Vehicle control device

Abstract

A vehicle control device (10) is provided that includes a mechanical interface (12) configured to be interposed between an existing steering wheel column shaft (14) and a steering wheel (8). The device (10) comprises at least two drive units (16), each configured to, when activated, selectively engage with said mechanical interface (12) for actuating the steering wheel column shaft (14) to steer the vehicle. Further included is a detector (18) arranged to be aligned with said mechanical interface (12) and configured to detect a manual interaction with the steering wheel (8), and a controller (20) arranged to be in signal communication with the detector (18) and the drive unit (16), the controller (20) configured to control the steering wheel (8) when autonomous control is selected. At least one drive unit (16) is engaged and controlled to effect automatic steering of the vehicle when a manual interaction is detected, and said drive unit (16) is disconnected when a manual interaction is detected. In this way, by means of the control device (10), the vehicle can be retrofitted in order to alternate between autonomous control and manual control as required.

Description

Technical Field

[0001] The present invention generally relates to a vehicle control device, and more particularly to a control device for retrofitting a vehicle without modification to alternate between autonomous control and manual control, and a vehicle including the control device. Background Art

[0002] The following discussion of the background art is intended to facilitate an understanding of the present invention only. The discussion does not constitute an acknowledgement or admission that any of the material referred to is or was ever part of the common general knowledge as at the priority date of the application.

[0003] An autonomous vehicle or self-driving vehicle is typically a car or similar vehicle that incorporates vehicle automation, i.e. a ground vehicle that is able to sense its environment and move safely with little or no human input. An autonomous vehicle typically incorporates a variety of sensors to sense its surroundings, such as thermal imaging cameras, radar, lidar, sonar, GPS, odometry, and inertial measurement units. Advanced control systems interpret the sensor information to identify appropriate navigation paths, as well as obstacles and relevant landmarks.

[0004] Prior to the advent of autonomous vehicles, the automotive industry had already developed technologies such as so-called "drive-by-wire" control systems or "steer-by-wire" control systems. Such systems typically involve the use of electrical or electromechanical systems to perform vehicle functions that were traditionally performed by mechanical connections. The technology replaces traditional mechanical control systems with electronic control systems that use electromechanical actuators and human-machine interfaces such as pedal and steering feel simulators. With these systems, components such as mechanical shafts, pumps, hoses, belts, coolers, vacuum servos, and master cylinders can be eliminated from the vehicle, allowing for easier electronic control.

[0005] Traditional “drive-by-wire” or “steer-by-wire” control systems enable vehicles to achieve a degree of autonomy, which requires custom engineering to incorporate into the vehicle, often requiring the vehicle control system to be designed to work and sync with such control systems, or at least requiring the vehicle to be modified to allow use in a retrofit scenario.

[0006] For example, US2016 / 0334790 of CRUISE AUTOMATION describes an autonomous vehicle retrofit system that includes a steering motor that is engaged with a steering column via a coupling mechanism that includes a pulley or gear clamped to the steering column, where another gear, timing belt, or timing chain is required to connect the motor to the steering column. The system also requires a mechanism such as a clutch to achieve engagement and disengagement between the steering column and the steering motor.

[0007] In various applications where safety is paramount, such as at mining sites and similar industrial applications, modifications to the vehicle are not permitted for safety reasons and are not preferred due to the manpower and time required to perform such safety modifications. Therefore, conventional systems such as those described in US2016 / 0334790 are not usable because they require modifications, such as adapting the vehicle steering column to accommodate the coupling mechanism, which typically requires disassembly of the vehicle's dashboard and steering column for modification.

[0008] In light of this, Applicants have recognized the inadequacy of the art to retrofit "non-autonomous" conventional vehicles, that is, vehicles that may not have been originally built for autonomous driving, to operate autonomously without requiring engineering modifications to the vehicle itself. For example, in mining or industrial settings, the use of autonomous systems has also increased in recent years, and incorporating conventional non-autonomous vehicles into such autonomous operations can extend the useful life of expensive equipment, such as haul trucks and related equipment.

