According to an embodiment the method comprises the step of determining the extent of acceleration or deceleration in the change of vehicle movement, wherein the degree of movement of the steering member is based on the extent of acceleration or deceleration in the change of vehicle movement. Hereby driving performance may be further improved and thus positively affect safety for other road users.
Specifically an object of the invention is achieved by a control device for remotely controlling driving of a vehicle. A driving control arrangement for controlling drive of the vehicle is provided. The driving control arrangement is remotely located from the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle. The control device is configured to: determine change in vehicle movement; and move the steering member based on the thus determined change in vehicle movement. According to an embodiment the control device, when determining change in vehicle movement, is configured to determine one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle. According to an embodiment the control device, when moving the steering member based on the thus determined change in vehicle movement, is configured to move the steering member away from the driver if an acceleration is determined and configured to move the steering member closer to the driver if deceleration is determined. According to an embodiment the control device, when moving the steering member based on the thus determined change in vehicle movement, is configured to laterally move the steering member if a turn, lateral acceleration and deceleration of the vehicle, and/or yaw rate of the vehicle is determined. According to an embodiment the control device, when moving the steering member based on the thus determined change in vehicle movement, is configured to vertically move the steering member if a vertical acceleration and deceleration of the vehicle is determined. According to an embodiment the control device is configured to determine the extent of acceleration or deceleration in the change of vehicle movement, wherein the control device is configured to control the degree of movement of the steering member based on the extent of acceleration or deceleration in the change of vehicle movement. Specifically an object of the invention is achieved by a vehicle operably connectable to a control device as set out herein.
Specifically an object of the invention is achieved by a computer program for remotely controlling driving of a vehicle, said computer program comprising program code which, when run on an control device or another computer connected to the control device, causes the control device to perform the method as set out herein.
Specifically an object of the invention is achieved by a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.
BRIEF DESCRIPTION OF THE DRAWINGS
For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which:
Fig. 1 schematically illustrates a side view of a vehicle according to an embodiment of the present invention; Fig. 2 schematically illustrates a driving control arrangement for remotely controlling a vehicle according to an embodiment of the present invention;
Fig. 3 schematically illustrates a block diagram of a control device for remotely controlling driving of a vehicle according to an embodiment of the present invention;
Fig. 4 schematically illustrates a flowchart of a method performed by a control device for remotely controlling driving of a vehicle according to an embodiment of the present invention; and
Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.
DETAILED DESCRIPTION
Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non physical connector such as a wireless connection, for example a radio or microwave link.
Herein the term“remotely controlling driving of a vehicle” may refer to tele remote driving.
Fig. 1 schematically illustrates a side view of a vehicle V1 according to an embodiment of the present invention.
The vehicle V1 is a remotely controllable vehicle. The vehicle may be a vehicle intended for autonomous drive. The vehicle V1 may be a vehicle which is not intended to have a driver for driving the vehicle located in the vehicle. The exemplified vehicle V1 is a heavy vehicle in the shape of a truck. The vehicle V1 is travelling on a road R. The vehicle according to the present invention may be any suitable vehicle such as a bus or a car. The vehicle V1 may be operably connected to a control device 100 for remotely controlling driving of the vehicle V1. The vehicle V1 may comprise or be operably connectable to a system I for remotely controlling driving of the vehicle V1. The system I may comprise a control device 100 remotely controlling driving of the vehicle V1.
The vehicle V1 is, according to an embodiment, arranged to be operated in accordance with a method M1 performed by a control device for remotely controlling driving of a vehicle according to fig. 4.
Fig. 2 schematically illustrates a driving control arrangement DA for remotely controlling a vehicle V1 according to an embodiment of the present invention. The driving control arrangement may also be denoted vehicle operation control arrangement.
