VEHICLE WITH A UNIT FOR CONTROLLING A MANUAL AND AUTONOMOUS CONTROL MODE

Description

[0001] The present invention relates to a vehicle equipped with an autonomous driving mode and a manual driving mode.

[0002] The field of the invention is the field of vehicles equipped with an autonomous driving mode in addition to a manual driving mode. State of the art

[0003] A vehicle equipped with an autonomous driving mode, for example a land vehicle such as a car or bus, is usually also equipped with a manual driving mode.

[0004] Currently, each activation of autonomous mode requires the activation of an autonomous driving system. Similarly, each deactivation of autonomous mode to switch to manual mode requires the said autonomous driving system to be switched off. Documents US2019 / 138003A, DE102011086336A, US 2014 / 336897A and 2017 / 297578A describe various examples of such vehicles.

[0005] Such a vehicle therefore has the disadvantage of having to turn on, and therefore calibrate, the autonomous driving system each time the autonomous driving mode is activated.

[0006] An aim of the present invention is to remedy these drawbacks.

[0007] Another aim of the invention is to propose a vehicle in which the coexistence of manual and autonomous driving modes is improved.

[0008] Yet another object of the invention is to provide a vehicle in which the safety level of the vehicle is increased. Statement of the invention

[0009] The invention makes it possible to achieve at least one of these aims by a vehicle according to claim 1.

[0010] The present invention therefore proposes to equip a vehicle having an autonomous driving mode and a manual driving mode with a unit for controlling said driving modes.

[0011] In manual driving mode, the control unit inhibits the driving instructions transmitted on the digital communication bus by the autonomous driving system, without inhibiting the driving instructions transmitted by the manual driving position. In autonomous driving mode, the control unit does not inhibit the driving instructions transmitted by the autonomous driving system.

[0012] In addition, in autonomous driving mode, the control unit can inhibit, or not inhibit, instructions issued by the manual driving position.

[0013] Thus, the vehicle according to the invention allows for better coexistence of manual and autonomous driving modes. Indeed, the vehicle allows manual driving of the vehicle without switching off the autonomous driving system. In manual driving mode, the autonomous driving system remains functional and continues to issue driving instructions. The driving modes thus coexist thanks to the inhibition of these driving instructions by the control unit.

[0014] The vehicle according to the invention also offers an increased level of safety. Indeed, since the autonomous driving system remains functional, it does not require an ignition time to calibrate. The risk of issuing incorrect driving instructions is thus reduced.

[0015] Advantageously, the autonomous driving system of the vehicle according to the invention can be configured to enter predetermined identification data in each of the driving instructions that it emits, the driving mode control unit being configured to emit: a request to take into account the instructions comprising said identification data, to activate the autonomous driving mode; and a request to not take into account the instructions comprising said identification data, to deactivate the autonomous driving mode.

[0016] The present invention therefore proposes that the control unit inhibits the driving instructions issued by the autonomous driving system by issuing a request to not take them into account. To do this, the autonomous driving system marks all the driving instructions that it issues, by entering a predetermined identification data item in each of them.

[0017] Each component of the vehicle's rolling base is thus capable of identifying the driving instructions emanating from the autonomous driving system. Thus, each component can choose whether or not to take into account the instructions comprising the identification data when the control unit issues a request to take into account or not to take into account the instructions.

[0018] Thus, in this embodiment, the vehicle architecture is simplified because the autonomous driving system, respectively the driving mode control unit, can be connected to the digital communication bus, independently of the location of the other components connected to the bus. This consequently also simplifies its integration into an existing vehicle, for example.

[0019] Alternatively, the autonomous driving system of the vehicle according to the invention can be connected to the communication bus via the driving mode control unit, said driving mode control unit being configured to: authorize the passage of driving instructions issued by said autonomous driving system to the communication bus, to activate the autonomous mode; and block the passage of driving instructions issued by said autonomous driving system to the communication bus, to deactivate the autonomous mode.

[0020] The present invention therefore proposes that the control unit can inhibit the driving instructions issued by the autonomous driving system by blocking their passage.

[0021] To do this, the control unit acts as an intermediary, or gateway, between the autonomous driving system and the communication bus. Any driving instruction issued by the autonomous driving system thus passes through the control unit to reach the communication bus. As a result, the control unit can authorize or block the passage of driving instructions to respectively activate or deactivate the autonomous driving mode.