[0009] The present invention was conceived with this object in mind. Summary of the invention

[0010] According to a first aspect of the present invention, there is provided a vehicle control device, comprising:

[0011] a mechanical interface configured to be inserted between an existing steering wheel column shaft and a steering wheel of a vehicle;

[0012] at least two drive units, each drive unit configured to selectively engage the mechanical interface when activated for actuating the steering column shaft to steer the vehicle;

[0013] a detector disposed in alignment with the mechanical interface and configured to detect manual interaction with the steering wheel; and

[0014] A controller is arranged in signal communication with the detector and the drive unit, the controller being configured to:

[0015] i. When autonomous control is selected, engaging and controlling at least one drive unit to achieve autonomous steering of the vehicle; and

[0016] ii. When manual interaction is detected, disconnecting the drive unit;

[0017] Therein, by means of the control device, the vehicle can be made convertible so as to alternate between autonomous control and manual control as required.

[0018] In one embodiment, the mechanical interface is configured to be inserted between an existing steering wheel column shaft and a steering wheel of a vehicle without disassembling and / or removing the dashboard and / or steering column of the vehicle, for example, by simply removing the steering wheel.

[0019] In one embodiment, the mechanical interface includes a linkage defining a linkage shaft for receiving a steering wheel and a receiving portion for receiving the existing steering wheel column shaft therein such that rotation of the steering wheel causes the steering wheel column shaft to rotate accordingly.

[0020] Typically, the pitman shaft is aligned with the received existing steering wheel column shaft.

[0021] In one embodiment, the mechanical interface includes a steering gear coaxially arranged around the connecting rod, the steering gear coaxially with the connecting rod shaft, and the steering gear coaxially with the existing steering wheel column shaft.

[0022] In one embodiment, each drive unit comprises a drive gear engaged with a steering gear, such that actuation of the drive gear rotates the steering wheel column shaft via the steering gear.

[0023] In one embodiment, the drive unit is coaxially arranged about a pitman shaft and an existing steering column shaft, which are aligned so that the drive unit is proximate to an existing dashboard of a vehicle and is located below the steering column and above the legs of a driver of the vehicle.

[0024] In one embodiment, the drive unit comprises an electromechanical motor, such as a stepper motor or the like.

[0025] Typically, each drive unit includes a clutch by which the drive unit is configured to selectively engage with the mechanical interface.

[0026] Typically, the clutch of the drive unit is arranged between the output shaft of the drive unit and the drive gear.

[0027] In one embodiment, a plurality of drive units are arranged coaxially with an existing steering wheel column shaft.

[0028] Typically, the clutch of the drive unit is controlled by the controller to engage the drive unit to steer the vehicle when autonomous control is selected.

[0029] In one embodiment, the detector comprises a torque sensor, such as a static torque sensor or a reaction torque sensor.

[0030] In one embodiment, a detector is arranged proximate to the mechanical interface for detecting interaction with the steering wheel.

[0031] In one embodiment, the detector is arranged on and / or around a connecting rod axis of the mechanical interface.

[0032] In one embodiment, the controller comprises a portion of a vehicle automation system capable of autonomously driving the vehicle and through which autonomous control is selectable.

[0033] Typically, the mechanical interface, the drive unit and the detector are arranged in a housing whose shape and size allow it to be inserted under the steering wheel in a compact and ergonomic manner for easy retrofitting into a vehicle.

[0034] In one embodiment, a vehicle control device includes a brake assembly, the brake assembly comprising:

[0035] at least two brake actuators configured to share a common mechanical output; and

[0036] a connection portion configured to connect the common mechanical output to an existing brake pedal of the vehicle;

[0037] The controller is configured to control the brake actuator to achieve autonomous braking of the vehicle.

[0038] In one embodiment, the connection is configured to connect to an existing brake pedal via a tension connection, where the brake pedal is pulled from behind (rather than pushing the pedal to compress) to minimize interference with normal manual actuation of the brake pedal.

