• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A control arrangement (111) of an autonomous vehicle that modifies or adjusts a driving functionality of an autonomous driving mode of the autonomous vehicle; wherein the command arrangement (111) comprises an electronic control unit ECU (112) that supplies control signals to an actuator of the autonomous vehicle (114); at least one sensor of the autonomous vehicle (116) is connected to the electronic control unit ECU (112), to supply a first message based on a parameter of the autonomous vehicle; a user status detection unit (113), connected to the electronic control unit ECU (112) and a user status sensor (115), to supply a second message based on a determined status of the user of the autonomous vehicle ; the electronic control unit ECU (112) receives the first message and the second message and selects a driving mode of the autonomous vehicle from a plurality of driving modes stored in a first data storage unit (118) connected to the unit ECU electronic control (112). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2770199A1
    申请号:ES201831308
    申请日:2018-12-31
    公开日:2020-06-30
    发明作者:Parejo Alejandro Moreno
    申请人:SEAT SA；
    IPC主号:
    专利说明:

    [0002] Command provision
    [0004] Object
    [0006] The present invention relates to a command arrangement for a vehicle in autonomous driving mode and to a vehicle comprising the command arrangement.
    [0007] State of the art
    [0009] It is known in the state of the art, a vehicle that has a plurality of autonomous driving modes, in which the vehicle is able to circulate on a road prepared for the transit of vehicles from an origin to a destination without the active intervention of a vehicle user or driver.
    [0011] The autonomous vehicle comprises a plurality of sensors; a database of driver profiles; a driver preference interface; and a processor element that is configured to receive a selected driver profile, where the selected driver profile is selected through the driver preference interface and where the selected profile is stored in the driver profile database. The processor element then selects the driving mode of the autonomous vehicle from a learning mode, an autonomous mode, or a manual mode.
    [0013] When the vehicle is in the learning mode, the processor element receives from the outputs of the plurality of sensors certain driving parameters of the vehicle, selects the driver's profile in response to the outputs of the plurality of sensors, and stores the profiles of the driver updated in the driver profiles database, so that when the autonomous vehicle is in autonomous mode it operates according to one of the stored driver profiles, and keeps the driver profiles stored, unchanged, when the vehicle is in mode Handbook.
    [0015] However, the autonomous driving mode established at each instant of time for the vehicle does not take into account the status and / or behavior of the user of the autonomous vehicle. Additionally, the learning phase to determine the autonomous driving mode requires manual handling or driving by the vehicle driver, in order to generate the driver profile.
    [0017] Summary
    [0019] The present invention seeks to solve one or more of the drawbacks stated above by means of a control arrangement as defined in the claims.
    [0021] The control arrangement of an autonomous vehicle in autonomous driving mode is configured to modify the driving mode of the autonomous vehicle, which is in autonomous driving mode. Each driving mode includes a definition of the kinematic parameters of the vehicle, so that it allows altering the dynamic behavior of said vehicle during its circulation. As an example, some of the operating parameters of the autonomous vehicle that can be modified by the control arrangement based on the selected driving mode can be a maximum speed, a maximum deceleration value, a maximum acceleration value, a ratio of reduction of the steering system of the autonomous vehicle or a hardness of the suspension system of said vehicle, being able to modify only one of said parameters or in combination.
    [0022] In this document, the indication of autonomous vehicle refers to a vehicle that incorporates an apparatus or system that allows driving automatically from one origin to a predefined destination without depending on control or action by a driver. The autonomous vehicle is capable of recognizing external vehicle conditions as well as the condition of the vehicle. The autonomous vehicle automatically generates a driving trajectory for the vehicle based on the detected external vehicle conditions and the condition of the vehicle, and controls the vehicle according to the generated driving trajectory.
    [0024] The command arrangement comprises an electronic control unit ECU configured to supply control signals to at least one actuator of the autonomous vehicle; receiving a first message based on at least one autonomous vehicle parameter measured from at least one autonomous vehicle sensor, connected to the electronic control unit ECU; receiving a second message based on a determined status of the user of the determined autonomous vehicle from a user status detection unit, connected to the electronic control unit ECU.
    [0026] The electronic control unit ECU is configured to select an autonomous vehicle driving mode that circulates in autonomous driving mode from a plurality of driving modes stored in a first control unit. data storage, connected to the electronic control unit ECU; and supplying control signals to at least one actuator of the autonomous vehicle based on the selected driving mode.
