Method and control unit for operating a safe stop mode of a vehicle

Abstract

The present disclosure relates to a method for manipulating a safety stop mode of a vehicle (1) performed by a control unit (10). The control unit obtains an enable request for enabling the safety stop mode. When the enable request has been obtained, the control unit (10) verifies whether all safety conditions of the vehicle (1) are met. When the enable request has been obtained and all safety conditions are met, the control unit (10) enables the safety stop mode. When all safety conditions are met, the control unit (10) triggers at least one light source (5) to be illuminated. After the safety stop mode has been enabled, the control unit (10) obtains a disable request for disabling the safety stop mode of the vehicle (1). When the disable request has been obtained, the control unit (10) disables the safety stop mode of the vehicle (1).

Description

Technical Field

[0001] The present invention generally relates to a method, a control unit and a vehicle. More particularly, the present invention relates to operating a safe stop mode of a vehicle.

[0002] The invention can be applied to heavy vehicles such as trucks, buses and construction equipment, and these heavy vehicles are suitable for operating in autonomous mode. Although the invention will be described with respect to a truck, the invention is not limited to this particular vehicle, but can also be used for other vehicles such as buses, construction equipment, trucks, working machines, cars. The invention can be used for any type of working machine in the field of industrial construction machinery or construction equipment, such as wheel loaders, articulated haulers, dump trucks, excavators and backhoe loaders, etc. Background Art

[0003] Many vehicles today can use autonomous mode. When a vehicle is in autonomous mode, it can be referred to as an autonomous vehicle or a self-driving vehicle. When a vehicle is in autonomous mode, it can, for example, accelerate, brake, and steer on its own. Furthermore, in autonomous mode, the vehicle can sense its environment and can navigate safely without human input or external control.

[0004] There are several levels of autonomous modes in vehicles, ranging from non-autonomous, through partially autonomous, and up to fully autonomous. For example, when the vehicle is in autonomous mode, some or all driving modes of the vehicle's operation may be controlled by the vehicle control system. In such a case, computing devices included on the vehicle and in the server network may be operable to perform functions such as planning a driving route, sensing the vehicle's form, sensing the vehicle's environment, and controlling driving functions such as steering, acceleration, and braking. Therefore, a vehicle in autonomous mode can reduce or eliminate the need for human interaction in various aspects of vehicle operation. A fully autonomous vehicle is able to perform all driving functions without user supervision and any external control.

[0005] When a user wants to start the autonomous mode in a vehicle, the start procedure is usually initiated by the user from inside the vehicle cabin. The autonomous part of the vehicle needs to be powered on, the computers and sensors need to be enabled, some self-diagnostics must be performed, and communication with an external control system (e.g. a field control system) must be established. Since the user then needs to leave the vehicle, it is very important to do so in a safe manner. It is necessary to guarantee that the autonomous vehicle will not start an unintentional mission and drive away, thus creating a dangerous situation for the user. The same need also arises when a human needs to approach the vehicle in autonomous mode in order to, for example, pick up the vehicle or to maneuver an unplanned stop.

[0006] Therefore, there is a need to at least alleviate or solve the above problems. Summary of the invention

[0007] It is an object of the present invention to provide improved safety for a vehicle adapted to operate in autonomous mode.

[0008] This object is achieved by the method according to the invention.

[0009] According to a first aspect, the object is achieved by a method for manipulating a safety stop mode of a vehicle, performed by a control unit. The control unit obtains an enablement request for enabling the safety stop mode. When the safety stop mode is enabled, the vehicle cannot perform autonomous driving. When the enablement request has been obtained, the control unit verifies whether all safety conditions of the vehicle are met. The satisfied safety conditions indicate that the vehicle cannot move. When the enablement request has been obtained and all safety conditions are met, the control unit enables the safety stop mode. When all safety conditions are met, the control unit triggers at least one light source to be illuminated. After the safety stop mode has been enabled, the control unit obtains a disablement request for disabling the safety stop mode of the vehicle. The control unit disables the safety stop mode of the vehicle. When the safety stop mode is disabled, the vehicle can perform autonomous driving.