[0039] Typically, brake assemblies are mounted in a compact and ergonomic manner to facilitate retrofitting to vehicles.

[0040] In one embodiment, the brake actuator comprises an electromechanical motor, such as a stepper motor or the like.

[0041] Typically, each brake actuator includes a clutch by which the brake actuator is configured to selectively engage a brake pedal.

[0042] In one embodiment, the brake actuators are configured to share a common mechanical output via a toothed belt connecting the output shafts of the actuators to the common mechanical output.

[0043] Typically, the common mechanical output comprises a pulley on which a cable can be coiled, the cable being connected from behind to the brake pedal as a tension connection.

[0044] In one embodiment, each brake actuator includes a clutch between its output shaft and the toothed belt, the clutch engaging the brake actuator under control of the controller to brake the vehicle when autonomous control is selected.

[0045] In one embodiment, the controller is configured to be redundant for safety when the vehicle is turning and / or braking.

[0046] According to a second aspect of the invention, there is provided a vehicle adapted for autonomous operation, the vehicle comprising a vehicle control device according to the first aspect of the invention.

[0047] According to another aspect of the invention there is provided a vehicle control device and a vehicle comprising such a control device, substantially as described and / or illustrated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The description is made with reference to the accompanying drawings, in which:

[0049] Figure 1 is a schematic perspective view of a vehicle according to an embodiment of a vehicle control device according to aspects of the present invention;

[0050] Figure 2 yes Figure 1 a schematic perspective view of a vehicle control device with the steering wheel removed and showing the mechanical interface and drive unit;

[0051] Figure 3 yes Figure 2 A schematic side view of a vehicle control device;

[0052] Figure 4 yes Figure 1 A schematic perspective view of an example of a detector of a vehicle control device;

[0053] Figure 5 yes Figure 1 A schematic exploded view of a portion of a detector and a mechanical interface of a vehicle control device;

[0054] Figure 6 yes Figure 1 A schematic perspective view of an embodiment of a brake assembly of a vehicle control device;

[0055] Figure 7 yes Figure 6 A schematic side view of a brake assembly;

[0056] Figure 8 yes Figure 7 A schematic perspective view of a brake assembly;

[0057] Fig. 9 It is shown Figure 6 a schematic perspective view of a common mechanical output of a brake assembly; and

[0058] Fig.10 is a schematic representation of a circuit diagram of an example of a controller for implementing a vehicle control device, showing redundancy for safety purposes. DETAILED DESCRIPTION

[0059] The other features of the present invention are described more fully in the following description of several non-limiting embodiments thereof. This description is only used to illustrate the purpose of the present invention to the technician. This should not be construed as a limitation to the summary, disclosure or description of the present invention as described above.

[0060] In the accompanying drawings that are combined to illustrate the features of one or more example embodiments, the same reference numerals are used to identify the same components from time to time. In addition, features, mechanisms, and aspects that are well known and understood in the art will not be described in detail because these features, mechanisms, and aspects are within the comprehension of the technician.

[0061] Broadly speaking, the present invention provides a vehicle control device 10 by which a "non-autonomous" conventional vehicle that may not have been originally manufactured for autonomous operation can be modified to perform autonomous operation. As will be appreciated by the skilled person, such vehicles can take many forms, and exemplary embodiments of the device 10 can be used to steer and brake the vehicle, as described below. The vehicle control device 10 generally includes a mechanical interface 12, at least two drive units 16, a detector 18, and a controller 20.

[0062] The mechanical interface 12 is configured to be inserted between the vehicle's existing steering wheel column shaft 14 and the steering wheel 8. In an exemplary embodiment, the mechanical interface 12 includes a link 22 that defines a link shaft 24 for receiving the steering wheel 8 and a receiving portion 26 for receiving the existing steering wheel column shaft 14 therein, so that rotation of the steering wheel 8 causes a corresponding rotation of the steering wheel column shaft 14. Typically, the link shaft 24 is aligned with the received existing steering wheel column shaft 14, but variations can be made on this basis.