The driving control arrangement DA is remotely located from the vehicle V1. The driving control arrangement DA may be comprised in or constituted by a control room or the like. The driving control arrangement DA comprises a steering member SM for steering the vehicle by a remotely located driver D of the vehicle V1 during drive of the vehicle. The steering member SM according to the invention may be any suitable steering member for remotely steering a vehicle. The steering member SM is according to this example a steering wheel. The steering member SM comprises or is operably connected to a steering member movement mechanism M for facilitating movement of the steering member SM. The steering member movement mechanism M may be configured to allow movement of the steering member SM away from the driver D, illustrated with arrow A1 , and towards the driver D, illustrated with arrow A2. The steering member movement mechanism M may be configured to allow movement of the steering member SM in the vertical direction, illustrated with arrow A3. The steering member movement mechanism M may be configured to allow movement of the steering member in the lateral direction, i.e. lateral tilting of the steering member SM, illustrated with arrow A4. The vehicle V1 is here driving on a road R remote from the driving control arrangement DA. The driver D is thus remotely located relative to the vehicle V1 and is thus not located in the vehicle. The vehicle V1 may be essentially at any distance away from the remotely located driver D, the driver being located at the driving control arrangement DA. The driver D is remotely steering the vehicle by means of the steering member SM, i.e. here by holding at least one hand on the steering member SM.
The driving control arrangement DA may comprise any relevant additional means for facilitating remotely driving the vehicle V1. The driving control arrangement DA comprises according to this embodiment a gas pedal G for accelerating the vehicle V1. The driving control arrangement DA comprises according to this embodiment a brake pedal B for breaking, i.e. decelerating, the vehicle V1. The driving control arrangement DA comprises according to this embodiment visual means V for providing, for the remotely located driver D, visual information of the surrounding comprising the road R on which the vehicle V1 is driving. Here the driver D has virtual reality glasses for the visual information. The visual information may alternatively be provided via a screen or the like.
A control device 100 for remotely controlling driving of the vehicle V1 is provided. The control device 100 may be a control device in accordance with the control device 100 described below with reference to fig. 3. The control device 100 may be comprised in the driving control arrangement DA or operably connected to the driving control arrangement DA. The control device 100 may be operably connected to the vehicle V1. The control device 100 may be operably connected to the vehicle V1 via a wireless connection.
The control device 100 is configured to determine change in vehicle movement.
The vehicle V1 may comprise vehicle movement change determination means 1 10 arranged to determine change in vehicle movement. The control device 100 is operably connected to the vehicle movement change determination means 1 10.
The vehicle movement change determination means 110 may be in accordance with the vehicle movement change determination means 1 10 described below with reference to fig. 3.
According to this embodiment of the invention, the control device 100 is, via a link, operably connected to the vehicle movement change determination means 110. The control device 100 is arranged to receive a signal from the means 110 representing data about change in vehicle movement. The data may comprise data about extent of acceleration or deceleration.
The control device 100 is configured to move the steering member SM based on the thus determined change in vehicle movement.
According to this embodiment of the invention, the control device 100 is, via a link, operably connected to the steering member SM via the steering member movement mechanism M. The control device 100 is via the link arranged to send a signal to the steering member movement mechanism M representing data about moving the steering member SM based on the thus determined change in vehicle movement. The data may comprise data about moving the steering member away from the driver, data about moving the steering member closer to the driver, data about laterally moving the steering member and/or vertically moving the steering member. The data may comprise data about extent of acceleration or deceleration in the change of vehicle movement.
The control device 100 is configured to control the degree of movement of the steering member SM based on the extent of acceleration or deceleration in the change of vehicle movement. Fig. 3 schematically illustrates a block diagram of a control device 100 for remotely controlling driving of a vehicle according to an embodiment of the present invention.
A driving control arrangement for controlling drive of the vehicle is provided. The driving control arrangement is remotely located from the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle. The driving control arrangement may be in accordance with the driving control arrangement DA described with reference to fig. 2. The control device 100 for remotely controlling driving of a vehicle may be comprised in a system I for remotely controlling driving of a vehicle.