[0010] The present disclosure provides many advantages, a non-exhaustive list of which follows:

[0011] Since the safe stop mode is enabled when all safety conditions are met, it can be ensured that the vehicle cannot perform autonomous driving. These safety conditions can be parking brakes applied, gearbox in neutral, etc., which are conditions that will prevent the vehicle from performing autonomous driving when met. When the safe stop mode is enabled based on, for example, a user inside the vehicle enabling an internal input device, the vehicle is considered safe because it cannot move. Therefore, the user can safely exit the vehicle knowing that the vehicle will not perform autonomous driving, for example, the vehicle will not move when he exits the vehicle.

[0012] In the event that the light source is triggered, the user and anyone else around the vehicle will understand that the safe stop mode is engaged and that it is safe to leave and approach the vehicle without any risk of the vehicle performing unintentional autonomous driving. In other words, the light source indicates that the vehicle will not unintentionally perform a task and drive away, thereby creating a dangerous situation for the user.

[0013] Since there is the possibility to disable the safe stop mode and thereby enable autonomous driving, for example by activating an external input device, this ensures that autonomous driving cannot be reactivated before the user exits the vehicle. Safety is thus improved.

[0014] According to a second aspect, the object is achieved by a control unit configured to perform the method according to the first aspect.The effects and features of the second aspect are largely similar to those described above in conjunction with the first aspect.

[0015] Further advantages and advantageous features of the invention are disclosed in the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] With reference to the accompanying drawings, following is a more detailed description of embodiments of the invention cited as examples.

[0017] In these drawings:

[0018] Figure 1 is a schematic diagram of the vehicle.

[0019] Figure 2 is a schematic block diagram showing a control unit.

[0020] Figure 3 is a flow chart illustrating the method.

[0021] Figure 4 is a schematic block diagram showing a control unit.

[0022] The drawings are not necessarily to scale and the size of some features may have been exaggerated for clarity. Emphasis is instead placed upon illustrating principles. DETAILED DESCRIPTION

[0023] Figure 1 is a schematic diagram showing a vehicle 1 seen from the side. As mentioned above, the vehicle 1 may be a heavy vehicle, such as a truck, a bus and a construction equipment, a working machine, but may also be a car. The invention may be used for any type of working machine in the field of industrial construction machinery or construction equipment, such as wheel loaders, articulated haulers, dump trucks, excavators and backhoe loaders, etc. The vehicle 1 is adapted to operate in an autonomous mode, i.e. it has autonomous driving capabilities.

[0024] The vehicle 1 comprises a control unit 10. The control unit 10 is adapted to manipulate a safety stop mode of the vehicle 1, for example by enabling and disabling the safety stop mode. Enabling the safety stop mode may be described as starting the safety stop mode, while disabling the safety stop mode may be described as deactivating the safety stop mode. When the safety stop mode is enabled, the vehicle 1 does not perform autonomous driving. In other words, when the safety stop mode is enabled, the vehicle 1 will not inadvertently perform a task and drive away, thereby causing a dangerous situation for the user. The autonomous mode may be enabled while the safety stop mode is enabled, but because the safety stop mode is enabled, the vehicle 1 will not perform autonomous driving. When the safety stop mode is enabled, the autonomous mode may be deactivated.

[0025] The control unit 10 may be located at any suitable location of the vehicle 1, such as in the cab, in the luggage compartment, etc. The control unit 10 may be a programmable logic controller (PLC), a safety PLC, etc. The control unit 10 may be a safety-classified unit, which is different from a non-safety-classified autonomous driving system of the vehicle 1.

[0026] The vehicle 1 comprises at least one light source 5 adapted to emit light, which is "on" when the light source is triggered by the control unit 10. The at least one light source 5 may be located outside the vehicle 1, for example at Figure 1 , located on the roof of the cab as illustrated in the figure, located on the front of the vehicle 1, located on the rear of the vehicle 1, located inside the vehicle 1, etc. The vehicle 1 may include one, two or more light sources 5, for example, two light sources 5 are located on the roof of the cab and one light source is located inside the cab, or one light source 5 is located on the roof of the cab and one light source is located inside the cab, only one light source 5 is located in the cab, etc.

[0027] When the at least one light source 5 is lit, it is "on", which can indicate that it is safe to approach the vehicle 1, which means that the vehicle 1 is in a safe stop mode, and when the at least one light source 5 is on, the vehicle 1 will not perform any autonomous driving. When the at least one light source 5 is not lit, it is "off", which can indicate that the safe stop mode is invalid and the vehicle 1 can perform autonomous driving.

