[go: up one dir, main page]

SE538920C2 - Device, method and system for an autonomous vehicle to drive pass a difficult or inappropriate road segment - Google Patents

Device, method and system for an autonomous vehicle to drive pass a difficult or inappropriate road segment Download PDF

Info

Publication number
SE538920C2
SE538920C2 SE1550351A SE1550351A SE538920C2 SE 538920 C2 SE538920 C2 SE 538920C2 SE 1550351 A SE1550351 A SE 1550351A SE 1550351 A SE1550351 A SE 1550351A SE 538920 C2 SE538920 C2 SE 538920C2
Authority
SE
Sweden
Prior art keywords
vehicle
autonomous vehicle
route
pilot
data
Prior art date
Application number
SE1550351A
Other languages
English (en)
Other versions
SE1550351A1 (sv
Inventor
Saibel Sergej
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 SE1550351A priority Critical patent/SE538920C2/sv
Priority to EP16769164.1A priority patent/EP3278188A4/en
Priority to PCT/SE2016/050101 priority patent/WO2016153408A1/en
Priority to BR112017018214A priority patent/BR112017018214A2/pt
Priority to KR1020177027899A priority patent/KR102029274B1/ko
Priority to US15/554,351 priority patent/US10649455B2/en
Publication of SE1550351A1 publication Critical patent/SE1550351A1/sv
Publication of SE538920C2 publication Critical patent/SE538920C2/sv

Links

Classifications

    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • 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
    • 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
    • B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • 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
    • G05D1/0027—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 involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G—PHYSICS
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/695—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
    • G05D1/696—Coordinated control of the position or course of two or more vehicles for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight involving a plurality of vehicles coupled together
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • 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
    • B60K31/0008—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 means for detecting potential obstacles in vehicle path
    • B60K2031/0016—Identification of obstacles; Selection of a target vehicle
    • 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
    • B60K31/0008—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 means for detecting potential obstacles in vehicle path
    • 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
    • B60W2540/043—Identity of 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/227—Position in the vehicle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Atmospheric Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)