The control device may be implemented as a separate entity or distributed in two or more physical entities. The control device may comprise one or more computers. The control device may thus be implemented or realised by the control device comprising a processor and a memory, the memory comprising instructions, which when executed by the processor causes the control device to perform the herein disclosed method.
The control device 100 may comprise one or more electronic control units, processing units, computers, server units or the like for determining vehicle operation of at least one vehicle. The control device 100 may comprise control device such as one or more electronic control units arranged on board a vehicle. The control device 100 may comprise one or more electronic control units, processing units, computers, server units or the like of an off-board system arranged externally to the at least one vehicle and being operably connectable to the vehicle to be remotely controlled.
The control device 100 is configured to determine change in vehicle movement. The system I may comprise vehicle movement change determination means 1 10 arranged to determine change in vehicle movement.
The control device 100 may comprise or be operably connectable to the vehicle movement change determination means 1 10. The vehicle movement change determination means 110 arranged to determine change in vehicle movement may be arranged to determine acceleration and deceleration in the direction of travel of the vehicle, i.e. the longitudinal direction. The vehicle movement change determination means 1 10 arranged to determine change in vehicle movement may be arranged to determine acceleration and deceleration in the vertical direction. The vehicle movement change determination means 1 10 arranged to determine change in vehicle movement may be arranged to determine acceleration and deceleration during drive in a curve. The vehicle movement change determination means 110 arranged to determine change in vehicle movement may be arranged to determine acceleration and deceleration in the lateral direction of the vehicle. The vehicle movement change determination means 1 10 arranged to determine change in vehicle movement may be arranged to determine the yaw rate of the vehicle.
The vehicle movement change determination means 110 arranged to determine change in vehicle movement may comprise any suitable sensor/sensors for detecting change in vehicle movement. Such sensors may comprise one or more accelerometers, one or more yaw rate sensors, one or more speedometers or the like. Such sensor may comprise a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the position of the vehicle along the road on which it is travelling.
The control device 100 is configured to determine acceleration and deceleration in the driving direction of the vehicle. The vehicle movement change determination means 1 10 comprises according to an embodiment longitudinal acceleration and deceleration determination means 112 for determining acceleration and deceleration in the driving direction of the vehicle. The control device 100 is configured to determine turn of the vehicle.
The vehicle movement change determination means 110 comprises according to an embodiment vehicle turn determination means 1 14 for determining turning movement of the vehicle.
The control device 100 is configured to determine vertical acceleration and deceleration of the vehicle.
The vehicle movement change determination means 1 10 comprises according to an embodiment vertical acceleration and deceleration determination means 1 16 for determining acceleration and deceleration in the vertical direction.
The control device 100 is configured to determine lateral acceleration and deceleration of the vehicle.
The vehicle movement change determination means 1 10 comprises according to an embodiment lateral acceleration and deceleration determination means 1 18 for determining acceleration and deceleration in the lateral direction of the vehicle. The control device 100 is configured to determine yaw rate of the vehicle.
The vehicle movement change determination means 1 10 comprises according to an embodiment yaw rate determination means 1 19 for determining yaw rate of the vehicle.
The control device 100 is configured to move the steering member based on the thus determined change in vehicle movement. According to an embodiment the control device 100, when determining change in vehicle movement, is configured to determine one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
According to an embodiment the control device 100, when moving the steering member based on the thus determined change in vehicle movement, is configured to move the steering member away from the driver if an acceleration is determined and configured to move the steering member closer to the driver if deceleration is determined.
According to an embodiment the control device 100, when moving the steering member based on the thus determined change in vehicle movement, is configured to laterally move the steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined. According to an embodiment the control device 100, when moving the steering member based on the thus determined change in vehicle movement, is configured to vertically move the steering member if a vertical acceleration and deceleration is determined.
The control device 100 is configured to determine the extent of acceleration or deceleration in the change of vehicle movement.