[0022] Thus, the vehicle according to the invention makes it possible to optimize the information circulating on the communication bus. Since the quantity of information that can circulate on said bus may be limited, it may be important to limit the information, for example driving instructions, circulating on it.

[0023] This alternative embodiment of the invention also allows for a more secure implementation of the inhibition of driving instructions issued by the autonomous driving system. Indeed, in this alternative embodiment, each driving instruction issued by the autonomous driving system is blocked by the control unit and does not pass through the communication bus. As a result, there is no risk of accidental consideration, by a vehicle component, of a driving instruction issued by the autonomous driving system when the vehicle is in manual driving mode.

[0024] Advantageously, the vehicle according to the invention may comprise a manual driving mode selector, the driving mode control unit being configured to activate or deactivate the autonomous driving mode depending on the state of said selector.

[0025] The present invention therefore proposes to allow the driver to manually activate or deactivate the driving mode using a selector, preferably arranged within the manual driving position.

[0026] Thus, the vehicle according to the invention allows better control by the driver of the driving mode within the vehicle, the latter never being able to change driving mode without intervention from the driver.

[0027] Advantageously, the control unit can be configured to deactivate the autonomous driving mode if at least one of the following conditions is detected: application of a force, greater than a predetermined threshold, to a steering wheel of said vehicle; application of braking to a brake pedal of said vehicle; activation of a parking brake of said vehicle; and non-detection of presence on a driver's seat.

[0028] The present invention therefore proposes to deactivate the autonomous driving mode when certain events are detected and makes it possible, for example, to deactivate the autonomous driving mode and to activate the manual driving mode and / or to stop the vehicle.

[0029] Upon detection of the application of a force to the steering wheel of said vehicle, the driving unit deactivates the autonomous driving mode and, preferably, activates the manual driving mode. The force must be greater than a predetermined threshold in order to avoid accidental deactivation.

[0030] When detecting braking via a brake pedal and / or activation of a vehicle parking brake, the drive unit deactivates the autonomous driving mode and, preferably, activates the manual driving mode.

[0031] If no presence is detected in a driver's seat, the driving unit deactivates the autonomous driving mode and, preferably, stops the vehicle.

[0032] The vehicle according to the invention thus makes it possible to increase the level of safety by allowing the driver to take control of the vehicle quickly.

[0033] The deactivation of the autonomous driving mode is carried out by inhibiting the instructions issued by the autonomous driving system, according to any of the embodiments described above.

[0034] Advantageously, the vehicle driving mode control unit according to the invention can be configured to activate the autonomous driving mode in the event of detection of all of the following conditions: zero vehicle speed; presence detection on a driver's seat; parking brake of said vehicle activated; and driving mode selector positioned on autonomous driving mode.

[0035] The present invention therefore proposes that autonomous driving mode can only be activated if certain safety conditions are met. In fact, the control unit verifies that the vehicle is parked by checking that the vehicle speed is zero and that the vehicle's parking brake is activated. The unit also verifies that a driver is present in the driver's seat and that the driving mode selector is positioned on autonomous driving mode before being able to activate autonomous driving mode.

[0036] The vehicle according to the invention thus makes it possible to increase the level of safety by limiting the risks of accidental activation of the autonomous driving mode.

[0037] Activation of the autonomous driving mode can be achieved by stopping the inhibition of the driving instructions issued by the manual driving system. Depending on the chosen implementation mode, stopping this inhibition can be achieved: either by transmitting, in the communication bus, by the control unit, a request to take into account (or to end non-consideration) of the instructions comprising the identification data entered by the autonomous driving system; or by authorizing the passage of the driving instructions transmitted by the autonomous driving system to the communication bus.

[0038] Advantageously, the vehicle according to the invention may comprise a connection interface, in particular in a removable manner, of a manual driving device, of the controller or joystick type, to the communication bus of said vehicle, to drive said vehicle in a driving mode, called remote; the driving mode control unit being further configured to inhibit the driving instructions issued by said manual driving device, in manual driving mode or in autonomous driving mode.

[0039] The present invention therefore proposes to enable the vehicle to be driven via a removable manual driving device in a remote driving mode.

[0040] The inhibition of driving instructions issued by said manual driving device can be carried out in a similar manner to the inhibition of driving instructions issued by the autonomous driving system, as described above.