Description

538 920 US20130090802 illustrates an autonomous vehicle that is conducted by means of a leader vehicle. The autonomous vehicle may receive waypoints from the leader vehicle via wireless communication. ln US8880272 an autonomous vehicle is shown that may calculate a trajectory based on two trajectories of two other vehicles and thereby avoid e.g. a road work.
Summary Technology for autonomous driving is under development and in the future infrastructure and vehicles will be more adapted to autonomous driving. l\/leanwhile there is a need for making autonomous driving possible also with less advanced technology and infrastructure. lt is thus an object of the disclosure to provide a method for an autonomous vehicle to drive pass a difficult or inappropriate road segment. lt is a further object to provide a method for an autonomous vehicle to drive pass a difficult or inappropriate road segment without manual intervention. These object and others are at least partly achieved by the device, the method, the vehicle, the system, the computer program P and the computer program product according to the independent claims, and by the embodiments according to the dependent claims.
With any of the described device, method, vehicle, system, computer program and computer program product, it is made possible to eliminate intervention of a driver when driving pass road segments that are determined to be risky, thus difficult or inappropriate for the autonomous driver to pass autonomously. There is then no need for expensive dedicated pilot vehicles, instead regular vehicles can be used for piloting the automated vehicle pass the risky road segment. The solution thus becomes a less expensive alternative than many other solutions and a step forward to accomplishing a fully autonomous driving.
According to a first aspect, the disclosure relates to device for an autonomous vehicle capable of independently travelling along a road and to communicate in a 10 15 20 25 30 538 920 wireless way. The device is configured to determine a route for the autonomous vehicle 1, and to determine presence of any risk segment along the route. A risk segment is a segment of the road where the autonomous vehicle is determined to be in need of assistance based on Characteristics of that road segment. lf a risk segment is determined, the device is configured to perform a matching sequence in order to find a pilot vehicle capable of piloting the autonomous vehicle past the risk segment and to generate information data oi about a result of the performed matching sequence.
According to a second aspect, the disclosure relates to an autonomous vehicle comprising a device as disclosed herein.
According to a third aspect, the disclosure relates to a method for an autonomous vehicle capable of independently travelling along a road and to communicate in a wireless way. The method comprises to determining a route of the autonomous vehicle and determining presence of any risk segment along the route. A risk segment is a segment of the road where the autonomous vehicle is determined to be in need of assistance based on characteristics of that road segment. lf a risk segment is determined, the method comprises performing a matching sequence in order to find a pilot vehicle capable of piloting the autonomous vehicle past the risk segment, and generating information data oi about a result of the performed matching sequence.
According to a fourth aspect, the disclosure relates to a system for an autonomous vehicle capable of independently travelling along a road and to communicate in a wireless way. The system comprises a processing unit and a memory unit with a computer program code. The computer program code is configured to make the system perform the method according to any of the steps as disclosed herein, when executed on the processing unit.
According to a fifth aspect, the disclosure relates to a computer program P, wherein the computer program P comprises a computer program code to cause a 10 15 20 25 30 538 920 device, or a computer connected to the device, to perform the method according to any of the steps as disclosed herein.
According to a sixth aspect, the disclosure relates to a computer program product comprising a computer program code stored on a computer-readable medium to perform the method according to any of the steps as disclosed herein, when the computer program code is executed by a device or by a computer connected to the device.
Brief description of the drawinqs Fig. 1 illustrates a device according to the disclosure located remotely or in an autonomous vehicle.
Fig. 2 is illustrating the device in Fig. 1 in more detail according to one embodiment.
Fig. 3 is illustrating a method according to the disclosure according to one embodiment.
Detailed description Fig. 1 is illustrating an autonomous vehicle 1 and a plurality of other vehicles 2.
The autonomous vehicle 1 may be arranged to be driven in several modes, for example manual mode, semi-autonomous mode and autonomous mode. ln manual mode, the vehicle 1 is driven manually by a driver in the vehicle. ln semi- autonomous mode, some functions of the vehicle 1 may be managed manually by a driver, and some functions may be managed autonomously. ln autonomous mode, all functions in the vehicle are managed autonomously. For the purpose of this disclosure, the autonomous vehicle 1 is driven in autonomous mode.
However, in autonomous mode a driver may still be present in the vehicle 1, or the vehicle 1 may be monitored at a distance by a supervisor, and the autonomous vehicle 1 may send messages for decision making to the supervisor or driver during the autonomous ride. The supervisor or driver may answer the message and the autonomous vehicle 1 may incorporate the answer of the supervisor or driver in its driving strategy. 10 15 20 25 30 538 920 The other vehicles 2 may be any kind of vehicle such as a regular private car or a truck, and be arranged to be autonomously, semi-autonomously or manually driven. The other vehicles 2 may for example be travelling on the same road network as the autonomous vehicle 1 or may be standing still in a garage or parking lot. The other vehicles 2 may be registered in a register as potential pilot vehicles, and the content of the register may be accessed by a device 3 upon request. The register may for example be maintained and updated by an external computer 4.