[0063] In one embodiment, an example is Figure 2 As shown, the mechanical interface 12 includes a steering gear 28 coaxially disposed about the connecting rod 22 to be coaxial with the connecting rod shaft and the existing steering wheel column shaft 24 and 14. Of course, mechanical variations are possible and are contemplated.

[0064] The vehicle control device 10 also includes at least two drive units 16, each of which is configured to selectively engage with the mechanical interface 12 when activated for actuating the steering wheel column shaft 14 to steer the vehicle. The skilled person will appreciate that at least two drive units 16 are used to provide safety redundancy, i.e., if one of the units 16 fails, another one can be used.

[0065] In one embodiment, each drive unit 16 includes a drive gear 30 that engages with a steering gear 28, as shown, such that actuation of the drive gear 30 rotates the steering column shaft 14 via the steering gear 28. In one embodiment, the drive unit 16 includes an electromechanical motor, such as a stepper motor or the like.

[0066] As will be appreciated by those skilled in the art, the mechanical interface 12 is generally configured to be inserted between the vehicle's existing steering wheel column shaft 12 and the steering wheel 8 without the need to disassemble and / or remove the vehicle's instrument panel 6 and / or steering column. As described above, the mechanical interface 12 is specifically configured to be used to retrofit a vehicle by simply removing the steering wheel, i.e., removing the steering wheel 8 and placing the device 10 on the shaft 14, which is also aligned with the pitman shaft 24, and replacing the steering wheel 8 onto the pitman shaft 24.

[0067] To further facilitate the ease of such retrofitting, the drive unit 16 is also typically coaxially arranged about the aligned pitman shaft 24 and the existing steering wheel column shaft 14, as shown, so that in use, the drive unit 16 is located adjacent to the vehicle's existing dashboard (not shown) below the steering column and above the legs of the driver of the vehicle. This arrangement of the drive unit 16 is ergonomic, does not interfere with the driver of the vehicle, and does not require removal of the dashboard 6 and / or steering column to facilitate retrofitting of the arrangement 10.

[0068] In a typical embodiment, each drive unit 16 also includes a clutch 32, through which the drive unit 16 is configured to selectively engage with the mechanical interface 12. Typically, the clutch 32 of the drive unit 16 is arranged between the output shaft of the drive unit 16 and the drive gear 30, as shown. In an exemplary embodiment, the drive unit 16 is coaxially arranged with the existing steering wheel column shaft 14, but variations can be made on this basis. The clutch 32 of the drive unit 16 is typically controlled by the controller 20 to engage the drive unit 16 to steer the vehicle when autonomous control is selected.

[0069] The vehicle control device 10 also includes a detector 18, which is arranged to be aligned with the mechanical interface 12, i.e., so as to be affected or acted upon by the mechanical interface 12. The detector 18 is configured to detect manual interaction with the steering wheel 8. In one embodiment, the detector 18 includes a torque sensor, such as a static torque sensor or a reaction torque sensor, for sensing such manual interaction, i.e., interaction when a person touches the steering wheel. In an exemplary embodiment, the detector 18 is arranged close to the mechanical interface 12 for detecting such interaction with the steering wheel 8. The detector 18 is typically arranged on and / or around a connecting rod shaft 24 of the mechanical interface 12, such as Figure 4 and Figure 5 More clearly shown.

[0070] The vehicle control device 10 also includes a controller 20, which is arranged to communicate signals with the detector 18 and the drive unit 16. Such communication can be performed via wired and / or wireless connections known in the art. The controller 20 is generally configured to engage and control at least one drive unit 16 to achieve autonomous steering of the vehicle when autonomous control is selected, and to disconnect multiple drive units 16 so as not to interfere with manual steering of the vehicle when manual interaction is detected.