[0028] The at least one light source 5 may emit light of one or more suitable colors, such as green, red, yellow, orange, etc. For example, when the at least one light source 5 emits light of a first color, such as green, this may indicate that the safety stop mode is enabled and it is safe to leave or approach the vehicle 1. When the at least one light source 5 emits light of a second color, such as red, this may indicate that the safety stop mode is invalid and it is unsafe to leave or approach the vehicle because the vehicle 1 may perform autonomous driving.

[0029] The at least one light source 5 may emit light in a constant manner, or it may emit light in a pulsed manner or the like.

[0030] The vehicle 1 comprises an external input device 8 located outside the vehicle 1. The external input device 8 is suitable for receiving input, for example, from a user or from another device or unit contained in the vehicle 1. The input device 8 can be in the form of a switch (hardware or software switch), a button, a key, a joystick, etc. The external input device 8 is suitable for being enabled, for example, by a user. Enabling the external input device 8 can include receiving input from the user, wherein the input can be in the form of the user pressing the external input device 8, the user providing a command to the input device 8. The external input device 8 can be located at any suitable location outside the vehicle 1 and where it can be touched by the user, for example on the side of the cab. The external input device 8 is suitable for communicating with the control unit 10 via a wired or wireless link.

[0031] Now go to Figure 2 ,and Figure 1 compared to, Figure 2 Further details are provided regarding the control unit 10. In addition to the above reference Figure 1 In addition to the units described, the vehicle 10 also includes Figure 2 One or more of the units shown in . Figure 2 1 is a schematic diagram showing the control unit 10 and other units in the vehicle 1 .

[0032] like Figure 2 As shown, the vehicle 1 includes an internal input device 13 located inside the vehicle 1. Activating the internal input device 13 may include receiving input from a user, wherein the input may be in the form of a user pressing the input device 8, or a user providing a command to the internal input device 8. The internal input device 13 is suitable for receiving input, for example, from a user or from another device or unit contained in the vehicle 1. The internal input device 13 may be in the form of a switch (hardware or software switch), a button, a key, a joystick, etc. The internal input device 13 may be a manually operable switch located in the cab of the vehicle 1. The internal input device 13 is suitable for being activated, for example, by a user. The internal input device 13 may be located at any suitable location inside the vehicle 1 and where the user can access it, such as on a display located inside the cab, on a dashboard located inside the cab, etc. The internal input device 13 is suitable for communicating with the control unit 10 via a wired or wireless link. Therefore, the vehicle 1 includes two input devices, namely the internal input device 13 and the external input device 8.

[0033] The vehicle 1 comprises an autonomous system 20 adapted to control the vehicle 1 when the vehicle 1 is in autonomous mode. The autonomous system 20 and the control unit 10 are adapted to communicate with each other, for example via a wired or wireless link, and to work in parallel with each other. Therefore, the autonomous system 20 and the control unit 10 are independent units. The autonomous system 20 may be referred to as an autonomous driving system.

[0034] The vehicle 1 comprises vehicle components 30, such as brakes, parking brakes, gearboxes, motors, communication links, etc. Information indicating the status of one or more vehicle components 30 may be provided to the control unit 10 from the vehicle components 30 directly or via some intermediate unit. The intermediate unit may be an engine control unit (ECU), such as a body builder control (BodyBuilderControl) ECU. The information indicating the status may indicate, for example, that the parking brake is applied, the gearbox is in neutral, a parking brake release inhibit function of the vehicle 1 is active, the vehicle motor is off, the vehicle brake is applied, etc. The vehicle components 30 may be updated to be controlled by the control unit 10 and the autonomous system 20 and to communicate with the control unit 10 and the autonomous system 20.

[0035] The vehicle 1 may include an emergency stop system 23 and possibly also the autonomous system 20, which may be adapted to communicate with the control unit 10. For example, if the vehicle 1 is about to hit another vehicle or an obstacle, the emergency stop system 23 may be adapted to slow down the vehicle 1, or brake it to a complete stop.

[0036] Now refer to Figure 3 The depicted flowchart describes a method for manipulating a safety stop mode of the vehicle 1, performed by the control unit 10. As mentioned above, the control unit 10 may be separate from and work in parallel with the autonomous system 20 of the vehicle 1. The method comprises at least one of the following steps, which may also be performed in another suitable order than the order described below:

[0037] Step 301

[0038] The control unit 10 obtains an activation request for activating, for example, starting the safety stop mode. As mentioned above, when the safety stop mode is activated, the vehicle 1 cannot perform autonomous driving.