The autonomous vehicle 1 is arranged to communicate in a wireless way, as illustrated with bent arrows in the figure. Wireless communication is also referred to as radio communication. Wireless communication between two vehicles is referred to as vehicle-to-vehicle communication (V2V). The vehicle 1 may also be arranged to communicate with an external computer 4, server, road side unit or similar, or via the external computer 4, server, road side unit with another vehicle 2. Such wireless communication is referred to as vehicle-to-infrastructure communication (V2l). The wireless communication may also be conducted via mobile communication servers, via an application in a communication unit or via a server. The vehicle 1 is for the purpose of wireless communication equipped with a unit for wireless communication 5. The external computer 4 is for the purpose of wireless communication also equipped with a unit for wireless communication 6.
The other vehicles 2 may also be arranged to communicate in a wireless way.
The autonomous vehicle 1 may be arranged with the device 3 which will be described in the following. The device 3 may instead be arranged in the external computer 4 remote from the autonomous vehicle 1. ln Fig. 2 the device 3 is illustrated in greater detail, and will now be explained in connection to this figure. The device 3 may be a control unit, for example an Electronic Control Unit (ECU). The device 3 includes a processing unit 7 and a memory unit 8. The processing unit 7 may be made up of one or more Central 10 15 20 25 30 538 920 Processing Units (CPU). The memory unit 8 may be made up of one or more memory units. A memory unit may include a volatile and/or a non-volatile memory, such as a flash memory or Random Access l\/lemory (RAIVI). The memory unit 8 further includes a computer program P including a computer program code to cause the device 3, or a computer connected to the device 3, to perform any of the method steps that will be described in the following.
The autonomous vehicle 1 may be arranged with a plurality of sensor units, generally noted as 9 in Fig. 2. The sensor units 9 may be arranged to send sensed data and/or generated data to the device 3 for further processing.
One kind of sensor unit 9 may be a positioning unit arranged to determine the position of the autonomous vehicle 1. The positioning unit may be configured to receive signals from a global positioning system such as GNSS (Global Navigation Satellite System), for example GPS (Global Positioning System), GLONASS, Galileo or Compass. Alternatively the positioning unit may be configured to receive signals from for example one or several distance detectors in the autonomous vehicle 1 that measure relative distances to for example a road side unit, nearby vehicles or similar with a known position. Based on the relative distance or distances the positioning unit may determine the position of the own autonomous vehicle 1. A detector may also be configured to detect a signature in for example a road side unit, whereby the signature represents a certain position.
The positioning unit may then be configured to determine its own position via detection of the signature. The positioning unit may instead be configured to determine the signal strength in one or a plurality of signals from a base station or road side unit with known position, and thereby determine the position of the autonomous vehicle 1 by using triangulation. Some of above mentioned technologies may of course be combined to ensure a correct position determination of the autonomous vehicle 1. The positioning unit is configured to generate a position data with the position of the automated vehicle 1, and to send it to the device 3. Other kinds of sensor units 9 may be a radar unit, a lidar unit, a camera unit or a video unit. The sensor units 9 may monitor the surroundings of 10 15 20 25 30 538 920 the autonomous vehicle 1, generate sensor data and send the sensor data to the device 3 for further processing.
The autonomous vehicle 1 may communicate internally between its units, devices, sensors, detectors etc. via a communication bus, for example a CAN-bus (Controller Area Network) which uses a message based protocol. Examples of other communication protocols that may be used are TTP (Time-Triggered Protocol), Flexray, etc. ln that way signals and data described herein may be exchanged between different units, devices, sensors and/or detectors in the autonomous vehicle 1. Signals and data may instead be transferred wirelessly between the different units, devices, sensors and/or detectors. ln order to aid the autonomous vehicle 1 during travelling, the device 3 is configured to determine a route for the autonomous vehicle 1. The route for the autonomous vehicle 1 may be known in advance e.g. from a haulage contractor or from the autonomous vehicle 1 itself. According to another embodiment, the device 3 may have access to map data and may based on a starting position and final position of the autonomous vehicle 1 determine a route for the autonomous vehicle 1. For example may a driver sitting in the autonomous vehicle 1 give a starting position and a final position to a navigation unit in the autonomous vehicle 1 _ The device 3 is further configured to determine presence of any risk segment along the route, where a risk segment is a segment of the road where the autonomous vehicle 1 is determined to be in need of assistance based on characteristics of that road segment. To be in need of assistance may include that the autonomous vehicle 1 is determined not to be able to drive pass the risk segment autonomously.
The characteristics of the road of the route are generally known in beforehand.
There are numerous external suppliers collecting data and characteristics of roads, wherefrom these characteristics may be collected. The road characteristics 10 15 20 25 30 538 920 may thus be given to the device 3. The Characteristics may include any road Characteristics necessary for the autonomous driving of the vehicle 1. For example, road data may include a virtual road network marked with characteristics such as traffic signs, road works etc. Any such characteristic should be positioned along the virtual road network. The road may be divided into segments according to their characteristics. Thus, segments may have different lengths. lnstead, the road may be divided into segments with equal lengths, and have different characteristics within the segment. Updated road characteristics may also be gathered during travelling via wireless communication from other entities.