    [0028] In this document, the autonomous vehicle actuator indication refers to a device capable of executing control signals to generate an effect on vehicle dynamics, such as the autonomous vehicle's propulsion system, vehicle brakes, steering system or suspension system.
    [0029] The state detection unit is configured to evaluate and supply a user state from among a plurality of predefined states, from event signals received from at least one user state sensor, where the plurality of predefined states are stored in a second data storage unit, connected to the state detection unit. In this way, the control device of the present invention is aware of the state of the user of the autonomous vehicle, being able to modify the way of driving the autonomous vehicle based on said state. As an example, if a user is in a drowsy state, the autonomous vehicle selects a driving mode with smooth driving parameters. Similarly, if a user is in a state of nervousness or dizziness, the autonomous vehicle selects a driving mode with newly smooth driving parameters.
    [0031] The status sensor is configured to detect at least one physiological parameter of the user from parameters such as body temperature, blood pressure, heart rate, number of beats per minute, respiratory rate, facial expression, voice inflection or the like; and supply the second message based on the detected physiological parameter.
    [0033] The status sensor is configured to determine at least one physiological event such as a dizzy state of the user by means of facial recognition, and deliver the second message based on the determined dizziness state.
    [0035] The state sensor is configured to detect at least one psychological event of the user such as drowsiness, stress, degree of intoxication, degree of alertness such as degree of attention or distraction, emotional state or the like; and supply the second message based on the detected psychological event.
    [0037] The state detection unit is configured to keep the second data storage unit updated with records of the user's detected physiological and psychological events; forecast user status based on event logs stored in the second data storage unit; and deliver the second message based on the predicted user status. Each user of the vehicle is detected and identified to generate a status history of each of the users. In this way, the state detection unit knows the user's preferences and the predisposition of each of the users to have certain states, choosing the appropriate driving mode according to said state data history.
    [0039] The state detection unit is configured to determine a level of user confidence in an autonomously driven autonomous vehicle from the user profile and user event logs stored in the second data storage unit; and deliver the second message based on the predicted user confidence level.
    [0041] That is, once the user is seated in the seat of the autonomous vehicle and the vehicle goes from a stopped to running state, the state detection unit transmits the second message based on the user profile and the profile's historical records. user stored in the second data storage unit; so that the autonomous driving mode of the autonomous vehicle is modified or adjusted based on the data detected by the sensors instantaneously and also by the historical data associated with the user. The user profile has been determined based on the historical user data stored in the second data storage unit, where said data is periodically updated according to the different detected user states.
    [0043] If multiple users share the autonomous vehicle, the state detection unit is configured to compare the determined state for each of the users who are located inside the autonomous vehicle, determining a singular state from among the plurality of user states compared, to supply the second message based on the determined singular state; that is to say, in the event that there are two or more occupants inside the vehicle, the electronic control unit ECU selects the driving mode that best suits the user who understands some type of particularity or singularity. Thus, by way of example, if among the occupants of the autonomous vehicle there is a user with a high tendency to get dizzy, the selected driving mode will be the one that best suits that user. Conversely, if there is a user with an emergency or a need to quickly reach their destination, the selected driving mode will be the one that best suits that user.
    [0044] More in detail and as an example, if the autonomous vehicle is occupied by four Users who have a reduced-speed user profile, and while the autonomous vehicle is moving, the status sensors supply event signals corresponding to one of the users of the autonomous vehicle to the state detection unit, which will supply the second message based on the event detected to adapt the autonomous driving mode to the event associated with the user profile that has been modified during the movement of the autonomous vehicle.
    [0046] The electronic control unit ECU is configured to receive calendar data from the user by means of a third message transmitted from a portable electronic user device, through a wireless communication channel established between the electronic control unit ECU and the electronic device. user portable.
    [0047] The electronic control unit ECU determines a user destination based on the third message received, including user calendar data; Position and location data received from a global GPS satellite positioning module of the autonomous vehicle. The GPS satellite global positioning module is electrically connected to the electronic control unit ECU.