[0039] The input to the internal input device 13 is an activation request obtained from the user. The activation request may be an activation command, an activation instruction, a startup command, a startup instruction, etc.

[0040] The enablement request can be obtained from at least one of the following:

[0041] an autonomous system 20 included in the vehicle 1,

[0042] an emergency stop system 23 included in the vehicle 1, and

[0043] • Internal input device 13 activated by the user.

[0044] Step 302

[0045] When the activation request has been obtained, the control unit 10 verifies whether all safety conditions of the vehicle 1 are met. The satisfied safety conditions indicate that the vehicle 1 cannot be driven, ie it will not move. When all safety conditions are met, the vehicle 1 is considered to be immovable and therefore safe.

[0046] In order to verify whether all safety conditions are met, the control unit 10 can periodically or continuously acquire status signals of one or more vehicle components associated with vehicle safety upon request. The vehicle components can be, for example, parking brakes, gearboxes, motors, etc.

[0047] There may be one, two or more safety conditions of the vehicle 1 that may be satisfied. Therefore, the term "all" in "all safety conditions" includes satisfying one, two or more safety conditions. The following is a non-exhaustive list of safety conditions that are satisfied, and when all safety conditions are considered to be satisfied, one, two or more of these safety conditions may be satisfied.

[0048] The safety condition is met when at least one of the following conditions occurs:

[0049] the parking brake 25 of the vehicle 1 is applied,

[0050] The gearbox of vehicle 1 is in neutral,

[0051] The parking brake release inhibition function of vehicle 1 is effective,

[0052] The vehicle motor is turned off;

[0053] ●At least one vehicle brake is applied.

[0054] As mentioned above, this list is not exhaustive, which means that there may be additional safety conditions that apply but are not mentioned in this article.

[0055] In summary, the vehicle 1 may be associated with a plurality of safety conditions. The number of safety conditions may be any suitable number, such as one, two, or more safety conditions. For example, if the vehicle 1 is associated with two of the safety conditions in the non-exhaustive list above, then when these two conditions are met, all of the safety conditions may be considered met. In another example, if the vehicle 1 is associated with five of the safety conditions in the non-exhaustive list above, then when these five safety conditions are met, all of the safety conditions may be considered met. In another example, if the vehicle 1 is associated with one of the safety conditions in the non-exhaustive list above, then when this one safety condition is met, all of the safety conditions may be considered met.

[0056] One, two, three or more security conditions may need to be met. A subset of the security conditions or all of the security conditions may need to be met.

[0057] Step 303

[0058] When an activation request has been obtained and all safety conditions are met, the control unit 10 activates the safe stop mode.

[0059] When the control unit 10 enables the safe stop mode, it may trigger at least one of the following:

[0060] Activate the parking brake release inhibit function of vehicle 1;

[0061] Apply the vehicle brakes;

[0062] disconnecting the communication between the vehicle 1 and the autonomous system 20 comprised in the vehicle 1; and

[0063] Forced neutral.

[0064] In step 303 , the control unit 101 may request the vehicle 1 to stop moving by, for example, disengaging a parking brake release inhibit function of an input device while monitoring safety conditions such as neutral being engaged, parking brake being applied, and parking brake release inhibit being effective.

[0065] When the safety stop mode is enabled in step 303, the user can safely get out of the vehicle 1, because the safety stop mode ensures that the vehicle 1 will not perform autonomous driving. In addition, when the vehicle 1 is in the safety stop mode, it will be safe for the user to approach the vehicle 1.

[0066] Step 304

[0067] The control unit 10 may provide information indicating whether the safety stop mode is enabled or disabled (e.g., activated or deactivated) to the autonomous system 20 of the vehicle 1. In the case of enabling the safety stop mode, this step 204 may be performed after steps 301, 302, or 303, and in the case of disabling the safety stop mode, this step 204 may be performed after steps 305, 306, 307, or 308.

[0068] Step 305

[0069] When all safety conditions are met, the control unit 10 triggers at least one light source 5 to be lit or emit light of a first color, for example green.