Autonomous vehicles 1 may be differently equipped and have different ability to navigate autonomously. One kind of autonomous vehicle 1 may be able to independently navigate pass a road segment that for another kind of autonomous vehicle 1 would be considered too risky to independently navigate pass. Also, at present some road segments cannot be navigated pass by any autonomous vehicle 1. By comparing characteristics of road segments along the route with characteristics of the autonomous vehicle 1, any risk segments along the route may be found. According to one embodiment, the device 3 is configured to determine characteristics of the autonomous vehicle 1 and to determine presence of a risk segment according to predefined rules for the characteristics of the autonomous vehicle 1 and the characteristics of the road segment. For example, the road segments may be classified in different levels A, B, C etc. according to their characteristics and/or difficulty. Level A is here a normal road segment, level B is a road work, C is a traffic accident etc. The autonomous vehicle 1 may then be allowed to drive autonomously along “level A” segments, but not “level B” or “level C” segments, in accordance with predefined rules for that autonomous vehicle 1 in accordance with its characteristics. Level B and level C segments are then considered as “risk segments” for the autonomous vehicle 1. The classification may generally be made in beforehand, or by the device 1 itself. lf a risk segment is determined the autonomous vehicle 1 is not allowed to independently navigate pass the risk segment. lnstead a matching sequence is 10 15 20 25 30 538 920 performed in order to find a pilot vehicle 2 capable of piloting the autonomous vehicle 1 past the risk segment. A pilot vehicle 2 may be any of the another vehicles 2 previously explained, capable of piloting the autonomous vehicle 1 pass the risk segment. According to one embodiment, the matching sequence includes to compare at least one route data of the route of another vehicle 2 with route data of the route of the autonomous vehicle 1, wherein the route data are of the same category. The device 3 is configured to determine a result of the comparison, and to determine if the another vehicle 2 is qualified as a pilot vehicle 2 for the autonomous vehicle 1 based on the result of the comparison.
Route data may be any or several of: an estimated position and time along the route, departure data and destination data. Route data of the another vehicle or vehicles 2 may be known in beforehand from e.g. haulage contractors and sent to the device 1. lf the device 3 is present in the autonomous vehicle 3, the device 3 may send a request to the computer unit 4 for route data about the another vehicles 2, or send a request directly to the another vehicles 2 for route data about the another vehicles 2. The route data may then be sent to the device 3. lf the device 3 is present in the remote computer unit 4, the route data may be collected from the another vehicles 2 or already be known by the device 3. The matching sequence may include to send a request to one or several of the another vehicles 2 asking if they are capable of acting as a pilot vehicle for the autonomous vehicle 1. The autonomous vehicle 1 may scan the environment itself to find another vehicle or vehicles 2. For example, the autonomous vehicle 1 may use V2V communication to find one or several another vehicles 2, and collect route data from the found another vehicles 2. The autonomous vehicle 1, or more precisely the device 3 present in the autonomous vehicle 1, may then locally perform any of the steps in the matching sequence described below. A local coordination between the another vehicle or vehicles 2 may thus be performed, which may be beneficial for example when no connection to the remote computer 4 can be established. To ensure that the another vehicle 2 is a trustworthy vehicle, the another vehicle 2 may be requested to exchange secure keys with the autonomous vehicle 1. The device 3 may also have a register with approved 10 15 20 25 30 538 920 another vehicles 2 for piloting, and identification data retrieved from an another vehicle 2 may be compared with the data in the register. lf the another vehicle 2 can be found in the register, the another vehicle 2 may be considered approved for piloting.
The various route data from the another vehicle or vehicles 2 are then matched with the route data of the autonomous vehicle 1. The goal with the matching sequence is to find another vehicle 2 that is capable of and is willing to act as a pilot vehicle for the autonomous vehicle 1 pass the risk segment. To find such a pilot vehicle, route data of the same category are matched, thus, time, position etc. A category may be defined as a route, position and/or time along the route, departure data or destination data. For example, if the another vehicle 2 is determined to drive the same route as the autonomous vehicle 1 including the risk segment, within a certain timeframe, the another vehicle 2 is qualified to be a pilot vehicle. The matching sequence may instead come to the result that there is no pilot vehicle to be found.
The device 3 is in any case configured to generate information data oi about a result of the performed matching sequence. lf an another vehicle 2 is found that is qualified as a pilot vehicle, the device 3 may be arranged to generate qualifying data for the another vehicle 2 including information about that the another vehicle 2 is qualified as a pilot vehicle for the autonomous vehicle 1. The qualifying data may include information about the route for the qualified vehicle and/or the autonomous vehicle 1.
After a qualified vehicle has been found, the qualifying data may be indicated to the driver or supervisor responsible for the autonomous vehicle 1, if any. The driver or supervisor may then be given a possibility to acknowledge that they want to accept the qualified another vehicle 2 as a pilot vehicle. lnstead, the qualified vehicle may be directly determined to be a pilot vehicle. lf several qualified another vehicles exist, the most appropriate qualified another vehicle may be chosen. The most appropriate qualified vehicle may be chosen based on e.g. a 10 10 15 20 25 30 538 920 risk parameter, determined from statistical data of previous piloting experiences and/or distance and/or time from the automated vehicle 1. The longer the distance or time, the higher the risk that the piloting will not be successful, i.e. the chosen qualified another vehicle will not meet up with the automated vehicle 1. Thus, the qualified another vehicle with the lowest risk parameter may be chosen. Also, the pilot vehicle may be given a chance to accept being a pilot vehicle or not. ln most cases the route and/or timing of the route for the pilot vehicle is not exactly the same as for the autonomous vehicle 1. According to one embodiment, the device 3 is arranged to determine a modified route for the qualified pilot vehicle and/or a modified route for the autonomous vehicle 1 such that the pilot vehicle may act as a pilot for the autonomous vehicle 1 along the risk segment.
The device 3 is further arranged to generate modified route data with the modified route or routes of the pilot vehicle and autonomous vehicle 1, respectively. The modified route data may be sent to the pilot vehicle and/or autonomous vehicle 1 depending on which vehicle that should change its route. The pilot vehicle and/or the autonomous vehicle 1 receive the changed route to e.g. a control unit (not shown) in the vehicle, and the control unit will regulate the vehicle accordingly.
