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1. 发明申请

WO2014148989A1 CONTROL SYSTEM FOR AUTONOMOUS VEHICLES, AND A METHOD FOR THE CONTROL SYSTEM 审中-公开
标题翻译：自动车辆控制系统及控制系统的方法
公开(公告)号：WO2014148989A1
公开(公告)日：2014-09-25
申请号：PCT/SE2014/050310
申请日：2014-03-13
申请人： SCANIA CV AB
发明人： ANDERSSON, Jon , AH-KING, Joseph , NYSTRÖM, Tom
IPC分类号： G05D1/02 , B60W30/095 , B60W40/068
CPC分类号： B60W30/18145 , B60W10/20 , B60W30/10 , B60W30/143 , B60W2520/10 , B60W2550/146 , B60W2550/148 , B60W2710/207 , B60W2720/10 , B60W2720/125
摘要： A control system (2) adapted so as to control an autonomous vehicle (4) along a planned route, wherein the control system is adapted so as to receive a friction signal (6) that contains information about the friction μ for a roadway on which the vehicle is to travel, and a velocity signal (8) that contains information about the vehicle velocity v. The control system (2) comprises a processing unit (10) and a control unit (12), wherein the processing unit is adapted so as to determine a variable safety margin 8Μ(μ,ν) relative to an object in proximity to the vehicle based on the measured friction μ and the vehicle velocity v; and to determine a trajectory (14) for the planned route such that said safety margin SM is met. The control unit is further adapted so as to control the vehicle by means of a control signal (16) so that the trajectory is followed by influencing at least the steering and the velocity of the vehicle by applying a set of control rules, wherein said control rules include a rule that takes into account the lateral acceleration a y of the vehicle.
摘要翻译：一种适于沿着规划路线控制自主车辆（4）的控制系统（2），其中所述控制系统适于接收摩擦信号（6），该摩擦信号包含关于其上的道路的摩擦μ的信息车辆行驶，以及包含关于车速v的信息的速度信号（8），控制系统（2）包括处理单元（10）和控制单元（12），其中处理单元适于基于所测量的摩擦μ和车速v确定相对于车辆附近的物体的可变安全裕度8＆Mgr;（μ，＆ngr;）; 并且确定用于所述计划路线的轨迹（14），使得满足所述安全裕度SM。控制单元进一步适于通过控制信号（16）来控制车辆，使得轨迹跟随至少通过应用一组控制规则影响车辆的转向和速度，其中所述控制规则包括考虑车辆的横向加速度ay的规则。

2. 发明申请

WO2014148976A1 DEVICE AND METHOD FOR CONTROLLING AN AUTONOMOUS VEHICLE WITH A FAULT 审中-公开
标题翻译：用于控制自动车辆故障的装置和方法
公开(公告)号：WO2014148976A1
公开(公告)日：2014-09-25
申请号：PCT/SE2014/050280
申请日：2014-03-06
申请人： SCANIA CV AB
发明人： ANDERSSON, Jon , AH-KING, Joseph , NYSTRÖM, Tom
IPC分类号： G05D1/00 , G05D1/02
CPC分类号： G05D1/0088 , G05D2201/0209 , G05D2201/021 , G08G1/096725
摘要： The invention concerns a device for controlling an autonomous vehicle in connection with a risk of accident. The device comprises a processor unit that is adapted so as to receive one or a plurality of sensor signals S 1 -S k that indicate the state of at least one system or one component in the vehicle. The processor unit is adapted so as to analyze the state based on a first set of rules, and to generate an error signal in dependence upon the results of the analysis, whereupon the error signal indicates a fault in the system or a component, decides on at least one action for the vehicle at least according to a second set of rules for said fault and a third set of rules for the traffic system in which the vehicle is operating; and to generate one or a plurality of control signal(s) SCONTR that realize the action or actions and send SCONTR to at least one control system in the vehicle, whereupon the vehicle is controlled in accordance therewith. The invention also concerns a method for controlling an autonomous vehicle.
摘要翻译：本发明涉及一种用于控制自主车辆与发生事故风险的装置。该装置包括处理器单元，其适于接收指示车辆中的至少一个系统或一个部件的状态的一个或多个传感器信号S1-Sk。处理器单元适于基于第一组规则来分析状态，并且根据分析结果生成错误信号，因此错误信号指示系统或组件中的故障，决定至少对于车辆的至少一个动作，至少根据用于所述故障的第二组规则和用于车辆正在操作的交通系统的第三组规则; 并且生成实现动作或动作的一个或多个控制信号SCONTR，并向车辆中的至少一个控制系统发送SCONTR，由此根据车辆进行控制。本发明还涉及一种用于控制自主车辆的方法。

