Autonomous mode vehicle control system and vehicle comprising such a control system

摘要

A vehicle control system including human-control members generating signals for manual piloting of actuators of the vehicle, an automatic control module generating signals for automatic piloting of the actuators of the vehicle, and a switching module to select the manual-piloting signals in a manual mode of operation and the autonomous-piloting signals in an autonomous mode of operation. The automatic control module includes a block for automatic formulation of at least one calculated autonomous piloting signal and a security block to transmit to the switching module a calculated autonomous piloting signal in a case of normal autonomous operation and an emergency autonomous piloting signal in a case of abnormal autonomous operation.

主权项

1. A vehicle control system comprising:
manual-control members that generate manual-driving signals to manually drive actuators of the vehicle; automatic-control circuitry that generates autonomous-driving signals to autonomously drive the actuators of the vehicle; and switching circuitry configured to select the manual-driving signals in a manual mode of operation and to select the autonomous-driving signals in an autonomous mode of operation, wherein the automatic-control circuitry includes:
an automatic-formulation circuitry portion that automatically formulates at least one calculated autonomous-driving signal,a safety circuitry portion configured to transmit to the switching circuitry the at least one calculated autonomous-driving signal in a case of normal autonomous operation and an emergency autonomous-driving signal in a case of abnormal autonomous operation,a supervision module having an overall finite state machine with a first overall state associated with the manual mode of operation and a second overall state associated with the autonomous mode of operation to send the switching circuitry at least one signal to select the manual-driving signals and the autonomous-driving signals, wherein the overall finite state machine comprises a third overall state associated with the case of abnormal autonomous operation to send the safety circuitry portion at least one emergency braking signal.