The pilot vehicle may e.g. lower its velocity for a time period until the autonomous vehicle 1 is within a certain distance. The certain distance should be small enough such that the pilot vehicle and the autonomous vehicle 1 may communicate with each other via wireless communication. The certain distance may e.g. be 0-2 km.
A handshaking between the vehicles may be performed to initiate the piloting. The pilot vehicle will then drive pass the risk segment and meanwhile continuously sending driving data of the pilot vehicle such as position, velocity, steering etc. to the autonomous vehicle 1. The driving data may include velocity, coordinates and heading of each position of the pilot vehicle. The autonomous vehicle 1 will receive the driving data and adapt its position and driving behavior accordingly.
Alternatively or in combination, the autonomous vehicle 1 may follow the pilot vehicle by using sensed data of the pilot vehicle from sensing units 9 like a radar unit, a lidar unit, a camera unit and/or a video unit as will be more explained in the 11 10 15 20 25 30 538 920 following. Thus, the autonomous vehicle 1 will mimic the behavior of the pilot vehicle pass the risk segment. When the autonomous vehicle 1 has driven pass the risk segment, the autonomous vehicle 1 continuous to drive autonomously in a normal way. lf only sensor units 9 are used to detect the position and driving pattern of the pilot vehicle, no wireless communication is necessary between the pilot vehicle and the autonomous vehicle 1. With this embodiment, preferably no vehicles are allowed in between the pilot vehicle and the autonomous vehicle 1. lf however also or only driving data is communicated wirelessly from the pilot vehicle to the autonomous vehicle 1, one or several vehicles may be allowed in between the pilot vehicle and the autonomous vehicle 1.
During the piloting, the autonomous vehicle 1 may also react to other sensed data of the autonomous vehicle 1 that might compromise the safety of the autonomous vehicle 1 or the surroundings of the autonomous vehicle 1. The autonomous vehicle 1 may thus not blindly follow the pilot vehicle and will respect e.g. its own safety system.
The disclosure also relates to a method, which will now be described with reference to the flowchart in Fig. 3. The method may be implemented as program code and saved in the memory unit 5 in the device 3 (Fig. 2). The method may thus be implemented with the above described hardware of the device 3 (Fig. 2) in the autonomous vehicle 1. The method comprises determining a route of the autonomous vehicle 1 (A1). The route is often known in beforehand e.g. from a haulage contractor or may be received from the autonomous vehicle 1 itself. The method further comprises determining presence of any risk segment along the route. A risk segment is a segment of the road where the autonomous vehicle 1 is determined to be in need of assistance based on Characteristics of that road segment (A2). For example, the method may comprise determining Characteristics of the autonomous vehicle 1, and determining presence of a risk segment 12 10 15 20 25 30 538 920 according to predefined rules for the Characteristics of the autonomous vehicle 1 and the Characteristics of the road segment. lf a risk segment is determined, the method comprises performing a matching sequence in order to find a pilot vehicle 2 capable of piloting the autonomous vehicle 1 past the risk segment (A3). The matching sequence may include comparing at least one route data of the route of another vehicle 2 with a route data of the route of the autonomous vehicle 1, wherein the route data are of the same category, determining a result of the comparison, and determining if the another vehicle 2 is qualified as a pilot vehicle 2 for the autonomous vehicle 1 based on the result of the comparison. The route data may be any or several of: an estimated position and time along the route, departure data and destination data. lf a risk segment not is determined, the method continues to (A1) The method further comprises generating information data oi about a result of the performed matching sequence (A4). lf the another vehicle 2 is qualified as a pilot vehicle, the method may comprise generating qualifying data for the another vehicle 2 including information about that the another vehicle 2 is qualified as a pilot vehicle for the autonomous vehicle 1. The information data oi may then includes the qualifying data. The qualifying data may include information about the route of the autonomous vehicle 1. The qualifying data may be transmitted to the pilot vehicle for information that the vehicle has been chosen as pilot vehicle for the autonomous vehicle 1.
The pilot vehicle and the autonomous vehicle 1 now have to coordinate their routes such that the pilot vehicle may pilot the autonomous vehicle passed the risk segment. According to one embodiment, the method comprises determining a modified route for the qualified pilot vehicle and/or a modified route for the autonomous vehicle 1 such that the pilot vehicle may act as a pilot for the autonomous vehicle 1 along the risk segment, and generating modified route data with the modified route or routes of the piloting vehicle and/or autonomous vehicle 1, respectively. The modified route data is sent to the pilot vehicle and 13 10 15 20 25 538 920 autonomous vehicle, respectively. The pilot vehicle may for example lower its velocity to wait for the autonomous vehicle 1. When the autonomous vehicle 1 is within a certain distance, e.g. a distance that allow wireless communication between the vehicles, or allow tracking of the pilot vehicle by using sensor units on the autonomous vehicle 1, the pilot vehicle may start piloting the autonomous vehicle 1 pass the risk segment. When the autonomous vehicle 1 is passed the risk segment, the piloting may stop and the autonomous vehicle 1 may continue drive on its own.
The disclosure also relates to a system for an autonomous vehicle 1 as described above. The system comprises the processing unit 7 and the memory unit 8 with the above described computer program code. The computer program code is configured to make the system perform any of the steps of the method as described above when the computer program code is executed on the processing unit 7. The computer program code may thus partly be executed on the remote computer 4, and partly on a device 3 residing in the autonomous vehicle 1.
The present invention is not limited to the above-described preferred embodiments. Various alternatives, modifications and equivalents may be used.
Therefore, the above embodiments should not be taken as limiting the scope of the invention, which is defined by the appending claims. 14