3. 发明申请

WO2017030494A1 METHOD, CONTROL UNIT AND SYSTEM FOR DETECTING AND TRACKING VULNERABLE ROAD USERS 审中-公开
标题翻译：方法，控制单元和用于检测和跟踪易受伤害的道路使用者的系统
公开(公告)号：WO2017030494A1
公开(公告)日：2017-02-23
申请号：PCT/SE2016/050762
申请日：2016-08-16
申请人： SCANIA CV AB
发明人： ANDERSSON, Jonny , BEMLER, Marie , AH-KING, Joseph , LARSSON, Christian
IPC分类号： G08G1/16 , B60R21/34 , B60W40/04 , G01S13/93
CPC分类号： B60R21/34 , B60W40/04 , B60W50/14 , G01S13/86 , G01S13/867 , G01S13/931 , G01S15/025 , G01S15/931 , G01S17/023 , G01S17/936 , G01S2013/9357 , G01S2013/936 , G01S2013/9364 , G01S2013/9367 , G06K9/00362 , G06K9/00805 , G08G1/166
摘要： Method (400) and control unit (310) for detecting and tracking a VRU (200). The method (400) comprises detecting (401) an object (200) by a camera (110) of the vehicle (100); classifying (402) the detected (401) object (200) as a VRU (200); detecting (403) the object (200) by a sensor (120) of the vehicle (100); mapping (404) the classified (402) VRU (200) with the object (200) detected (403) by the sensor (120); and tracking (405) the VRU (200) by the sensor (120).
摘要翻译：用于检测和跟踪VRU（200）的方法（400）和控制单元（310）。方法（400）包括通过车辆（100）的照相机（110）检测（401）物体（200）; 将检测到的（401）对象（200）分类（402）作为VRU（200）; 通过车辆（100）的传感器（120）检测（403）物体（200）; 通过传感器（120）对被检测物体（200）进行映射（404）分类（402）VRU（200）; 以及通过所述传感器（120）跟踪（405）所述VRU（200）。

4. 发明申请

WO2014148975A1 METHOD AND SYSTEM FOR CONTROL OF AUTONOMOUS VEHICLES 审中-公开
标题翻译：自动车辆控制方法与系统
公开(公告)号：WO2014148975A1
公开(公告)日：2014-09-25
申请号：PCT/SE2014/050278
申请日：2014-03-06
申请人： SCANIA CV AB
发明人： ANDERSSON, Jon , AH-KING, Joseph , NYSTRÖM, Tom
IPC分类号： G05D1/00 , B62D1/28 , G05D1/02
CPC分类号： G05D1/0297 , G05D2201/0209 , G05D2201/021 , G05D2201/0213
摘要： The invention relates to a system for regulating an autonomous vehicle in a traffic system which comprises a plurality of autonomous vehicles. The system analyses the external information according to predetermined rules and generates analysis signals to the vehicle which are given different priorities depending on the particular analysis carried out and its results. A composite analysis signal S x is determined on the basis of the contents of the analysis signals and their prioritisation. The vehicle may then adapt its regulation according to the composite analysis signal S x . The invention relates also to a method for regulating an autonomous vehicle in a traffic system which comprises a plurality of autonomous vehicles.
摘要翻译：本发明涉及一种用于在包括多个自主车辆的交通系统中调节自主车辆的系统。该系统根据预定规则对外部信息进行分析，并根据所进行的特定分析及其结果生成给予车辆不同优先级的分析信号。基于分析信号的内容及其优先级来确定复合分析信号Sx。然后，车辆可以根据复合分析信号Sx适应其调节。本发明还涉及一种用于调节交通系统中的自主车辆的方法，其包括多个自主车辆。