[0070] If there is at least one light source 5 inside the vehicle 1, when the user is inside the vehicle 1 and the safety stop mode has been enabled, the user knows that it is safe to leave the vehicle 1 when the at least one light source 5 is lit or emits light of the first color. If there is at least one light source 5 on the outside of the vehicle 1, when the user is outside the vehicle 1 and wants to approach it, he knows that it is safe to approach the vehicle 1 when the light source is lit or emits light of the first color.

[0071] Triggering of the at least one light source 5 may be described as confirming that the safe stop mode has been engaged, and possibly also confirming that autonomous driving will not take place.

[0072] Step 306

[0073] After the safety stop mode is enabled, the control unit 10 obtains a disable request, such as a deactivation request, for disabling the safety stop mode of the vehicle 1. The input of both the internal input device 13 and the external input device 8 is a disable request obtained from a user. The disable request may be a disable command, a disable instruction, a deactivation command, a deactivation instruction, etc.

[0074] A disable request may be obtained from at least one of the following:

[0075] Internal input devices 13 activated by the user, and

[0076] • External input devices 8 activated by the user.

[0077] For example, if the safe stop mode is enabled, a user is inside the vehicle 1 and desires to take control of the vehicle 1 , the user may disable the safe stop mode by providing a disable request (eg, by enabling the interior input device 13 ).

[0078] For example, if the safe stop mode is enabled, a user is outside the vehicle 1 and wants to enable autonomous driving, the user may disable the safe stop mode by providing a disable request (eg, by enabling the external input device 8 ).

[0079] The disable request may be obtained by a user performing an action, such as the user pressing the internal input device 13 or the external input device 8 .

[0080] Step 307

[0081] When the disable request has been obtained, the control unit 10 disables the safety stop mode of the vehicle 1. When the safety stop mode is disabled, the vehicle 1 can perform autonomous driving.

[0082] Step 308

[0083] When a deactivation request has been obtained, the control unit 10 may trigger the disabling of the parking brake release inhibition function of the vehicle 1 .

[0084] Step 309

[0085] When a disable request has been obtained, the control unit 10 may trigger at least one light source 5 to turn off or emit a second color of light, which indicates that the safety stop mode is disabled. This step 309 may be performed after step 306 , 307 or 308 .

[0086] The computer program may comprise program code means for executing the functions referred to in this document when said program is run on a computer. Figure 3 One or more steps described.

[0087] The computer readable medium may carry a computer program comprising program code means for executing the functions referred to in the present invention when the program product is run on a computer. Figure 3 One or more steps described.

[0088] The computer program comprises instructions, i.e. software code portions, which, when executed on at least one processor, cause the at least one processor to perform the method described herein, as performed by the control unit 10. The computer program may be stored on a computer-readable storage medium. The computer-readable storage medium storing the computer program may comprise instructions, which, when executed on at least one processor, cause the at least one processor to perform the actions described herein, as performed by the control unit 10. The computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a CD ROM disc or a memory stick. The computer program product may be stored on a carrier containing the computer program just described, wherein, as described above, the carrier is any one of the following: an electronic signal, an optical signal, a radio signal or a computer-readable storage medium.

[0089] The control unit 10 may include a communication interface configured to facilitate communication between the control unit 10 and other units or components (e.g., ECUs, autonomous systems 20, or other structures). The interface may include a transceiver configured to send and receive signals over a wired or wireless interface according to an appropriate standard.

[0090] The control unit 10 is configured to perform the method as described herein.

[0091] The method for manipulating the safety stop mode of the vehicle 1 described herein can be implemented by one or more processors (such as the processor in the control unit 10) together with a computer program code for executing the method described herein. The processor can be, for example, a digital signal processor (DSP), an application-specific integrated circuit (ASIC) processor, a field programmable gate array (FPGA) processor, or a microprocessor. The program code mentioned above can also be provided as a computer program product, such as in the form of a data carrier carrying a computer program code, which is used to execute the present disclosure of this article when loaded into the control unit 10. One such carrier can be in the form of a CD ROM disc. However, it is feasible to use other data carriers such as a memory stick. The computer program code can be provided on a server as pure program code and downloaded to the control unit 10.

[0092] The control unit 10 may include a memory including one or more memory units. The memory is arranged to store information, states, mode information, requests, schedules and applications etc., in order to perform the methods herein when executed in the control unit 10.