    [0049] The electronic control unit ECU is configured to estimate a travel time from the current position of the received autonomous vehicle to the position and location coordinates of the user's destination; comparing the estimated travel time between the current position and the user's destination with an available time; and determining the autonomous driving mode of the autonomous vehicle based on the comparison of the estimated time with the available time. Thus, by way of example, the autonomous vehicle will select a maximum allowed speed and / or an acceleration and / or deceleration of the autonomous vehicle that will allow reaching the position and location coordinates of the destination in the available time.
    [0051] On the other hand, the electronic control unit ECU is configured to receive meteorological data from a server or application of a meteorological service through a wireless communication channel, where the driving mode of the selected autonomous vehicle is based on meteorological data. received, ensuring safe driving even in adverse weather situations.
    [0053] The command arrangement comprises an autonomous vehicle energy storage sensor configured to determine a level of energy stored in an autonomous vehicle energy storage device, and where the electronic control unit ECU is configured to estimate the required energy consumption to reach the destination desired by the user from the user's current position.
    [0054] The electronic control unit ECU is configured to compare the stored energy level with the estimated energy consumption, and determine the autonomous driving mode of the autonomous vehicle based on the comparison of the estimated energy quantity with the level of the current energy storage device , adapting the vehicle's kinematic parameters to the vehicle's range.
    [0056] The electronic control unit ECU receives operating status data of the autonomous vehicle from at least one internal autonomous vehicle internal operation sensor, such as tire pressure sensors, vehicle propulsion system temperature sensors, temperature sensors of the vehicle's energy storage system, or any other internal operation sensor that allows evaluating optimal vehicle operation. Thus, the selector driving mode can additionally be based on the information supplied by the internal operation sensor of the autonomous vehicle.
    [0058] Additionally, the electronic control unit ECU also receives data from the external environment of the autonomous vehicle from at least one external sensor located inside the autonomous vehicle or, alternatively, the electronic control unit ECU receives data from the external environment of the vehicle from at least one sensor. exterior located outside the autonomous vehicle. As an example, the exterior sensors can be distance sensors, an external recognition camera, presence sensors, or any other sensor that allows evaluating the exterior of the vehicle. Thus, the selector driving mode may additionally be based on the information supplied by the external operation sensor of the autonomous vehicle.
    [0060] According to an embodiment, the electronic control unit ECU is configured to receive data associated with a second autonomous vehicle, which circulates in an environment of the autonomous vehicle, where the data is received by means of a telecommunications network.
    [0062] The electronic control unit ECU sends the driving mode of the determined autonomous vehicle to the second autonomous vehicle in the environment, and receives from the second autonomous vehicle the driving mode; so that autonomous vehicles that circulate in a nearby environment know the driving modes of the rest of autonomous vehicles.
    [0064] Thus, the electronic control unit ECU modifies the driving mode of the autonomous vehicle based on the driving mode of the second vehicle in the environment. Of this mode, autonomous vehicles exchange their driving modes, that is, their priority level, their maximum speed, their maximum acceleration or deceleration values, etc., in order to adapt their driving mode, at least momentarily, to the singular or priority driving modes of other autonomous vehicles that circulate in said environment. In this way, it seeks to respect vehicle circulation priorities and enable them to circulate according to their priority level.
    [0066] The driving mode establishes at least one operating parameter of the autonomous vehicle between a maximum driving speed, a maximum deceleration, a maximum acceleration, a reduction ratio of the steering system of the autonomous vehicle and / or a hardness of the suspension system of the autonomous vehicle, where the electronic control unit ECU is configured to generate control signals to at least one actuator of the autonomous vehicle based on the operating parameter associated with the determined driving mode.
    [0068] The electronic control unit ECU determines the autonomous driving mode of the autonomous vehicle from a sporty, slow, economical and emergency driving mode.
    [0070] According to a second aspect, the present invention refers to an autonomous vehicle that comprises a control arrangement as described in the previous points.
    [0072] Brief description of the figures
    [0074] A more detailed explanation is given in the description that follows and is based on the attached figures:
    [0076] Figure 1 shows in a block diagram a command arrangement of an autonomous vehicle in autonomous driving mode.
    [0078] Description
    [0080] Referring now to Figure 1, which shows an autonomous vehicle control arrangement 111 that is configured to modify or adjust an autonomous driving mode of the autonomous vehicle; wherein the command arrangement 111 comprises an electronic control unit ECU 112 configured to supply control signals to at least one actuator of the autonomous vehicle 114; at least one autonomous vehicle 116 sensor, connected to the electronic control unit ECU 112, to supply a first message based on at least one vehicle parameter autonomous; a user status detection unit 113, connected to the electronic control unit ECU 112 and a user status sensor 115, to supply a second message to the electronic control unit ECU 112 based on a determined user status of the autonomous vehicle.