5. 发明申请

WO2008150221A1 METHOD AND COMPUTER PROGRAM FOR DETERMINING A CENTRE OF GRAVITY HEIGHT OF A VEHICLE 审中-公开
标题翻译：用于确定车辆重心高度中心的方法和计算机程序
公开(公告)号：WO2008150221A1
公开(公告)日：2008-12-11
申请号：PCT/SE2008/050578
申请日：2008-05-16
申请人： SCANIA CV AB , AH-KING, Joseph
发明人： AH-KING, Joseph
IPC分类号： G01M1/12
CPC分类号： G01M1/122
摘要： The invention relates to a method for determining the centre of gravity height of a vehicle comprising the steps of: - determining a first set of values associated with the roll angle of the vehicle relative to a reference plane of the vehicle; - determining a second set of values associated with the lateral acceleration of the vehicle; - calculating a natural frequency value of the rolling motion of said vehicle; - calculating a static gain value associated with at least one value of said first set of values and at least one value of said second set of values; and - determining the centre of gravity height relative to a vehicle reference point based upon said calculated natural frequency value and said calculated static gain value.
摘要翻译：本发明涉及一种用于确定车辆重心高度的方法，包括以下步骤： - 确定与车辆相对于车辆的参考平面的侧倾角相关联的第一组值; - 确定与所述车辆的横向加速度相关联的第二组值; - 计算所述车辆的滚动运动的固有频率值; - 计算与所述第一组值的至少一个值和所述第二组值的至少一个值相关联的静态增益值; 以及 - 基于所述计算的固有频率值和所计算的静态增益值，确定相对于车辆参考点的重心高度。

6. 发明申请

WO2017030492A1 METHOD, CONTROL UNIT AND SYSTEM FOR PATH PREDICTION IN A VEHICLE 审中-公开
标题翻译：方法，控制单元和车辆路径预测系统
公开(公告)号：WO2017030492A1
公开(公告)日：2017-02-23
申请号：PCT/SE2016/050760
申请日：2016-08-16
申请人： SCANIA CV AB
发明人： ANDERSSON, Jonny , BEMLER, Marie , AH-KING, Joseph , LARSSON, Christian
IPC分类号： B60W30/095 , B60W40/04 , G08G1/16
CPC分类号： B60W30/095 , B60W40/04 , G08G1/166 , G08G1/167
摘要： Method (400) and control unit (310) for predicting a path of a vehicle (100). The method (400) comprises measuring (402) velocity of the vehicle (100); measuring (403) steering wheel angle (α sw ); measuring (404) steering wheel angle rate (α´ sw) ; calculating (405) a future steering wheel angle (α sw ), based on the measured (403) steering wheel angle (α sw ) and the measured (404) steering wheel angle rate (α´ sw ); calculating (406) a future yaw rate (ω) of the vehicle (100) based on the measured (402) velocity of the vehicle (100) and the calculated future steering wheel angle (α sw ); extrapolating (407) a vehicle position of the vehicle (100) in a set of future time frames, based on the calculated (406) future yaw rate (ω) and the vehicle velocity; and predicting (408) the path of the vehicle (100) based on the extrapolated (407) vehicle positions in the set of future time frames.
摘要翻译：用于预测车辆（100）的路径的方法（400）和控制单元（310）。方法（400）包括测量车辆（100）的速度（402）; 测量（403）方向盘角度（αsw）; 测量（404）方向盘角度速率（α'sw）; 基于所测量的（403）方向盘角度（αsw）和所测量的（404）方向盘角度速率（α'sw）来计算（405）未来方向盘角度（αsw）; 基于车辆（100）的测量（402）速度和所计算的未来方向盘角度（αsw）来计算（406）车辆（100）的未来偏航率（ω）; 基于所计算的（406）未来偏航率（ω）和车辆速度，在一组未来时间帧内推断（407）车辆（100）的车辆位置; 以及基于未来时间帧集合中的外推（407）车辆位置来预测（408）车辆（100）的路径。