The system I may comprise acceleration and deceleration extent determination means 110a arranged to determine the extent of acceleration or deceleration in the change of vehicle movement. The acceleration and deceleration extent determination means 110a may be comprised in the vehicle movement change determination means 1 10.
The control device 100 may comprise or be operably connectable to the acceleration and deceleration extent determination means 1 10a. The longitudinal acceleration and deceleration determination means 1 12 is according to an embodiment arranged to determine the extent of acceleration or deceleration in the driving direction of the vehicle.
The turn determination means 1 14 is according to an embodiment arranged to determine the extent of acceleration or deceleration when the vehicle is driving in a curve.
The vertical acceleration and deceleration determination means 1 16 is according to an embodiment arranged to determine the extent of acceleration or deceleration in the vertical direction.
The lateral acceleration and deceleration determination means 1 18 is according to an embodiment arranged to determine the extent of acceleration or deceleration in the lateral direction of the vehicle.
The yaw rate determination means 1 19 is according to an embodiment arranged to determine the extent of acceleration or deceleration of the yaw rate of the vehicle.
The control device 100 is configured to control the degree of movement of the steering member based on the extent of acceleration or deceleration in the change of vehicle movement. For example, a higher acceleration in the driving direction of the vehicle will result in a greater degree of movement of the steering member away from the driver.
According to an embodiment of the invention, the control device 100 is, via a link 10, operably connected to the vehicle movement change determination means 1 10. According to an embodiment of the invention, the control device 100 is via the link 10 arranged to receive a signal from the means 1 1 0 representing data about change in vehicle movement. The data may comprise data about extent of acceleration or deceleration.
According to an embodiment of the invention, the control device 100 is, via a link 12, operably connected to the longitudinal acceleration and deceleration determination means 1 12. According to an embodiment of the invention, the control device 100 is via the link 12 arranged to receive a signal from the means 1 1 2 representing data about longitudinal acceleration and deceleration. The data may comprise data about extent of acceleration or deceleration in the driving direction of the vehicle.
According to an embodiment of the invention, the control device 100 is, via a link 14, operably connected to the vehicle turn determination means 1 14. According to an embodiment of the invention, the control device 100 is via the link 14 arranged to receive a signal from the means 1 14 representing data about turning movement of the vehicle. The data may comprise data about extent of acceleration or deceleration when the vehicle is driving in a curve.
According to an embodiment of the invention, the control device 100 is, via a link 16, operably connected to the vertical acceleration and deceleration determination means 1 16. According to an embodiment of the invention, the control device 100 is via the link 16 arranged to receive a signal from the means 1 1 6 representing data about vertical acceleration and deceleration of the vehicle. The data may comprise data about extent of acceleration or deceleration in the vertical direction.
According to an embodiment of the invention, the control device 100 is, via a link 18, operably connected to the lateral acceleration and deceleration determination means 1 18. According to an embodiment of the invention, the control device 100 is via the link 18 arranged to receive a signal from the means 1 18 representing data about lateral acceleration and deceleration of the vehicle. The data may comprise data about extent of acceleration or deceleration in the lateral direction of the vehicle.
According to an embodiment of the invention, the control device 100 is, via a link 19, operably connected to the yaw rate determination means 1 19. According to an embodiment of the invention, the control device 100 is via the link 19 arranged to receive a signal from the means 1 19 representing data about lateral acceleration and deceleration of the vehicle. The data may comprise data about extent of acceleration or deceleration of the yaw rate of the vehicle.
According to an embodiment of the invention, the control device 100 is, via a link L, operably connected to the steering member SM of the driving control arrangement. According to an embodiment of the invention, the control device 100 is via the link L arranged to send a signal to the steering member SM representing data about moving the steering member based on the thus determined change in vehicle movement. The data may comprise data about moving the steering member away from the driver, data about moving the steering member closer to the driver, data about laterally moving the steering member and/or vertically moving the steering member.