    [0082] The electronic control unit ECU 112 receives the first message from the autonomous vehicle sensor 116 and the second message from the user status detection unit 113 and selects an autonomous vehicle driving mode from among a plurality of driving modes stored in a first data storage unit 118 connected to the electronic control unit ECU 112, based on the first message and the second message received.
    [0084] The electronic control unit ECU 112 supplies control signals to the actuator of the autonomous vehicle 114 based on the selected driving mode.
    [0086] The electronic control unit ECU 112 supplies control signals to the actuator of the autonomous vehicle 114 based on an operating parameter associated with the determined driving mode; such that the driving mode establishes at least one vehicle operating parameter between a maximum driving speed, a maximum deceleration, a maximum acceleration, a reduction ratio of the steering system of the autonomous vehicle and / or a hardness of the autonomous vehicle suspension system etc.
    [0088] The electronic control unit ECU 112 determines an autonomous driving mode from among a sporty, slow, economical and emergency driving mode.
    [0090] The state detection unit is configured to evaluate and supply a user state from among a plurality of predefined states, from status signals received from a user state sensor 115, where the plurality of predefined states are stored in a second data storage unit 117 connected to the state detection unit.
    [0092] The status sensor 115 detects at least one user physiological parameter such as body temperature, blood pressure, heart rate, number of beats per minute, respiratory rate, voice inflection, or the like.
    [0094] The status sensor 115 is of the type seat sensor, temperature sensor, voice sensor, face sensor, skin sensor, heart sensor or the like.
    [0096] For example, the status sensor 115 provides the signal that an event is occurring when the heart rate is above a threshold; temperature The user's body is above or below a threshold; voice inflection is greater than a threshold, or the like.
    [0098] The state sensor 115 detects a psychological function of the user of the type drowsiness, stress, degree of intoxication, degree of alert of the type attention or distraction, emotional state or the like; and provide a second message based on the level of psychological function detected.
    [0100] The state sensor 115 determines an emotional state or facial expression of the user by means of facial recognition; thus, a facial event is occurring when the user's facial expression is different from a previously captured normal facial expression.
    [0102] The state detection unit receives the signals transmitted from the state sensors and, from the received signals, from the autonomous user historical data stored in the second data storage unit 117, predicts a user state and deliver the second message based on the predicted user status.
    [0104] User status detection unit 113 receives a user profile from second data storage unit 117, and determines a level of user confidence in an autonomously driven vehicle, and supplies the second message based on the level of trust of the intended user; thus, the autonomous driving function adjusts to the user's confidence level. That is, the user state detection unit 113 predicts the driving mode that best suits the user's state history.
    [0106] If multiple users are located within the vehicle interior, the state detection unit compares the state of each user located within the autonomous vehicle to each other to determine a single state from among the plurality of compared states and supplies the second message based on the determined singular state, which corresponds to the user profile of one of the users located within the autonomous vehicle.
    [0108] For example, if four users are located inside the autonomous vehicle, and the command arrangement 111 determines that a user has an emergency state, the state detection unit supplies the second message based on the determined emergency state, where said state determined emergency prevails over the rest of the determined states. The state detection unit executes rules of prevalence of one state over another state to supply the second
    [0111] message based on the prevailing state. Similarly, if historical data associated with a first occupant of the autonomous vehicle stored in the second data storage unit 117 exhibits a tendency to a singular state, for example, a frequently repeated dizziness state, the detection unit The second message is delivered based on the determining singular state, where said determined singular state prevails over the rest of the historical data associated with the rest of the occupants of the autonomous vehicle stored in the second data storage unit 117.
    [0113] The electronic control unit ECU 112 receives calendar data from the user by means of a third message transmitted by a portable electronic user device, by means of a wireless connection, and provides instructions for reaching a user destination based on the data. of the user's calendar received, position data received from a global satellite positioning and positioning module of the autonomous vehicle; where the global satellite positioning and positioning module is electrically connected to the electronic control unit ECU 112.