7. 发明申请

WO2014158081A1 A SYSTEM AND A METHOD FOR PRESENTING INFORMATION ON A WINDOWPANE OF A VEHICLE WITH AT LEAST ONE MIRROR 审中-公开
标题翻译：用于在至少一个镜子上呈现车辆窗户的信息的系统和方法
公开(公告)号：WO2014158081A1
公开(公告)日：2014-10-02
申请号：PCT/SE2014/050347
申请日：2014-03-20
申请人： SCANIA CV AB
发明人： ANDERSSON, Jon , AH-KING, Joseph , NYSTRÖM, Tom
IPC分类号： G02B27/01 , B60K35/00 , B60Q9/00 , B60R1/06 , B60W30/08 , G08G1/16
CPC分类号： B60K35/00 , B60K2350/2052 , B60K2350/965 , B60R1/00 , B60R2300/205 , B60R2300/301 , G02B27/01 , G02B2027/0138 , G02B2027/014 , G08G1/166 , G08G1/167
摘要： The invention relates to a system for presenting information on a windowpane of a vehicle with at least one mirror fitted outside the windowpane. The system comprises a detector arrangement adapted to detecting an object in the vehicle's surroundings reflected in the mirror and to generating an object signal φ 1 with characteristics for the object. The system comprises also a first analysis unit adapted to receiving the object signal φ 1 and to determining for the detected object a first object point P1 on the mirror on the basis of the characteristics for the object. The first analysis unit is further adapted to determining a second object point P2 on said windowpane in a line of sight for the driver between him/her and the mirror on the basis of a driver position in the vehicle and said first object point P1, and to generating a display signal φ 3 which indicates said second object point P2. The system comprises also a viewing arrangement adapted to receiving said display signal φ 3 and to presenting the information on the windowpane between the driver and the mirror in relation to said second object point P2, so that the information appears on the windowpane in his/her line of sight in relation to the object reflected in the mirror. The invention relates also to methods for presenting information on a windowpane.
摘要翻译：本发明涉及一种用于在车窗的窗玻璃上呈现信息的系统，其具有安装在窗玻璃外部的至少一个反射镜。该系统包括适于检测反射在反射镜中的车辆周围的物体并且产生具有该物体的特征的物体信号的检测器装置。该系统还包括适于接收对象信号的第一分析单元1，并且基于对象的特征，为检测对象确定反射镜上的第一对象点P1。第一分析单元还适于基于车辆中的驾驶员位置和所述第一物点P1，确定驾驶员在其与镜子之间的视线的所述窗玻璃上的第二物点P2，以及以产生指示所述第二对象点P2的显示信号＆phgr; 3。该系统还包括适于接收所述显示信号和图3的观察装置，并且相对于所述第二对象点P2呈现关于驾驶员和镜子之间的窗玻璃上的信息，使得信息出现在他/她的窗玻璃上，她的视线与反映在镜子中的物体有关。本发明还涉及在窗玻璃上呈现信息的方法。

8. 发明申请

WO2013133752A1 METHOD AND SYSTEM FOR DETERMINING VEHICLE POSITION 审中-公开
标题翻译：用于确定车辆位置的方法和系统
公开(公告)号：WO2013133752A1
公开(公告)日：2013-09-12
申请号：PCT/SE2013/050181
申请日：2013-02-28
申请人： SCANIA CV AB
发明人： AH-KING, Joseph , ANDERSSON, Jon , DEGERMAN, Pär
IPC分类号： B62D15/02 , B60W30/12 , B60W40/072 , G08G1/16
CPC分类号： B60W30/12 , B60W2420/42 , B60W2550/141 , B60W2550/402 , B62D15/025 , G08G1/165 , G08G1/167
摘要： The invention concerns a method for determining the position of a vehicle (1) relative to the roadway (10) of the vehicle route, comprising the steps that: continuously estimate (S1) distances between at least one side section of the vehicle and topographic characteristics (30, 32; 130, 132; 230, 232) of the vehicle route proximate to said side section; and determine S2) the lateral position of the vehicle based on distances so estimated. The present invention also concerns a system for determining the position of a vehicle relative to the roadway of the vehicle route. The present invention further concerns a computer program and a computer program product.
摘要翻译：本发明涉及一种用于确定车辆（1）相对于车辆路线（10）的位置的方法，包括以下步骤：连续地估计（S1）车辆的至少一个侧部之间的距离和地形特征（30,32; 130,132; 230,232），所述车辆路线接近所述侧部; 并且基于如此估计的距离确定S2）车辆的横向位置。本发明还涉及一种用于确定车辆相对于车辆路线的道路的位置的系统。本发明还涉及计算机程序和计算机程序产品。

