Abstract: A vehicle control arrangement is configured to control steering and velocity of a road vehicle including a velocity control arrangement, remote sensors configured to acquire vehicle surrounding information, a steering control unit configured to control steering of the vehicle based on the vehicle surrounding information, an upcoming road geometry detecting unit configured to detect presence of an upcoming curve section, a hands-on-wheel detecting unit configured to detect if presence exists of at least one hand on a steering wheel of the vehicle. The velocity control arrangement is configured to perform a reduction of velocity of the vehicle in case presence of an upcoming curve section is detected and no presence is detected of at least one hand on the steering wheel.

Abstract: A safety stoppage device and method for safety stoppage of an autonomous vehicle including control networks and sensors for monitoring the autonomous vehicle surroundings and motion includes a brake-control unit for a brake system including wheel brakes of the autonomous vehicle, and a signaling processing system for processing sensor signals enabling an autonomous drive mode thereof. Where a drivable space exists is predicted based on data from the sensors and sensor fusion, and a safe trajectory to a stop within the drivable space is calculated and sent to the brake-control unit and stored therein. The brake-control unit is shielded against electromagnetic compatibility problems and configured to monitor if the control networks are operational and, if determined incapacitated, control the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space using differential braking of the wheel brakes thereof in order to effectuate steering.

Abstract: A vehicle sensor diagnosis system and method, and a vehicle including such a system are provided. The vehicle sensor diagnosis system is configured to predict upcoming vehicle surrounding conditions along at least a section of a host vehicle route based on database information on the host vehicle surroundings along the section and information on a current host vehicle surrounding, estimate an expected level of sensor performance for the route section based on the prediction, assess the level of sensor performance detected during host vehicle travel along the host vehicle route section, assess if a difference between the estimated level of sensor performance and the detected level of sensor performance for the host vehicle route section exceeds a first threshold difference and, if so, initiate a diagnose result communication.

Abstract: A device and method for safety stoppage of an autonomous road vehicle having a localization system and sensors for monitoring the vehicle surroundings and motion, and a signal processing system for processing sensor signals enabling an autonomous drive mode. A processor continuously predicts where a drivable space exists, calculates and stores a safe trajectory to a stop within the drivable space, determines a current traffic situation, and determines any disturbances in sensor data, vehicle systems or components enabling the autonomous drive mode. If an incapacitating disturbance is determined, a request for a driver to take control is signaled and it is determined if the driver has assumed control. If not, the vehicle is controlled to follow the most recent safe trajectory to a stop in a safe stoppage maneuver during which, or after, one or more risk mitigation actions adapted to the determined current traffic situation are performed.

Abstract: A method implemented in a parking management system for parking autonomous vehicles in a parking slot free manner, a method implemented in an autonomous vehicle and an autonomous vehicle adapted to perform the method. The method comprises the steps of requesting to park in a parking space. A parking position is determined based on the vehicle length and width and, based on the length and width of the vehicles forming the vehicle cluster at which the vehicle is intended to be parked. The method is a very flexible way of managing parking space for autonomous vehicles.

Abstract: A device and method for safety stoppage of an autonomous road vehicle having a localization system and sensors for monitoring the vehicle surroundings and motion, and a signal processing system for processing sensor signals enabling an autonomous drive mode. A processor continuously predicts where a drivable space exists, calculates and stores a safe trajectory to a stop within the drivable space, determines a current traffic situation, and determines any disturbances in sensor data, vehicle systems or components enabling the autonomous drive mode. If an incapacitating disturbance is determined, a request for a driver to take control is signaled and it is determined if the driver has assumed control. If not, the vehicle is controlled to follow the most recent safe trajectory to a stop in a safe stoppage maneuver during which, or after, one or more risk mitigation actions adapted to the determined current traffic situation are performed.

Abstract: A vehicle control arrangement is configured to control steering and velocity of a road vehicle including a velocity control arrangement, remote sensors configured to acquire vehicle surrounding information, a steering control unit configured to control steering of the vehicle based on the vehicle surrounding information, an upcoming road geometry detecting unit configured to detect presence of an upcoming curve section, a hands-on-wheel detecting unit configured to detect if presence exists of at least one hand on a steering wheel of the vehicle. The velocity control arrangement is configured to perform a reduction of velocity of the vehicle in case presence of an upcoming curve section is detected and no presence is detected of at least one hand on the steering wheel.

Abstract: A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, a vehicle control arrangement and a positioning system. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.

Abstract: Provided are a method and an apparatus for prediction of time available for autonomous driving, in a vehicle having autonomous driving capabilities and including at least one remote sensor configured to acquire vehicle surrounding information and at least one vehicle dynamics sensor configured to determine vehicle dynamics parameters. The method and apparatus include at least one of a positioning arrangement that provides map data with associated information, a route planning arrangement that enables route planning, and a real time information acquiring arrangement that acquires at least one of real time traffic information and real time weather information. The time available is calculated based on a planned route and at least one of vehicle surrounding information, vehicle dynamics parameters, map data with associated information, real time traffic information and real time weather information, for the planned route. The calculated time is output to a human machine interface in a vehicle.