[0093] The control system may comprise a control unit 10, at least one light source 5 and at least one input device 8, 13 as described herein.

[0094] The vehicle 1 comprises a control unit 10 as described herein.

[0095] Figure 4 is a schematic block diagram showing an example of the control unit 10 . Figure 4 The safety conditions shown may be the parking brake release inhibit state, the neutral state, and the parking brake state. Please note that the safety conditions are not limited to Figure 4 The safety conditions shown in and are not limited to Figure 4 The status of the safety condition can be obtained by the control unit 10. Figure 4 The & symbol in indicates that all safety conditions are met. When the safety conditions are met, the safety stop mode is enabled. Then, at least one light source 5 is triggered to emit light. The state of the safety stop mode can be provided to the autonomous system 20.

[0096] Figure 4 The example of shows that a disabling request is obtained, for example a user deactivation command is obtained or set. After setting, the control unit 10 can trigger the setting of a parking brake release inhibition function or any other suitable function, which after setting ensures that the vehicle 1 will remain stationary, that is, it will not drive autonomously.

[0097] Figure 4The disabling and enabling of the safe stop mode is shown. When the emergency stop system is interrupted, the autonomous driving system is in a certain state and an enable request is obtained, such as Figure 4 When the value of 1 is greater than or equal to 1, the control unit 10 resets the safe stop mode. Resetting the safe stop mode may be the same as enabling the safe stop mode. The enabled safe stop mode may be the default case. Figure 4 Also shown is a setting disable request. The disable request can be a user deactivation command. Figure 4 The term SR flip-flop in stands for Set-Reset flip-flop. The enable request may be a user initiated command. The vehicle motion inhibit command may be provided as an input for setting the parking brake release inhibit function.

[0098] Some embodiments can be summarized as follows:

[0099] The safe stop mode ensures that it is safe to approach or leave the vehicle 1 even if the vehicle 1 is in autonomous mode.

[0100] If the vehicle 1 cannot move, the vehicle 1 is considered safe. To ensure that it is safe, one or more safety conditions need to be met. The safety conditions that are met can be, for example, that the parking brake is applied, the gearbox is in neutral, and a specific parking brake release inhibition function that prevents the parking brake from being released is active.

[0101] The status signal indicating the safety condition may be obtained directly from the vehicle component 30 or from an ECU in the vehicle 1. One way to monitor the safety condition rather than relying on the ECU may be to use a safety classified sensor (e.g., a pressure sensor in the parking brake circuit) to monitor the status directly. It is also possible that dual sensors may be utilized for redundancy and increased integrity levels.

[0102] The control unit 10 verifies the safety condition and illuminates at least one light source 5 , for example a green light, for the user, which means “the vehicle is in safe stop mode”.

[0103] The safe stop mode may be requested from several sources: the autonomous system 20 itself, the emergency stop system 23, or the user via an input device (e.g. the internal input device 13). When the safe mode is requested, a request to enable the parking brake release inhibit function may be triggered. The parking brake release inhibit function may be a separate unit, which is adapted to communicate with the control unit 10, or the parking brake release inhibit function may also be included in the BodyBuilderControl ECU.

[0104] There may be different ways to ensure that the vehicle 1 will remain stationary, ie that it will not drive autonomously, such as actively applying the parking brake, purging the parking brake air circuit, for example with a solenoid, disconnecting the communication from the autonomous system 20 to the vehicle base.

[0105] When the safe stop mode is enabled, the user can safely exit the vehicle 1. One way to disable the safe stop mode may be to press another input device, such as the external input device 8. Once outside the vehicle, the user can now safely disable the safe stop mode, and the vehicle 1 can fully enter autonomous mode and begin performing autonomous tasks.

[0106] If the user wants to approach the vehicle 1 while it is driving autonomously, a request to enable the safe stop mode can be sent remotely, at least one light source 5 can be illuminated, and the user thereby knows that it is safe to approach the vehicle 1. Once inside the vehicle 1, the user can use another input device to disable the safe stop mode again and take control of the vehicle 1.

[0107] The safe stop mode may be requested by the emergency stop system 23 .

[0108] The status of the safe stop mode may be sent to the autonomous system 20. In this way, the vehicle movement manager function may react and block the request to perform the movement. The vehicle movement manager function may be a function included in the autonomous system, ie a unit that may at least partially control the vehicle 1 .