The control device 100 for remotely controlling driving of a vehicle is, according to an embodiment, adapted to perform the method M1 described below with reference to fig. 4.
Fig. 4 schematically illustrates a flowchart of a method M1 performed by a control device for remotely controlling driving of a vehicle according to an embodiment of the present invention.
A driving control arrangement for controlling drive of the vehicle is provided. The driving control arrangement is remotely located from the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle.
According to the embodiment the method for remotely controlling driving of a vehicle comprises a step S1. In this step change in vehicle movement is determined. The method is configured to be performed by a control device such as a control device 100 described with reference to fig. 3. The change in vehicle movement is according to an embodiment arranged to be determined by means of the vehicle movement change determination means 1 10 described with reference to according to fig. 3. According to an embodiment of the method the step of determining change in vehicle movement comprises determining one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
According to the embodiment the method comprises a step S2. In this step the steering member is moved based on the thus determined change in vehicle movement.
According to an embodiment of the method the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of moving the steering member away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
According to an embodiment of the method the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of laterally moving the steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined.
According to an embodiment of the method the step of moving the steering member based on the thus determined change in vehicle movement comprises the step of vertically moving the steering member if a vertical acceleration and deceleration is determined.
According to an embodiment of the method the degree of movement of the steering member is based on the extent of acceleration or deceleration in the change of vehicle movement. The method M1 performed by a control device for remotely controlling driving of a vehicle is according to an embodiment adapted to be performed by the system I described above with reference to fig. 3. With reference to figure 5, a diagram of a computer 500/apparatus 500 is shown. The control device 100 described with reference to fig. 3 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non volatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.
A computer program P is provided comprising routines for remotely controlling driving of a vehicle. A driving control arrangement for controlling drive of the vehicle is provided. The driving control arrangement is remotely located from the vehicle. The driving control arrangement comprises a steering member for steering the vehicle by a remotely located driver of the vehicle during drive of the vehicle.
The program P comprises routines for determining change in vehicle movement. The program P comprises routines for moving the steering member based on the thus determined change in vehicle movement. The routines for determining change in vehicle movement comprises routines for determining one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
The routines for moving the steering member based on the thus determined change in vehicle movement comprises routines for moving the steering member away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
The routines for moving the steering member based on the thus determined change in vehicle movement comprises routines for laterally moving the steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined.
The routines for moving the steering member based on the thus determined change in vehicle movement comprises routines for vertically moving the steering member if a vertical acceleration and deceleration is determined.
The program P may comprise routines for determining the extent of acceleration or deceleration in the change of vehicle movement, the degree of movement of the steering member being based on the extent of acceleration or deceleration in the change of vehicle movement. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.
Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 51 1. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control unit 100 may be connected.
When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 may be used by apparatus 500 for determining change in vehicle movement. The signals received on data port 599 may be used by apparatus 500 for moving the steering member based on the thus determined change in vehicle movement. The signals used for determining change in vehicle movement may comprise signals used for determining one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration, lateral acceleration and deceleration, and yaw rate of the vehicle.
The signals used for moving the steering member based on the thus determined change in vehicle movement may comprise signals used for moving the steering member away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
The signals used for moving the steering member based on the thus determined change in vehicle movement may comprise signals used for laterally moving the steering member if a turn, lateral acceleration and deceleration, and/or yaw rate of the vehicle is determined.
The signals used for moving the steering member based on the thus determined change in vehicle movement may comprise signals used for vertically moving the steering member if a vertical acceleration and deceleration is determined.