Abstract: A safety stoppage device and method for safety stoppage of an autonomous vehicle including control networks and sensors for monitoring the autonomous vehicle surroundings and motion includes a brake-control unit for a brake system including wheel brakes of the autonomous vehicle, and a signaling processing system for processing sensor signals enabling an autonomous drive mode thereof. Where a drivable space exists is predicted based on data from the sensors and sensor fusion, and a safe trajectory to a stop within the drivable space is calculated and sent to the brake-control unit and stored therein. The brake-control unit is shielded against electromagnetic compatibility problems and configured to monitor if the control networks are operational and, if determined incapacitated, control the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space using differential braking of the wheel brakes thereof in order to effectuate steering.

Abstract: A method and arrangement are disclosed for allowing secondary tasks during semi-automated driving of a road vehicle having an infotainment system including one or more display units, and a semi-automated driver assist system having one or more sensors for acquiring data of a road ahead. A confidence of the ability of the semi-automated driver assist system to control the road vehicle autonomously is determined from at least acquired data of the road ahead. A viewing direction of a driver of the road vehicle is determined using a driver monitoring camera. Autonomous control is allowed if the viewing direction of the driver is determined to be towards the road ahead or towards a display unit of the infotainment system and the confidence is determined to be above a confidence threshold, otherwise any ongoing autonomous control is cancelled and the driver urged to assume control of the road vehicle.

Abstract: A method is disclosed for controlling movement of a group of vehicles that includes a lead vehicle and one or more additional vehicles. The lead vehicle includes a first control unit and a first wireless communication device. Each additional vehicle includes a second control unit adapted to in an at least partly automated mode have the movement of the additional vehicle controlled by the first control unit of the lead vehicle. Each additional vehicle also includes a second wireless communication device for communication with the first communication device of the lead vehicle. The vehicles of the group are moveable relative to each other within the group as regards longitudinal position, lateral position, speed and/or acceleration. The group of vehicles are controllable by the first control unit of the lead vehicle so as to move as a body having a variable shape, thereby cooperating with each other.

Abstract: A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, and a vehicle control arrangement. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.

Abstract: A method for transition between driving modes of a vehicle is disclosed. The driving modes include an autonomous driving (AD) mode, a partly autonomous driving (PAD) mode and a manual driving (MD) mode. A transition from the PAD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the PAD mode is performed by releasing a steering wheel lock when the PAD mode is in an enabled state. A transition from the MD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the MD mode is performed by releasing the steering wheel lock when the PAD mode is in a disabled state. A system for performing the method and a vehicle including the system are also disclosed.

Abstract: A method for transition between driving modes of a vehicle is disclosed. The driving modes include an autonomous driving (AD) mode, a partly autonomous driving (PAD) mode and a manual driving (MD) mode. A transition from the PAD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the PAD mode is performed by releasing a steering wheel lock when the PAD mode is in an enabled state. A transition from the MD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the MD mode is performed by releasing the steering wheel lock when the PAD mode is in a disabled state. A system for performing the method and a vehicle including the system are also disclosed.

Abstract: A vehicle sensor diagnosis system and method, and a vehicle including such a system are provided. The vehicle sensor diagnosis system is configured to predict upcoming vehicle surrounding conditions along at least a section of a host vehicle route based on database information on the host vehicle surroundings along the section and information on a current host vehicle surrounding, estimate an expected level of sensor performance for the route section based on the prediction, assess the level of sensor performance detected during host vehicle travel along the host vehicle route section, assess if a difference between the estimated level of sensor performance and the detected level of sensor performance for the host vehicle route section exceeds a first threshold difference and, if so, initiate a diagnose result communication.

Abstract: A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, a vehicle control arrangement and a positioning system. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.

Abstract: A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, and a vehicle control arrangement. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.

Abstract: Provided are a method and an apparatus for prediction of time available for autonomous driving, in a vehicle having autonomous driving capabilities and including at least one remote sensor configured to acquire vehicle surrounding information and at least one vehicle dynamics sensor configured to determine vehicle dynamics parameters. The method and apparatus include at least one of a positioning arrangement that provides map data with associated information, a route planning arrangement that enables route planning, and a real time information acquiring arrangement that acquires at least one of real time traffic information and real time weather information. The time available is calculated based on a planned route and at least one of vehicle surrounding information, vehicle dynamics parameters, map data with associated information, real time traffic information and real time weather information, for the planned route. The calculated time is output to a human machine interface in a vehicle.

Abstract: A method is disclosed for controlling movement of a group of vehicles that includes a lead vehicle and one or more additional vehicles. The lead vehicle includes a first control unit and a first wireless communication device. Each additional vehicle includes a second control unit adapted to in an at least partly automated mode have the movement of the additional vehicle controlled by the first control unit of the lead vehicle. Each additional vehicle also includes a second wireless communication device for communication with the first communication device of the lead vehicle. The vehicles of the group are moveable relative to each other within the group as regards longitudinal position, lateral position, speed and/or acceleration. The group of vehicles are controllable by the first control unit of the lead vehicle so as to move as a body having a variable shape, thereby cooperating with each other.