公开(公告)号：WO2015076736A1

公开(公告)日：2015-05-28

申请号：PCT/SE2014/051374

申请日：2014-11-19

Applicant: SCANIA CV AB

Inventor： SVAHN, Johan ,  ROOS, Per ,  KAZNOV, Viktor

IPC: G05D1/00 ,  G05D1/02 ,  G06F17/00

CPC classification number: G05D1/0297 ,  B60W30/00 ,  G05D2201/021 ,  G05D2201/0213

Abstract: The invention concerns a system configuration to make possible the autonomous operation of a vehicle (100), comprising: - a first layer (210) arranged to determine a configuration of the surroundings and, based on the said configuration of the surroundings, to generate at least one control signal for the autonomous operation of the said vehicle; - a second layer (220) arranged to adapt the said control signal from the said first layer (210) for a third layer (230); and - a first computer interface (215) arranged in communicative connection with the said first layer (210) and the said second layer (220), in which the said first computer interface (215) is arranged to transfer the said, at least one, control signal for the said operation from the said first layer (210) to the said second layer (220), and whereby the said computer interface (215) is configured according to a predetermined standard, independent of the first layer (210) and the second layer (220). The invention concerns also a method to make possible the autonomous operation of a vehicle and a vehicle (100; 11 ) adapted to make possible autonomous operation in accordance with the said system configuration.

Abstract translation: 本发明涉及一种使得车辆（100）的自主操作成为可能的系统配置，包括： - 第一层（210），被布置成确定周围环境的配置，并且基于周围环境的所述配置，以在 用于所述车辆的自主操作的至少一个控制信号; - 第二层（220），其布置成使来自所述第一层（210）的所述控制信号适应于第三层（230）; 以及 - 与所述第一层（210）和所述第二层（220）通信连接的第一计算机接口（215），其中所述第一计算机接口（215）布置成将所述至少一个 ，用于从所述第一层（210）到所述第二层（220）的所述操作的控制信号，并且由此所述计算机接口（215）根据预定标准被配置，独立于第一层（210）和 第二层（220）。 本发明还涉及一种使得能够根据所述系统配置使得可能进行自主操作的车辆和车辆（100; 11）的自主操作的方法。

公开(公告)号：WO2019125269A1

公开(公告)日：2019-06-27

申请号：PCT/SE2018/051260

申请日：2018-12-07

Applicant: SCANIA CV AB

Inventor： MOHAN, Naveen ,  ROOS, Per ,  SVAHN, Johan

IPC: B60W30/12 ,  G01C21/26 ,  G01C21/34 ,  G01C21/36 ,  G05D1/00 ,  G05D1/02 ,  G08G1/00

Abstract: A motor vehicle (MV) is controlled to drive autonomously in agreement with a nominal path in response to nominal control signals (NCS) from a bank of control units (110). Safety policies (P) are provided via a first data-interface unit (163). The safety policies (P) describe mission-related rules to be followed during operation of the motor vehicle (MV). The safety policies (P) are based on a safety case (SC) stipulating how the motor vehicle (MV) shall be controlled to meet a functional safety standard. A watch unit (160) receives sensor signals (SS) from the motor vehicle (MV), and based thereon repeatedly generates commands ({cmd}) to update the boundary conditions ({bc}) aiming at confining the nominal path within limits that are given by the sensor signals (SS) and the at least one safety policy (P). The bank of control units reads out the set of boundary conditions ({bc}) and controls the motor vehicle (MV) to move in such a manner that the nominal path satisfies the boundary conditions ({bc}), and is thus be considered to be safe.

公开(公告)号：WO2013172766A2

公开(公告)日：2013-11-21

申请号：PCT/SE2013/050476

申请日：2013-04-30

Applicant: SCANIA CV AB

Inventor： ROOS, Per ,  BERGQVIST, Ola

IPC: H04L12/403 ,  H04L29/08 ,  G06F13/38

CPC classification number: H04L12/403 ,  G05B2219/25208 ,  H04L67/125 ,  H04L2012/40273

Abstract: A system for controlling functions in a motor vehicle comprising a central node (CN) and a set of actuators (A1,..., An). The actuators (A1,..., An) are communicatively connected with the central node (CN) via a bus connection (B). The central node (CN) is configured so as to transmit signals (S) on the bus connection (B), which signals contain: at least one identity datum (ID1,..., IDn) identifying one of the actuators (A1,..., An) and control data indicating a setting ( 1 X,..., nX) of the identified actuator (A1,..., An). The actuators (A1,..., An) are configured so as to receive, via the bus connection (b), the signals (S) and, on the basis thereof, to adjust a respective setting so that at least one ordered function (FCN1,..., FCNm) is performed. Specifically, each actuator (A1,..., An) is configured so as to perform a set function. Each actuator (A1,..., An) is further associated with a respective predefined identity datum (I D1,..., IDn) that uniquely identifies the actuator within the vehicle.