The signals received on data port 599 may be used by apparatus 500 for determining the efficiency of the required vehicle operation based on one or more of the thus stored logged parameters. Parts of the methods described herein may be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed. The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims

1. A method performed by a control device (100) for remotely controlling driving of a vehicle (V1 ), a driving control arrangement (DA) for controlling drive of the vehicle (V1 ) being provided, the driving control arrangement (DA) being remotely located from the vehicle (V1 ), the driving control arrangement (DA) comprising a steering member (SM) for steering the vehicle by a remotely located driver (D) of the vehicle during drive of the vehicle (V1 ), the method comprising the steps of:
- determining (S1 ) change in vehicle movement; and
- moving (S2) the steering member based on the thus determined change in vehicle movement.
2. The method according to claim 1 , wherein the step of determining change in vehicle movement comprises determining one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle (V1 ).
3. The method according to claim 2, wherein the step of moving the steering member (SM) based on the thus determined change in vehicle movement comprises the step of moving the steering member (SM) away from the driver if an acceleration is determined and moving the steering member closer to the driver if deceleration is determined.
4. The method according to claim 2 or 3, wherein the step of moving the steering member (SM) based on the thus determined change in vehicle movement comprises the step of laterally moving the steering member (SM) if a turn, lateral acceleration and deceleration of the vehicle, and/or yaw rate of the vehicle is determined.
5. The method according to any of claims 2-4, wherein the step of moving the steering member (SM) based on the thus determined change in vehicle movement comprises the step of vertically moving the steering member (SM) if a vertical acceleration and deceleration of the vehicle is determined.
6. The method according to any of claims 1 -5, comprising the step of determining the extent of acceleration or deceleration in the change of vehicle movement, wherein the degree of movement of the steering member (SM) is based on the extent of acceleration or deceleration in the change of vehicle movement.
7. A control device (100) for remotely controlling driving of a vehicle (V1 ), a driving control arrangement (DA) for controlling drive of the vehicle being provided, the driving control arrangement (DA) being remotely located from the vehicle (V1 ), the driving control arrangement (DA) comprising a steering member (SM) for steering the vehicle by a remotely located driver (D) of the vehicle during drive of the vehicle, the control device (100) being configured to:
- determine change in vehicle movement; and
- move the steering member (SM) based on the thus determined change in vehicle movement.
8. The control device according to claim 7, wherein the control device (100), when determining change in vehicle movement, is configured to determine one or more of: acceleration and deceleration in the driving direction of the vehicle; turn of the vehicle; vertical acceleration and deceleration of the vehicle, lateral acceleration and deceleration of the vehicle, and yaw rate of the vehicle.
9. The control device according to claim 8, wherein the control device (100), when moving the steering member (SM) based on the thus determined change in vehicle movement, is configured to move the steering member (SM) away from the driver (D) if an acceleration is determined and configured to move the steering member (SM) closer to the driver if deceleration is determined.
10. The control device according to claim 8 or 9, wherein the control device (100), when moving the steering member (SM) based on the thus determined change in vehicle movement, is configured to laterally move the steering member (SM) if a turn, lateral acceleration and deceleration of the vehicle, and/or yaw rate of the vehicle is determined.
1 1. The control device according to any of claims 8-10, wherein the control device (100), when moving the steering member (SM) based on the thus determined change in vehicle movement, is configured to vertically move the steering member (SM) if a vertical acceleration and deceleration of the vehicle is determined.
12. The control device according to any of claims 7-1 1 , the control device (100) being configured to determine the extent of acceleration or deceleration in the change of vehicle movement, the control device being configured to control the degree of movement of the steering member (SM) based on the extent of acceleration or deceleration in the change of vehicle movement.
13. A vehicle (1 ) being operably connectable to a control device (100) according to any of claims 7-12.
14. A computer program (P) for remotely controlling driving of a vehicle, said computer program (P) comprising program code which, when run on an control device (100) or another computer (500) connected to the control device (100), causes the control device to perform the steps according to claim 1 -6.
15. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to anyone of claim 1 -6.
PCT/SE2019/050345 2018-04-17 2019-04-15 Method and a control device for remotely controlling driving of a vehicle WO2019203716A1 (en)

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CN111954858B (en) 2024-04-12

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