9. 发明申请

WO2010114460A1 METHOD AND SYSTEM FOR INDICATING THE DRIVE MEDIUM CONSUMPTION OF A HYBRID VEHICLE 审中-公开
标题翻译：用于表示混合动力车的传动媒质消耗的方法和系统
公开(公告)号：WO2010114460A1
公开(公告)日：2010-10-07
申请号：PCT/SE2010/050289
申请日：2010-03-16
申请人： Scania CV AB (publ) , SANDBERG, Tony , ANDERSSON, Jon , AH-KING, Joseph , THURESSON, Daniel , GUSTAVSSON, Håkan , SAHLHOLM, Per , LYBERGER, Rickard
发明人： SANDBERG, Tony , ANDERSSON, Jon , AH-KING, Joseph , THURESSON, Daniel , GUSTAVSSON, Håkan , SAHLHOLM, Per , LYBERGER, Rickard
IPC分类号： B60W40/12 , B60K35/00 , G01F9/00
CPC分类号： B60K35/00 , B60K2350/1092 , B60R16/0236 , B60W20/11 , G01F9/001 , Y02T10/52 , Y02T10/84
摘要： The invention relates to a system and a method for indicating the drive medium consumption of a hybrid vehicle provided with a power source (10) which is adapted to being run on a drive medium in the form of fuel, and an electric motor (8) which is connected to an energy storage unit (9) in the vehicle to make it possible to supply a drive medium in the form of electrical energy to the electric motor. A fuel consumption value representing the instantaneous amount of fuel consumed per unit distance in running the power source, and a power value representing the amount of electrical energy supplied to or drawn from the energy storage unit, are determined. On the basis of the fuel consumption value and the power value a drive medium consumption value representing the instantaneous total amount of drive medium in the form of fuel and electrical energy used up per unit distance to power the vehicle, expressed as a joint fuel quantity measurement or energy quantity measurement, is determined. This drive medium consumption value is displayed numerically and/or graphically on a display device (22) provided in the vehicles driving cab.
摘要翻译：本发明涉及一种用于指示配备有以燃料形式在驱动介质上运行的电源（10）的混合动力车辆的驱动介质消耗的系统和方法，以及电动机（8）其连接到车辆中的能量存储单元（9），使得可以向电动机提供电能形式的驱动介质。确定表示在运行电源时每单位距离消耗的燃料的瞬时量的燃料消耗值和表示供应到能量存储单元的电能的量的功率值。基于燃料消耗值和功率值，驱动介质消耗值表示作为联合燃料量测量表示的燃料和电能形式的每单位距离用电的驱动介质的瞬时总量或能量测量。该驱动介质消耗值以数字和/或图形显示在设置在车辆驾驶室中的显示装置（22）上。

10. 发明申请

WO2017030493A1 METHOD, CONTROL UNIT AND SYSTEM FOR AVOIDING COLLISION WITH VULNERABLE ROAD USERS 审中-公开
标题翻译：方法，控制单元和系统，用于避免与易损道路用户的碰撞
公开(公告)号：WO2017030493A1
公开(公告)日：2017-02-23
申请号：PCT/SE2016/050761
申请日：2016-08-16
申请人： SCANIA CV AB
发明人： ANDERSSON, Jonny , BEMLER, Marie , AH-KING, Joseph , LARSSON, Christian
IPC分类号： G08G1/16 , B60R21/34 , B60W40/04 , G01S13/93
CPC分类号： B60R21/34 , B60Q1/525 , B60Q5/006 , B60Q9/008 , B60W30/095 , B60W40/04 , B60W50/14 , G01S13/86 , G01S13/867 , G01S13/931 , G01S15/025 , G01S15/931 , G01S17/023 , G01S17/936 , G01S2013/9357 , G01S2013/936 , G01S2013/9364 , G01S2013/9367 , G06K9/00805 , G08G1/166
摘要： Method (600) and control unit (310), for avoiding a potential collision between the vehicle (100) and a Vulnerable Road User, VRU (200). The method (600) comprises: predicting (601) a future path (t1, t2, t3) of the vehicle (100); detecting (602) the VRU (200) and the position of the VRU (200); determining (603) velocity of the detected (602) VRU (200); predicting (604) a future position (210) of the detected (602) VRU (200), based on the VRU position upon detection (602) and the determined (603) VRU velocity; and performing (607) an action for avoiding a collision, when the predicted (604) future position (210) of the VRU (200) is overlapping (220) the predicted (601) future path (t1, t2, t3) of the vehicle (100).
摘要翻译：方法（600）和控制单元（310），用于避免车辆（100）和易损道路用户VRU（200）之间的潜在碰撞。方法（600）包括：预测（601）车辆（100）的未来路径（t1，t2，t3）; 检测（602）VRU（200）和VRU（200）的位置; 确定（603）所检测的（602）VRU（200）的速度; 基于检测到的VRU位置（602）和确定的（603）VRU速度来预测（604）检测到的（602）VRU（200）的未来位置（210）并且当VRU（200）的预测（604）未来位置（210）重叠（220）预测（601）未来路径（t1，t2，t3）时，执行（607）避免冲突的动作车辆（100）。

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