    [0115] The electronic control unit ECU 112 estimates a travel time from the current received position to the user's destination; compares the estimated travel time between the current position and the user's destination with an available time, and determines a driving mode of the autonomous vehicle based on the comparison of the estimated time with the available time.
    [0117] The autonomous driving function is adjusted by the electronic control unit ECU 112 in response to meteorological data received from a server or application of a meteorological service through a telecommunications network.
    [0118] According to an embodiment, the vehicle sensor 116 establishes a level of energy available in an energy storage device of the autonomous vehicle, and where the electronic control unit ECU 112 estimates the amount of energy required for the autonomous vehicle to reach the destination the user from the current position, compares the estimated amount of energy with the available energy level in the storage device, and determines a driving mode of the autonomous vehicle based on the comparison of the estimated amount of energy with the energy level available.
    [0120] According to another embodiment, the electronic control unit ECU 112 receives data on the operating status of the autonomous vehicle from at least one sensor internal internal operation of the autonomous vehicle.
    [0122] Similarly, the electronic control unit ECU 112 receives data from the external environment of the autonomous vehicle from at least one external sensor located within the autonomous vehicle. The electronic control unit ECU 112 can also receive data from the external environment of the vehicle from at least one external sensor located outside the autonomous vehicle by means of a telecommunications network. Based on the information received from the internal sensor and / or the external sensor, the electronic control unit ECU 112 selects the driving mode.
    [0124] If the electronic control unit ECU 112 receives data from the environment of the autonomous vehicle where a second autonomous vehicle circulates in an environment of the autonomous vehicle; the electronic control unit ECU 112 is capable of positioning the second autonomous vehicle, sends the driving mode of the determined autonomous vehicle to the second autonomous vehicle in the environment, receives, in turn, the driving mode of the second environmental vehicle, and modifies the driving mode of the autonomous vehicle based on the driving mode received from the second vehicle in the environment, in case the driving mode selected by the autonomous vehicle interferes with the driving mode of the second autonomous vehicle.
    [0126] Therefore, autonomous vehicles will exchange their priorities so as not to interfere with the driving of other autonomous vehicles with higher priorities and positioned in the environment. For example, in the case that an autonomous vehicle circulates with a slow mode due to a medium priority and a second autonomous vehicle that is behind and without the possibility of overtaking circulates with a second fast driving mode and, therefore, with a Very high priority, the front autonomous vehicle will switch to fast driving so as not to interfere with the second autonomous vehicle. In addition, vehicles will be able to adjust driving functions, such as speed, to facilitate the passage of high-speed, high-priority autonomous vehicles.
    [0127] LIST OF NUMERICAL REFERENCES
    [0128] 111 command layout
    [0129] 112 electronic control unit ECU
    [0130] 113 user status detection unit 114 vehicle actuator
    [0131] 115 status sensor
    [0132] 116 vehicle sensor
    [0133] 117 second data storage unit 118 first data storage unit
    one
    权利要求:
    Claims (15)
    [1]
    1. An autonomous vehicle control arrangement that is configured to modify an autonomous driving mode of the autonomous vehicle, characterized in that it comprises
    - an electronic control unit ECU (112) configured to supply control signals to at least one actuator of the autonomous vehicle (114),
    - at least one sensor of the autonomous vehicle (116), connected to the electronic control unit ECU (112), to supply a first message based on at least one parameter of the autonomous vehicle,
    - a user state detection unit, connected to the electronic control unit ECU (112), to supply a second message based on a determined state of the user of the autonomous vehicle,
    where the electronic control unit ECU (112) is configured to:
    - receiving the first message from the at least one sensor of the autonomous vehicle (116) and receiving the second message from the status detection unit of a user,
    - selecting a driving mode of the autonomous vehicle from a plurality of driving modes stored in a first data storage unit (118) connected to the electronic control unit ECU (112) based on the first message received and the second message received, and
    - supplying control signals to at least one autonomous vehicle actuator (114) based on the selected driving mode.
    [2]
    2. Arrangement according to claim 1; where the state detection unit is configured to evaluate and supply a user state from among a plurality of predefined states, from status signals received from at least one user state sensor (115), where the plurality of states Presets are stored in a second data storage unit (117) connected to the state detection unit.
    [3]
    3. Arrangement according to claim 2; where the state sensor (115) is configured to detect at least one physiological parameter of the user such as body temperature, blood pressure, heart rate, number of beats per minute, respiratory rate or the like.