[0071] In the manner described, the vehicle can be made convertible by the control device so as to alternate between autonomous control and manual control as needed. The controller 20 can be implemented in various ways, as will be appreciated by the skilled person. In one embodiment, the controller 20 may include a portion of a vehicle automation system capable of autonomously driving the vehicle, and autonomous control is selectable through this portion. Alternatively, the controller 20 may include a discrete microcontroller, such as a programmable logic controller (PLC) configured to perform the desired functions. Again, variations on this basis are possible and contemplated.

[0072] Refer to the attached figure Fig.10 , for the safety of the vehicle when turning and / or braking, the controller 20 is generally configured as redundant. As the technician will appreciate, this redundancy is generally the duplication of key components or functions of the system, with the purpose of improving the reliability of the system, usually in the form of backup or fail-safe, or improving actual system performance as needed. For example, in an exemplary (but not limiting) embodiment, the controller 20 can be implemented using logic components such as TTL and CMOS components and a resistor network to generate binary control signals as a redundant mechanism. In this way, if three different microcontrollers are used, if one of them fails, the embodiment can still generate enough voltage for control purposes. Of course, variations on this basis are possible and can be expected.

[0073] In an exemplary embodiment, the mechanical interface 12, the drive unit 16, and the detector 18 are arranged in a housing 34, the shape and size of which allows it to be inserted under the steering wheel 8 in a compact and ergonomic manner for easy retrofitting to the vehicle. For example, a small housing 34 that can be retrofitted on a variety of vehicles, etc.

[0074] With reference to the attached drawings Figures 6 to 9The vehicle control device 10 may further include a brake assembly 36 to enable autonomous braking when it is retrofitted to a conventional vehicle. The brake assembly 36 generally includes at least two brake actuators 38 configured to share a common mechanical output 40, and a connection 42 configured to connect the common mechanical output 40 to an existing brake pedal 44 of the vehicle. As with the drive unit 16, at least two brake actuators 38 are used for redundancy. In this way, the controller 20 may also be configured to control the brake actuators to enable autonomous braking of the vehicle.

[0075] In one embodiment, the connection portion 42 is configured to connect to an existing brake pedal 44 via a tension connection, wherein the brake pedal 44 is pulled from behind (rather than pushed or otherwise compressed by the brake pedal) to minimize interference with normal manual actuation of the brake pedal 44. For example, Figure 6 and Figure 7 As shown, such a connection 42 includes a cable 52 with appropriate routing hardware so that the brake actuator pulls the brake pedal to apply the brakes. This arrangement does not interfere with conventional braking.

[0076] In one embodiment, like the drive unit 16, the brake actuator 38 includes an electromechanical motor such as a stepper motor or the like. Typically, each brake actuator 38 also includes a clutch 46 by which the brake actuator 38 is configured to selectively engage the brake pedal 44. Like the drive unit 16, the brake actuator clutch 46 is controlled by the controller 20.

[0077] In an exemplary embodiment, the brake actuators 38 are configured to share a common mechanical output 40 via a toothed belt 48, which connects the output shafts of the actuators 38 to the common mechanical output 40. The common mechanical output 40 includes suitable bearings and mounting hardware, as shown, for maintaining the desired relationship between the output shafts of the brake actuators 38. However, variations on this basis are possible and contemplated. In such an example, the common mechanical output 40 includes a pulley 50 on which a cable 52 can be coiled, the cable 52 serving as a tension connection, connected to the brake pedal 44 from behind.

[0078] As shown, each brake actuator 38 includes a clutch 46 between its output shaft and a toothed belt 48, which engages the brake actuator 38 under the control of the controller 20 to brake the vehicle when automatic control is selected. The brake assembly 36 is generally mounted in a compact and ergonomic manner to facilitate retrofitting to the vehicle.

[0079] Applicants consider it particularly advantageous that the present invention provides a vehicle control device 10 by which a conventional and non-autonomous vehicle can be retrofitted for autonomous control while also allowing manual control. Device 10 generally includes redundancy in drive unit 16, brake actuator 38, clutches 32 and 46, and controller 20, as described herein, allowing for device 10 to be used for vehicle control when autonomous driving is selected.