Abstract translation: 一种用于控制机动车辆中的功能的系统，包括中央节点（CN）和一组致动器（A1，...，An）。 致动器（A1，...，An）经由总线连接（B）与中央节点（CN）通信地连接。 中央节点（CN）被配置为在总线连接（B）上发送信号（S），哪些信号包含：标识致动器之一的至少一个标识数据（ID1，...，IDn） ...，An）和指示所识别的致动器（A1，...，An）的设定（1X，...，nX）的控制数据。 执行器（A1，...，An）被配置为经由总线连接（b）接收信号（S），并且基于该信号来调整相应的设置，使得至少一个有序功能 （FCN1，...，FCNm）。 具体地，每个致动器（A1，...，An）被配置为执行设定功能。 每个致动器（A1，...，An）还与唯一地识别车辆内的致动器的相应的预定识别数据（I D1，...，IDn）相关联。

公开(公告)号：WO2013129992A2

公开(公告)日：2013-09-06

申请号：PCT/SE2013/050070

申请日：2013-01-30

Applicant: SCANIA CV AB

Inventor： ROOS, Per ,  BERGQVIST, Ola

IPC: B60R16/023

CPC classification number: B60R16/023

Abstract: A system for control of functions in a motor vehicle comprises at least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) and a main unit (MU) in communicative connection therewith. The at least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) is provided with at least one operating device (C11,..., Cn2) configured to be manipulated by an operator with the object of ordering a desired function of the vehicle. At least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) is configured to generate a respective signal (S) indicating a setting (p11,..., pn2) of the at least one operating device (C11,..., Cn2) and an identity (ID1, ID2, …, ID(n-1), IDn) for the at least one peripheral unit. The main unit (MU) is configured to receive the signal (S) from the at least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) and to generate on the basis thereof at least one command (cmd1, cmd2,..., cmd(n-1), cmdn) directed at causing the desired function to be effected.

Abstract translation: 用于控制机动车辆中的功能的系统包括与其通信连接的至少一个外围单元（PU1，PU2，...，PU（n-1），Pun）和主单元（MU）。 至少一个外围单元（PU1，PU2，...，PU（n-1），PUN）设置有至少一个操作装置（C11，...，Cn2），其被配置为由操作者操纵， 订购车辆所需功能的对象。 至少一个外围单元（PU1，PU2，...，PU（n-1），Pun）被配置为生成指示所述至少一个的设置（p11，...，pn2）的相应信号（S） 操作装置（C11，...，Cn2）和用于所述至少一个外围单元的身份（ID1，ID2，...，ID（n-1），IDn）。 主单元（MU）被配置为从至少一个外围单元（PU1，PU2，...，PU（n-1），PUN）接收信号（S），并且基于它至少一个 命令（cmd1，cmd2，...，cmd（n-1），cmdn），导致使所需功能受到影响。

公开(公告)号：WO2019125268A1

公开(公告)日：2019-06-27

申请号：PCT/SE2018/051259

申请日：2018-12-07

Applicant: SCANIA CV AB

Inventor： MOHAN, Naveen ,  SVAHN, Johan ,  ROOS, Per

IPC: B60W30/12 ,  G01C21/26 ,  G01C21/34 ,  G01C21/36 ,  G05D1/00 ,  G05D1/02 ,  G08G1/00

Abstract: A motor vehicle (MV) is controlled to drive autonomously via a bank of control units (110) generating nominal control signals (NCS), which are adapted to cause the motor vehicle (MV) to move in agreement with a nominal path. A data storage (140) contains a set of boundary conditions ({bc}) that the nominal path shall satisfy in order to be considered safe. Inter alia based on sensor signals (SS) reflecting a current status of the motor vehicle (MV), a safety unit (120) receives a set of safety-related parameters (P, R, S j , H) describing condition(s) under which the motor vehicle (MV) is currently operated. In response thereto, the safety unit (120) repeatedly generates at least one command ({cmd}) that updates the boundary conditions ({bc}) aiming at confining the nominal path within limits given by a current state of the set of safety-related parameters (P, R, S j , H). The bank of control units (110) reads out the set of boundary conditions ({bc}) from the data storage (140) and controls the motor vehicle (MV) to move in such a manner that the nominal path satisfies the boundary conditions ({bc}).