Claims (18)

10 15 20 25 30 538 920 laims
1. A device (3) for an autonomous vehicle (1) capable of independently travelling along a road and to communicate in a wireless way, c h a racte ri zed in that the device (3) is configured to - determine a route for the autonomous vehicle (1); - determine presence of any risk segment along the route, where a risk segment is a segment of the road where the autonomous vehicle (1) is determined to be in need of assistance based on characteristics of that road segment; - if a risk segment is determined, perform a matching sequence in order to find a pilot vehicle (2) capable of piloting the autonomous vehicle (1) past the risk segment by following the pilot vehicle; - generate information data oi about a result of the performed matching sequence.
2. The device (3) according to claim 1, configured to determine characteristics of the autonomous vehicle (1) and to determine presence of a risk segment according to predefined rules for the characteristics of the autonomous vehicle (1) and the characteristics of the road segment.
3. The device (3) according to claim 1 or 2, wherein the matching sequence includes to: - compare at least one route data of the route of another vehicle (2) with a route data of the route of the autonomous vehicle (1 ), wherein the route data are of the same category; - determine a result of the comparison; - determine if the another vehicle (2) is qualified as a pilot vehicle (2) for the autonomous vehicle (1) based on the result of the comparison.
4. The device (3) according to claim 3, wherein the route data is any or several of: an estimated position and time along the route, departure data and destination data.
5. The device (3) according to claim 3 or 4, wherein if the another vehicle (2) is qualified as a pilot vehicle, the device (3) is arranged to generate qualifying data for the another vehicle (2) including information about that the 15 10 15 20 25 30 538 920 another vehicle (2) is qualified as a pilot vehicle for the autonomous vehicle (1)-
6. The device (3) according to claim 5, wherein the qualifying data includes information about the route of the autonomous vehicle (1 ).
7. The device (3) according to claim 5 or 6, wherein the device (3) is arranged to determine a modified route for the qualified pilot vehicle and/or a modified route for the autonomous vehicle (1) such that the pilot vehicle may act as a pilot for the autonomous vehicle (1) along the risk segment, and to generate modified route data with the modified route or routes of the piloting vehicle and/or autonomous vehicle (1 ), respectively.
8. An autonomous vehicle (1) comprising the device (3) according to any of the preceding claims.
9. A method for an autonomous vehicle (1) capable of independently travelling along a road and to communicate in a wireless way, characterized by the steps of: - determining a route of the autonomous vehicle (1 ); - determining presence of any risk segment along the route, where a risk segment is a segment of the road where the autonomous vehicle (1) is determined to be in need of assistance based on characteristics of that road segment; - if a risk segment is determined, performing a matching sequence in order to find a pilot vehicle (2) capable of piloting the autonomous vehicle (1) past the risk segment by following the pilot vehicle; - generating information data oi about a result of the performed matching sequence.
10. The method according to claim 9, comprising determining characteristics of the autonomous vehicle (1) and determining presence of a risk segment according to predefined rules for the characteristics of the autonomous vehicle (1) and the characteristics of the road segment.
11. The method according to claim 9 or 10, wherein the matching sequence includes to: 16 10 15 20 25 30 538 920 - comparing at least a route data of the route of another vehicle (2) with a route data of the route of the autonomous vehicle (1 ), wherein the route data are of the same category; - determining a result of the comparison; - determining if the another vehicle (2) is qualified as a pilot vehicle (2) for the autonomous vehicle (1) based on the result of the comparison.
12. The method (3) according to claim 11, wherein the route data is any or several of: an estimated position and time along the route, departure data and destination data.
13. The method (3) according to claim 11 or 12, wherein if the another vehicle (2) is qualified as a pilot vehicle, generating qualifying data for the another vehicle (2) including information about that the another vehicle (2) is qualified as a pilot vehicle for the autonomous vehicle (1 ).
14. The method (3) according to claim 13, wherein the qualifying data includes information about the route of the autonomous vehicle (1 ).
15. The method (3) according to claim 13 or 14, comprising determining a modified route for the qualified pilot vehicle and/or a modified route for the autonomous vehicle (1) such that the pilot vehicle may act as a pilot for the autonomous vehicle (1) along the risk segment, and generating modified route data with the modified route or routes of the piloting vehicle and/or autonomous vehicle (1 ), respectively.
16. A computer program P, wherein said computer program P comprises a computer program code to cause a device (3), or a computer connected to said device (3), to perform the method according to any of claims 9 -15.
17. A computer program product comprising a computer program code stored on a computer-readable medium to perform the method according to any of the claims 9 -16, when the computer program code is executed by a device (3) or by a computer connected to the device (3).
18. A system for an autonomous vehicle (1) capable of independently travelling along a road and to communicate in a wireless way, the system comprises a processing unit (7) and a memory unit (8) with a computer program code c h aracte ri zed in that the computer program code is 17 538 920 configured to make the system perform the method according to any of the claims 9 to 15 when executed on the processing unit (7). 18
SE1550351A 2015-03-24 2015-03-24 Device, method and system for an autonomous vehicle to drive pass a difficult or inappropriate road segment SE538920C2 (sv)