    [4]
    4. Arrangement according to claim 2 or 3, wherein the status sensor (115) is configured to determine at least one facial expression of the user by means of facial recognition.
    [5]
    5. Arrangement according to claim 2; where the state sensor (115) is configured to detect a psychological function of the user such as drowsiness, stress, degree of intoxication, degree of alertness, emotional state or the like.
    [6]
    6. Arrangement according to any of claims 2 to 5, wherein the state detection unit is configured to:
    - supplying the second data storage unit (117) with historical user data, where the second data storage unit (117) comprises a plurality of detected user states,
    - forecasting a user status based on the historical user data of the second data storage unit (117), and
    - deliver the second message based on the predicted user status.
    [7]
    7. Device according to claim 6; where the state detection unit is configured to receive a user profile from the second data storage unit (117), where the user profile has been determined based on the historical user data of the second data storage unit data (117), and determining a user's confidence level in an autonomously driven vehicle, and supplying the second message based on the intended user's confidence level.
    [8]
    8. Arrangement according to any of the preceding claims, wherein the state detection unit is configured to compare the state of each user located within the determined autonomous vehicle from among the plurality of users of the autonomous vehicle, determining a singular state from among the plurality of compared states, and supplying the second message based on the determined singular state.
    [9]
    9. Arrangement according to any of the preceding claims; where the electronic control unit ECU (112) is configured to:
    - receiving the user's calendar data by means of a third message transmitted by a portable electronic user device, by means of a wireless connection,
    - determine a user destination based on the user's calendar data
    one
    received,
    - receiving position data from a global satellite positioning and positioning module of the autonomous vehicle, where the positioning and location module is connected to the electronic control unit ECU (112),
    - estimate a travel time from the current position received to the determined destination,
    - comparing the estimated travel time between the current position and the determined destination with an available time, and
    - determine a driving mode of the autonomous vehicle based on the comparison of the estimated time with the available time.
    [10]
    10. Arrangement according to any of the preceding claims; where the electronic control unit ECU (112) is configured to receive meteorological data from a server or application of a meteorological service, where the driving mode of the selected autonomous vehicle is based on the meteorological data received.
    [11]
    11. Arrangement according to any of the preceding claims; where the vehicle sensor (116) is configured to determine a level of an autonomous vehicle energy storage device, and where the electronic control unit ECU (112) is configured to:
    - receiving calendar data from the user by means of a third message transmitted by the portable electronic user device, by means of a wireless connection,
    - determine a user destination based on the received user calendar data,
    - receiving position data from the global satellite positioning and positioning module of the autonomous vehicle, where the positioning and location module is connected to the electronic control unit ECU (112),
    - estimate a necessary energy quantity in the displacement from the current position received to the determined destination,
    - compare the estimated amount of energy with the level of the
    one
    determined current energy storage, and
    - determine a driving mode of the autonomous vehicle based on the comparison of the estimated energy quantity with the level of the current energy storage device.
    [12]
    12. Arrangement according to any of the preceding claims; where the electronic control unit ECU (112) is configured to:
    - positioning at least a second autonomous vehicle that circulates in an environment of the autonomous vehicle, by means of data received through a telecommunications network,
    - send the driving mode of the determined autonomous vehicle to at least one second autonomous vehicle in the environment,
    - receive the driving mode of the at least one second vehicle in the environment,
    - determining the driving mode of the autonomous vehicle based on the driving mode of the at least one second vehicle in the environment.
    [13]
    13. Arrangement according to any of the preceding claims; where the driving mode establishes at least one vehicle operating parameter between a maximum driving speed, a maximum deceleration, a maximum acceleration, a reduction ratio of the steering system of the autonomous vehicle and / or a hardness of the suspension system of the autonomous vehicle; wherein the electronic control unit ECU (112) is configured to supply control signals to the at least one autonomous vehicle actuator (114) based on at least one operating parameter associated with the determined driving mode.
    [14]
    14. Arrangement according to the preceding claims; where the electronic control unit ECU (112) determines an autonomous driving mode from among a sporty, slow, economical and emergency driving mode.
    [15]
    15. An autonomous vehicle; wherein the autonomous vehicle comprises a control arrangement (111) according to one of claims 1 to 14.
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    同族专利:
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    引用文献:
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