公开(公告)号：EP2850784A2

公开(公告)日：2015-03-25

申请号：EP13791063.4

申请日：2013-04-30

Applicant: Scania CV AB

Inventor： ROOS, Per ,  BERGQVIST, Ola

IPC: H04L12/403 ,  H04L29/08 ,  G06F13/38

CPC classification number: H04L12/403 ,  G05B2219/25208 ,  H04L67/125 ,  H04L2012/40273

Abstract: A system for controlling functions in a motor vehicle comprising a central node (CN) and a set of actuators (A1,..., An). The actuators (A1,..., An) are communicatively connected with the central node (CN) via a bus connection (B). The central node (CN) is configured so as to transmit signals (S) on the bus connection (B), which signals contain: at least one identity datum (ID1,..., IDn) identifying one of the actuators (A1,..., An) and control data indicating a setting ( 1 X,..., nX) of the identified actuator (A1,..., An). The actuators (A1,..., An) are configured so as to receive, via the bus connection (b), the signals (S) and, on the basis thereof, to adjust a respective setting so that at least one ordered function (FCN1,..., FCNm) is performed. Specifically, each actuator (A1,..., An) is configured so as to perform a set function. Each actuator (A1,..., An) is further associated with a respective predefined identity datum (I D1,..., IDn) that uniquely identifies the actuator within the vehicle.

Abstract translation: 一种用于控制机动车辆中的功能的系统，包括中央节点（CN）和一组致动器（A1，...，An）。 致动器（A1，...，An）通过总线连接（B）与中央节点（CN）通信连接。 中央节点（CN）被配置为在总线连接（B）上传输信号（S），该​​信号包含：识别致动器之一（A1，...，IDn）的至少一个身份数据（ID1，...，IDn） ...，An）和指示所识别的致动器（A1，...，An）的设置（1X，...，nX）的控制数据。 致动器（A1，...，An）被配置为经由总线连接（b）接收信号（S），并且基于此来调整相应的设置，使得至少一个有序函数 （FCN1，...，FCNm）。 具体而言，各致动器（A1，...，An）构成为执行设定功能。 每个致动器（A1，...，An）还与唯一识别车辆内的致动器的相应预定身份数据（ID1，...，IDn）相关联。

公开(公告)号：EP2819886B1

公开(公告)日：2018-07-04

申请号：EP13754426.8

申请日：2013-01-30

Applicant: Scania CV AB

Inventor： ROOS, Per ,  BERGQVIST, Ola

IPC: B60R16/023 ,  H04L12/40 ,  H04L29/08

CPC classification number: B60R16/023

Abstract: A system for control of functions in a motor vehicle comprises at least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) and a main unit (MU) in communicative connection therewith. The at least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) is provided with at least one operating device (C11,..., Cn2) configured to be manipulated by an operator with the object of ordering a desired function of the vehicle. At least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) is configured to generate a respective signal (S) indicating a setting (p11,..., pn2) of the at least one operating device (C11,..., Cn2) and an identity (ID1, ID2, ..., ID(n-1), IDn) for the at least one peripheral unit. The main unit (MU) is configured to receive the signal (S) from the at least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) and to generate on the basis thereof at least one command (cmd1, cmd2,..., cmd(n-1), cmdn) directed at causing the desired function to be effected.

公开(公告)号：EP3321144A1

公开(公告)日：2018-05-16

申请号：EP17197251.6

申请日：2017-10-19

Applicant: Scania CV AB

Inventor： ROOS, Per ,  GILLE, Magnus

IPC: B60T8/1755 ,  B60T8/1766

CPC classification number: B60T8/1755 ,  B60T8/1766 ,  B60T2201/14 ,  B60T2270/608 ,  B60T2270/613

Abstract: The present disclosure relates to techniques in the context of vehicles, and to a system and a method for distributing a braking torque of a vehicle arranged with a service braking system, and at least one auxiliary braking system. The system includes a coupling mechanism and a control unit. The coupling mechanism is arranged to couple and decouple at least one wheel of the vehicle from the braking torque. The control unit is further configured to obtain distribution data indicative of a desired distribution of the braking torque between the wheels of the vehicle, to control the at least one auxiliary braking system to generate the braking torque on the propulsion shaft based on the distribution data and to control the coupling mechanism to decouple at least one wheel of the vehicle from the braking torque of the at least one auxiliary braking system, based on the distribution data, in order to distribute the braking torque to the other wheels of the vehicle.