Priority Applications (6)

Application Number Priority Date Filing Date Title
SE1550351A SE538920C2 (sv) 2015-03-24 2015-03-24 Device, method and system for an autonomous vehicle to drive pass a difficult or inappropriate road segment
EP16769164.1A EP3278188A4 (en) 2015-03-24 2016-02-11 Device, method and system for an autonomous vehicle
PCT/SE2016/050101 WO2016153408A1 (en) 2015-03-24 2016-02-11 Device, method and system for an autonomous vehicle
BR112017018214A BR112017018214A2 (pt) 2015-03-24 2016-02-11 dispositivo, método e sistema para um veículo autônomo
KR1020177027899A KR102029274B1 (ko) 2015-03-24 2016-02-11 자율주행 차량용 디바이스, 방법 및 시스템
US15/554,351 US10649455B2 (en) 2015-03-24 2016-02-11 Device, method and system for determining a pilot vehicle for an autonomous vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1550351A SE538920C2 (sv) 2015-03-24 2015-03-24 Device, method and system for an autonomous vehicle to drive pass a difficult or inappropriate road segment

Publications (2)

Publication Number Publication Date
SE1550351A1 SE1550351A1 (sv) 2016-09-25
SE538920C2 true SE538920C2 (sv) 2017-02-14

Family

ID=56978827

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1550351A SE538920C2 (sv) 2015-03-24 2015-03-24 Device, method and system for an autonomous vehicle to drive pass a difficult or inappropriate road segment

Country Status (6)

Country Link
US (1) US10649455B2 (sv)
EP (1) EP3278188A4 (sv)
KR (1) KR102029274B1 (sv)
BR (1) BR112017018214A2 (sv)
SE (1) SE538920C2 (sv)
WO (1) WO2016153408A1 (sv)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10599155B1 (en) 2014-05-20 2020-03-24 State Farm Mutual Automobile Insurance Company Autonomous vehicle operation feature monitoring and evaluation of effectiveness
NL2014622B1 (en) * 2015-04-13 2017-01-20 Lely Patent Nv System and method to carry out a first stable floor related action.
US9868394B1 (en) 2015-08-28 2018-01-16 State Farm Mutual Automobile Insurance Company Vehicular warnings based upon pedestrian or cyclist presence
US10134278B1 (en) 2016-01-22 2018-11-20 State Farm Mutual Automobile Insurance Company Autonomous vehicle application
US11719545B2 (en) 2016-01-22 2023-08-08 Hyundai Motor Company Autonomous vehicle component damage and salvage assessment
US11441916B1 (en) 2016-01-22 2022-09-13 State Farm Mutual Automobile Insurance Company Autonomous vehicle trip routing
US11242051B1 (en) 2016-01-22 2022-02-08 State Farm Mutual Automobile Insurance Company Autonomous vehicle action communications
US10493936B1 (en) 2016-01-22 2019-12-03 State Farm Mutual Automobile Insurance Company Detecting and responding to autonomous vehicle collisions
US10049328B2 (en) * 2016-10-13 2018-08-14 Baidu Usa Llc Group driving style learning framework for autonomous vehicles
CN110249374B (zh) * 2017-02-09 2022-07-26 索尼半导体解决方案公司 行驶辅助装置、相同装置的方法和行驶协助系统
US10252659B2 (en) 2017-03-31 2019-04-09 Intel Corporation Autonomous mobile goods transfer
KR20180112949A (ko) * 2017-04-05 2018-10-15 현대자동차주식회사 차량의 자율 주행 제어 시스템 및 그를 이용한 자율 주행 제어방법
US10789835B2 (en) * 2017-05-23 2020-09-29 Uatc, Llc Fractional risk performance evaluation for autonomous vehicles
US11282009B2 (en) 2017-05-23 2022-03-22 Uatc, Llc Fleet utilization efficiency for on-demand transportation services
KR101973626B1 (ko) * 2017-05-24 2019-04-29 엘지전자 주식회사 차량의 제어방법
SE541726C2 (en) * 2017-09-19 2019-12-03 Scania Cv Ab Method and system for facilitating assistance of autonomous vehicles
KR102163895B1 (ko) * 2018-07-16 2020-10-12 엘지전자 주식회사 차량 제어 장치 및 그것을 포함하는 차량
JP7049585B2 (ja) * 2018-11-01 2022-04-07 トヨタ自動車株式会社 主導モビリティ、追従モビリティ、及びグループ走行制御システム
JP7110996B2 (ja) * 2019-01-15 2022-08-02 トヨタ自動車株式会社 車両情報処理装置及び車両情報処理方法
CN109753069B (zh) * 2019-01-16 2021-04-13 北京百度网讯科技有限公司 车辆控制方法和装置
CN112309152B (zh) * 2019-08-01 2022-11-18 华为技术有限公司 一种车路协同方法及装置
CN113325831B (zh) * 2021-06-24 2023-01-31 江铃汽车股份有限公司 一种平台化的汽车刷写诊断的网关路由方法
CN113467449B (zh) * 2021-06-30 2023-05-30 深圳市海柔创新科技有限公司 车队控制方法、装置、电子设备和存储介质
KR102543883B1 (ko) 2022-05-18 2023-06-15 윤지현 분산로봇 기반의 물체 이동 시스템 및 이를 이용한 물체 이동 방법