[0109] The term "at least one of A and B" should be understood to mean "only A, only B, or both A and B", where A and B are any parameters, numbers, indications, etc. used herein.

[0110] It should be emphasized that when the term "comprises / comprising" is used in this specification, the term is considered to specify the presence of the features, integers, steps or components, but does not exclude the presence or addition of one or more other features, integers, steps, components or groups of these items. It should also be noted that the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

[0111] As used herein, the term "configured to" may also be referred to as "arranged to," "adapted to," "capable of," or "operable to."

[0112] It should also be emphasized that the steps of the methods defined in the appended claims may be performed in another order than the order in which they appear in the claims, without departing from the embodiments herein.

[0113] It should be understood that the present invention is not limited to the embodiments described above and shown in the accompanying drawings; on the contrary, those skilled in the art will recognize that many changes and modifications may be made within the scope of the appended claims. Various alternatives, modifications and equivalents may be used. Features from one embodiment may be combined with one or more features of any other embodiment.

Claims

1. A method for controlling a safe stopping mode of a vehicle (1) in autonomous mode, executed by a control unit (10), characterized in that The method comprises: obtaining (301) an activation request for activating the safety stop mode from an internal input device (13) activated by a user, wherein the internal input device (13) is located inside the vehicle (1), wherein when the safety stop mode is activated, the vehicle (1) is unable to perform autonomous driving, and wherein the autonomous mode is activated while the safety stop mode is activated; When the activation request has been obtained, verifying (302) whether all safety conditions of the vehicle (1) are satisfied, wherein the satisfied safety conditions indicate that the vehicle (1) cannot move; When the activation request has been obtained and when all safety conditions are met, activating (303) the safe stop mode, wherein activating (303) the safe stop mode comprises disconnecting the communication between the vehicle (1) and an autonomous system (20) contained in the vehicle; When all safety conditions are met, triggering (305) at least one light source (5) located outside the vehicle (1) to be illuminated; obtaining (306) a disable request for disabling the safety stop mode of the vehicle (1) from an external input device (8) activated by a user after the safety stop mode has been activated, wherein the external input device (8) is located outside the vehicle (1); and When the disabling request has been obtained, the safety stop mode of the vehicle (1) is disabled (307), wherein when the safety stop mode is disabled, the vehicle (1) is able to perform autonomous driving.

2. The method according to claim 1, wherein: Disabling (307) the safe stop mode includes: When the disabling request has been obtained, disabling of the parking brake release inhibiting function of the vehicle (1) is triggered (308).

3. The method according to any one of claims 1 to 2, wherein: Enabling (303) the safe stop mode includes: Triggers (303) at least one of the following: · activating a parking brake release inhibit function of the vehicle (1); Apply vehicle brakes.

4. The method according to any one of claims 1 to 2, wherein: The activation request for activating the safe stop mode is obtained from at least one of: an autonomous system (20) included in the vehicle (1), and An emergency stop system (23) included in the vehicle (1).

5. The method according to any one of claims 1-2, wherein the disable request is obtained from: An interior input device (13) activated by a user, wherein the interior input device (13) is located inside the vehicle (1).

6. The method according to any one of claims 1 to 2, wherein: All safety conditions are met when at least one of the following is present: the parking brake (25) of the vehicle (1) is applied, The gearbox of the vehicle (1) is in neutral, The parking brake release inhibition function of the vehicle (1) is effective, The vehicle motor is turned off; The vehicle brakes are applied.

7. The method according to any one of claims 1 to 2, comprising: Information indicating whether the safe stop mode is enabled or disabled is provided (304) to an autonomous driving system (20) of the vehicle (1).

8. The method according to any one of claims 1 to 2, comprising: When the disable request has been obtained, the at least one light source (5) is triggered (309) to be extinguished.

9. The method according to any one of claims 1 to 2, wherein: The control unit (10) is separate from and operates in parallel with an autonomous driving system (20) of the vehicle (1).

10. A computer readable medium carrying a computer program, the computer program comprising program code means for executing the steps of any one of claims 1 to 9 when the program product is run on a computer.

11. A control unit (10) configured to perform the method according to any one of claims 1-9.

12. A control system (100) comprising a control unit (10) according to claim 11, at least one light source (5) and at least one input device (8, 13).

13. A vehicle (1) comprising a control unit (10) according to claim 11.

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