Abstract translation: 本公开涉及在车辆背景下的技术以及用于分配布置有行车制动系统的车辆的制动扭矩的系统和方法，以及至少一个辅助制动系统。 该系统包括一个耦合机构和一个控制单元。 联接机构布置成将车辆的至少一个车轮与制动转矩耦合和分离。 控制单元进一步被配置成获得指示车辆的车轮之间的制动转矩的期望分布的分配数据，以基于分配数据控制至少一个辅助制动系统在推进轴上产生制动转矩，并且 为了将制动转矩分配给车辆的其他车轮，基于分配数据控制耦合机构以将车辆的至少一个车轮与至少一个辅助制动系统的制动转矩分离。

公开(公告)号：EP3072023A1

公开(公告)日：2016-09-28

申请号：EP14864174.9

申请日：2014-11-19

Applicant: Scania CV AB

Inventor： SVAHN, Johan ,  ROOS, Per ,  KAZNOV, Viktor

IPC: G05D1/00 ,  G05D1/02 ,  G06F17/00

CPC classification number: G05D1/0297 ,  B60W30/00 ,  G05D2201/021 ,  G05D2201/0213

Abstract: The invention concerns a system configuration to make possible the autonomous operation of a vehicle (100), comprising: - a first layer (210) arranged to determine a configuration of the surroundings and, based on the said configuration of the surroundings, to generate at least one control signal for the autonomous operation of the said vehicle; - a second layer (220) arranged to adapt the said control signal from the said first layer (210) for a third layer (230); and - a first computer interface (215) arranged in communicative connection with the said first layer (210) and the said second layer (220), in which the said first computer interface (215) is arranged to transfer the said, at least one, control signal for the said operation from the said first layer (210) to the said second layer (220), and whereby the said computer interface (215) is configured according to a predetermined standard, independent of the first layer (210) and the second layer (220). The invention concerns also a method to make possible the autonomous operation of a vehicle and a vehicle (100; 11 ) adapted to make possible autonomous operation in accordance with the said system configuration.

公开(公告)号：EP2819886A2

公开(公告)日：2015-01-07

申请号：EP13754426.8

申请日：2013-01-30

Applicant: Scania CV AB

Inventor： ROOS, Per ,  BERGQVIST, Ola

IPC: B60R16/023 ,  H04L12/40 ,  H04L29/08

CPC classification number: B60R16/023

Abstract: A system for control of functions in a motor vehicle comprises at least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) and a main unit (MU) in communicative connection therewith. The at least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) is provided with at least one operating device (C11,..., Cn2) configured to be manipulated by an operator with the object of ordering a desired function of the vehicle. At least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) is configured to generate a respective signal (S) indicating a setting (p11,..., pn2) of the at least one operating device (C11,..., Cn2) and an identity (ID1, ID2, …, ID(n-1), IDn) for the at least one peripheral unit. The main unit (MU) is configured to receive the signal (S) from the at least one peripheral unit (PU1, PU2,..., PU(n-1), Pun) and to generate on the basis thereof at least one command (cmd1, cmd2,..., cmd(n-1), cmdn) directed at causing the desired function to be effected.

Abstract translation: 用于控制机动车辆中的功能的系统包括与其通信连接的至少一个外围单元（PU1，PU2，...，PU（n-1），Pun）和主单元（MU）。 所述至少一个外围单元（PU1，PU2，...，PU（n-1），Pun）设置有至少一个操作装置（C11，...，Cn2），所述操作装置被配置成由操作者用 订购车辆所需功能的目的。 至少一个外围单元（PU1，PU2，...，PU（n-1），Pun）被配置为生成指示所述至少一个外围单元的设置（p11，...，pn2）的相应信号（S） 操作装置（C11，...，Cn2）和用于至少一个外围单元的标识（ID1，ID2，...，ID（n-1），IDn）。 主单元（MU）被配置为从至少一个外围单元（PU1，PU2，...，PU（n-1），Pun）接收信号（S）并且基于其生成至少一个 命令（cmd1，cmd2，...，cmd（n-1），cmdn）导致实现期望的功能。