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004077378A1 (en) 2003-02-25 2004-09-10 Philips Intellectual Property & Standards Gmbh Method and system for leading a plurality of vehicles
JP2007164432A (ja) 2005-12-13 2007-06-28 Matsushita Electric Ind Co Ltd 危険情報検出装置及び危険情報検出方法
US8224500B2 (en) 2008-09-11 2012-07-17 Deere & Company Distributed knowledge base program for vehicular localization and work-site management
DE102008064440A1 (de) 2008-12-22 2010-07-01 Rheinmetall Landsysteme Gmbh Navigation für insbesondere unbemannte Fahrzeuge
KR100957137B1 (ko) * 2009-02-26 2010-05-11 한국과학기술원 군집주행 제어 시스템 및 방법
US8676466B2 (en) 2009-04-06 2014-03-18 GM Global Technology Operations LLC Fail-safe speed profiles for cooperative autonomous vehicles
US8509982B2 (en) 2010-10-05 2013-08-13 Google Inc. Zone driving
US8744666B2 (en) * 2011-07-06 2014-06-03 Peloton Technology, Inc. Systems and methods for semi-autonomous vehicular convoys
US8510029B2 (en) 2011-10-07 2013-08-13 Southwest Research Institute Waypoint splining for autonomous vehicle following
US8880272B1 (en) 2012-03-16 2014-11-04 Google Inc. Approach for estimating the geometry of roads and lanes by using vehicle trajectories
DE102012208256A1 (de) 2012-05-16 2013-11-21 Continental Teves Ag & Co. Ohg Verfahren und System zum autonomen Nachführen eines Folgefahrzeugs auf der Spur eines Leitfahrzeugs
US8838321B1 (en) 2012-11-15 2014-09-16 Google Inc. Modifying a vehicle state based on the presence of a special-purpose vehicle
KR20140068591A (ko) 2012-11-28 2014-06-09 한국전자통신연구원 차량용 네트워크 시스템
KR102136402B1 (ko) * 2014-02-26 2020-07-21 한국전자통신연구원 차량 정보 공유 장치 및 방법
US9511764B2 (en) * 2014-02-28 2016-12-06 Ford Global Technologies, Llc Semi-autonomous mode control
US10304334B2 (en) * 2015-01-16 2019-05-28 Mitsubishi Electric Corporation Travel planning device and travel planning method

Also Published As

Publication number Publication date
EP3278188A4 (en) 2018-10-03
BR112017018214A2 (pt) 2018-04-17
EP3278188A1 (en) 2018-02-07
SE1550351A1 (sv) 2016-09-25
KR102029274B1 (ko) 2019-10-07
WO2016153408A1 (en) 2016-09-29
US10649455B2 (en) 2020-05-12
US20180039274A1 (en) 2018-02-08
KR20170125926A (ko) 2017-11-15

Similar Documents

Publication Publication Date Title
US10649455B2 (en) Device, method and system for determining a pilot vehicle for an autonomous vehicle
JP6844642B2 (ja) 協働知覚のためのマルチレベルハイブリッドｖ２ｘ通信
US10963462B2 (en) Enhancing autonomous vehicle perception with off-vehicle collected data
US10818167B2 (en) Traffic obstruction notification system based on wireless vehicle data
US10766493B2 (en) Method and automatic control systems for determining a gap in traffic between two vehicles for a lane change of a vehicle
US10642279B2 (en) Automotive drone deployment system
US11753006B2 (en) Representing objects in a surrounding environment of a vehicle using a frenet coordinate system
US11738776B2 (en) Perception performance evaluation of a vehicle ADAS or ADS
US9630616B2 (en) Method for controlling an autonomous vehicle system and motor vehicle
JP2018066728A (ja) ワイヤレス車両データを用いた車両の位置推定
US20200174470A1 (en) System and method for supporting autonomous vehicle
JP2018534692A (ja) 車両用の運転意図を決定する方法および車両通信システム
US11024158B2 (en) Method of providing traffic related information and device, computer program and computer program product
JP2020075695A (ja) 自動化車両の向けのＶｅｈｉｃｌｅ−ｔｏ−Ｅｖｅｒｙｔｈｉｎｇデータ転送
US20180224284A1 (en) Distributed autonomous mapping
CN111554119A (zh) 基于启用车辆到一切的机器学习的车辆停车位可用性预测
JP5200568B2 (ja) 車載装置、車両走行支援システム
CN105122327A (zh) 路线的自动行驶
US20190219405A1 (en) Updating navigation data
US20190162553A1 (en) Autonomous feature optimization for a connected vehicle based on a navigation route
JP5594234B2 (ja) 走行支援装置及び走行支援システム
US20170186318A1 (en) Driving support system, driving support method and program
WO2020049685A1 (ja) 車両制御装置、自動運転車開発システム、車両制御方法、およびプログラム
CN111984018A (zh) 自动驾驶方法及装置
CN114834460A (zh) 具有自主驾驶信息的v2x通信系统