[0080] Importantly, the vehicle control device 10 is specifically configured to be retrofitted to a vehicle by simply removing the existing steering wheel, wherein the mechanical interface can be plugged onto the existing steering wheel column shaft without interfering with the existing vehicle dashboard, after which the steering wheel can simply be placed onto the pitman shaft 24. This particular configuration does not require modification or alteration of the vehicle, nor does it require removal of the dashboard or steering column.

[0081] Furthermore, for industrial environments, such as mining sites, that typically have existing autonomous systems for managing and controlling autonomous operations, the vehicle control device 10 can be utilized to incorporate vehicles, such as multi-purpose vehicles, into such temporary or more permanent autonomous operations as desired.

[0082] The optional embodiments of the present invention can also be said to exist broadly in the parts, elements and features mentioned or indicated herein individually or collectively, in any combination or all combinations of two or more of the parts, elements or features, and where the specific wholes mentioned herein have known equivalents in the field to which the present invention relates, such known equivalents are deemed to be incorporated herein as if they were individually set forth. In the example embodiments, well-known processes, well-known device structures and well-known technologies are not described in detail because the technicians will easily understand these contents.

[0083] In the context of describing various embodiments (especially in the context of claimed subject matter), the use of the terms "a," "an," "said," "the," and / or similar referential terms should be interpreted to cover both the singular and the plural, unless otherwise stated herein or clearly contradicted by context. Unless otherwise stated, the terms "comprising," "having," "including," and "containing" should be interpreted as open-ended terms (i.e., meaning "including but not limited to"), unless otherwise stated. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. No language in the specification should be interpreted to indicate that any non-claimed subject matter is essential to the practice of the claimed subject matter.

[0084] For ease of description, spatially relative terms such as "inside", "outside", "below", "under...", "lower", "above", "upper", etc. may be used herein to describe the relationship between an element or feature and another element or feature shown in the figure. In addition to the orientation depicted in the figure, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, the element described as "below" or "lower" of other elements or features will be oriented "above" the other elements or features. Therefore, the example term "below" can include both above and below orientations. The device can be oriented in other ways (rotated 90 degrees or other directions), and the spatially relative descriptors used in this article are also interpreted accordingly.

[0085] It should be understood that references herein to "one example" or "an example" or similar exemplary language (e.g., "such as") of the present invention are not exclusive. Thus, one example may illustrate some aspects of the present invention, while other aspects are illustrated in different examples. Unless the context clearly indicates otherwise, these examples are intended to assist technicians in practicing the present invention and are not intended to limit the overall scope of the present invention in any way. After reading this application, variations (e.g., modifications and / or enhancements) of one or more embodiments described herein may become apparent to those of ordinary skill in the art. The inventors expect those skilled in the art to adopt such variations as appropriate, and the inventors intend to implement the claimed subject matter in a manner other than as specifically described herein.

Claims

1. A vehicle control device, comprising: a mechanical interface configured to be inserted onto an existing steering wheel column shaft between a steering wheel and a vehicle, the mechanical interface comprising a connecting rod defining a connecting rod shaft at one end for receiving the steering wheel and a receiving portion at another end for receiving the existing steering wheel column shaft therein, the connecting rod shaft and the receiving portion being aligned such that rotation of the steering wheel generally causes corresponding rotation of the steering wheel column shaft; at least two drive units, each drive unit configured to selectively engage the mechanical interface when activated for actuating the steering column shaft to steer the vehicle; a detector disposed in alignment with the mechanical interface and configured to detect manual interaction with the steering wheel; as well as a controller arranged to communicate signals with the detector and the drive unit, the controller being configured to: i. When autonomous control is selected, engaging and controlling at least one drive unit to achieve autonomous steering of the vehicle; and ii. When manual interaction is detected, disconnecting the drive unit; Therein, by means of the control device, the vehicle is adaptable so as to alternate between autonomous control and manual control as required.

2. The vehicle control device according to claim 1, wherein: The mechanical interface comprises a steering gear coaxially arranged around the connecting rod, the steering gear being coaxial with the connecting rod shaft, the steering gear being coaxial with the existing steering wheel column shaft, and wherein each drive unit comprises a drive gear engaged with the steering gear, so that actuation of the drive gear causes the steering wheel column shaft to rotate via the steering gear.

3. The vehicle control device according to claim 2, wherein: The drive unit is coaxially disposed about the pitman shaft and the existing steering column shaft, which are aligned so that the drive unit is ergonomically close to the vehicle's existing dashboard and located below the steering column shaft and above the legs of a driver of the vehicle.

4. The vehicle control device according to any one of claims 1 to 3, wherein: Each drive unit includes a clutch by which the drive unit is configured to selectively engage the mechanical interface.

5. The vehicle control device according to claim 4, wherein: The clutch of the drive unit is arranged between an output shaft of the drive unit and a drive gear.

6. The vehicle control device according to claim 4 or 5, wherein: The clutch of the drive unit is controlled by the controller to engage the drive unit to steer the vehicle when autonomous control is selected.

7. The vehicle control device according to any one of claims 1 to 6, wherein: The detector comprises a torque sensor, such as a static torque sensor or a reaction torque sensor, which is incorporated as part of each drive unit.

8. The vehicle control device according to any one of claims 1 to 6, wherein: The detector is arranged proximate to the mechanical interface for detecting interaction with the steering wheel.

9. The vehicle control device according to claim 8, wherein: The detector is arranged on and / or around the connecting rod axis of the mechanical interface.

10. The vehicle control device according to any one of claims 1 to 9, wherein: The controller comprises a portion of a vehicle automation system which is capable of autonomously driving the vehicle and through which autonomous control is selectable.

11. The vehicle control device according to any one of claims 1 to 10, wherein: The mechanical interface, the drive unit and the detector are arranged in a housing having a shape and size that allows it to be inserted under the steering wheel in a compact and ergonomic manner without interfering with the dashboard of the vehicle, so as to facilitate retrofitting of the vehicle.

12. The vehicle control device according to any one of claims 1 to 11, comprising a brake assembly, the brake assembly comprising: at least two brake actuators configured to share a common mechanical output; and a connection portion configured to connect the common mechanical output to an existing brake pedal of the vehicle; Wherein, the controller is configured to control the brake actuator so as to achieve autonomous braking of the vehicle.

13. The vehicle control device according to claim 12, wherein: The connection is configured to connect to the existing brake pedal via a tension connection, wherein the brake pedal is pulled from behind (rather than pushing the pedal to compress) to minimize interference with normal manual actuation of the brake pedal.

14. The vehicle control device according to claim 12 or 13, wherein: The brake assembly is integrally mounted in a compact and ergonomic manner to facilitate retrofitting of the vehicle.

15. The vehicle control device according to any one of claims 12 to 14, wherein: Each brake actuator includes a clutch by which the brake actuator is configured to selectively engage the brake pedal.

16. The vehicle control device according to any one of claims 12 to 15, wherein: The brake actuators are configured to share a common mechanical output via a toothed belt connecting output shafts of the actuators to the common mechanical output.

17. The vehicle control device according to any one of claims 12 to 16, wherein: The common mechanical output comprises a pulley on which a cable can be coiled, the cable being connected from behind to the brake pedal as a tension connection.

18. The vehicle control device according to claim 16 or 17, wherein: Each brake actuator includes a clutch between its output shaft and the toothed belt, and under the control of the controller, the clutch engages the brake actuator to brake the vehicle when autonomous control is selected.

19. The vehicle control device according to any one of claims 1 to 18, wherein: For safety when the vehicle is turning and / or braking, the controller is configured with redundancy.

20. A vehicle adapted for autonomous operation, the vehicle comprising a vehicle control device according to any one of claims 1 to 19.

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