[0041] In particular, the inhibition of driving instructions issued by said manual driving device can be carried out: either by a request to not take into account the instructions issued by said device, issued by the control unit: in this case, these instructions can be identified by identification data entered in said instructions by said device; or by blocking the passage of the instructions issued by said device, on the communication bus: in this case, the control unit is positioned between said device and the communication bus.

[0042] Of course, in remote driving mode, the driving instructions of the removable driving device are not inhibited by the control unit.

[0043] Advantageously, the vehicle according to the invention may comprise a manual switch for selecting, or not, the remote driving mode, the driving mode control unit being configured to activate or deactivate the remote driving mode depending on the state of said switch.

[0044] The present invention therefore proposes to allow the driver to manually choose the driving mode using a switch, preferably arranged within the manual driving position.

[0045] Thus, the vehicle according to the invention allows better control by the driver of the selected driving mode, thus increasing the safety of the vehicle.

[0046] Advantageously, the vehicle driving mode control unit according to the invention can be configured to activate the remote driving mode when: autonomous driving mode is active, and the manual switch is in the remote driving mode position.

[0047] In other words, the transition to the remote driving mode can only be done from the autonomous driving mode.

[0048] According to a general definition, the vehicle according to the invention may be a vehicle comprising at least four wheels and used for the transport of passengers or goods.

[0049] In particular, the vehicle according to the invention may be a land vehicle for public transport of people.

[0050] The vehicle according to the invention may be a heavy vehicle, i.e. a land vehicle with a maximum permissible laden weight (MPW) of more than 3.5 tonnes.

[0051] Advantageously, the vehicle according to the invention may be a land public transport vehicle, of the bus or coach type.

[0052] The vehicle according to the invention may be an electric vehicle.

[0053] According to another aspect of the invention, there is provided a method according to claim 11.

[0054] Advantageously, the inhibition of driving instructions issued by the autonomous driving system can be achieved by: blocking the passage of said instructions to a vehicle communication bus; and issuing a request to not take said instructions into account, said instructions comprising identification data allowing them to be identified.

[0055] Advantageously, the vehicle according to the invention can also be driven, in a so-called remote driving mode, by a driving device connected, in particular in a removable manner, to the communication bus of said vehicle by means of a connection interface of said vehicle, the method according to the invention can also comprise an inhibition, by the driving mode control unit, of the driving instructions issued by said remote driving device, in manual driving mode or in autonomous driving mode.

[0056] The present invention therefore proposes to enable the vehicle to be driven via a removable manual driving device in a remote driving mode. The inhibition of the driving instructions of the driving device can be carried out by sending a request not to take these instructions into account, or by blocking the passage of these instructions to the communication bus, via the control unit. In other words, these driving instructions can be inhibited similarly to those issued by the autonomous driving system when the vehicle is in manual driving mode.

[0057] In remote driving mode, the driving instructions of the removable driving device are not inhibited. Description of figures and embodiments

[0058] Other advantages and characteristics will appear on examining the detailed description of a non-limiting embodiment, and the appended drawings in which there FIGURE 1is a schematic and partial representation of a non-limiting exemplary embodiment of a vehicle according to the invention; the FIGURE 2 is a schematic and partial representation of another non-limiting example of embodiment of a vehicle according to the invention; the FIGURE 3 is a schematic and partial representation of another non-limiting example of embodiment of a vehicle according to the invention; the FIGURE 4 is a schematic representation of a non-limiting exemplary embodiment of a vehicle; and the FIGURE 5 is a block diagram illustrating a non-limiting exemplary embodiment of a procedure for starting an autonomous and manual driving mode according to the invention.

[0059] It is understood that the embodiments which will be described below are in no way limiting. In particular, it is possible to imagine variants of the invention comprising only a selection of characteristics described below isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art. This selection includes at least one preferably functional characteristic without structural details, or with only a part of the structural details if this part is only sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art.

[0060] In the figures, elements common to several figures retain the same reference.

[0061] There FIGURE 1is a schematic and partial representation of a non-limiting exemplary embodiment of a vehicle according to the invention.

[0062] Vehicle 100, shown on the figure 1 , is a vehicle equipped with an autonomous driving mode and a manual driving mode.

[0063] The vehicle 100 comprises a digital communication bus 102. The vehicle comprises components 104 1 -104 n , of a rolling base 106 of said vehicle 100, connected to the communication bus 102. In the following, the references 104, 104 i can also be used to designate the components of the rolling base 106.

[0064] Each organ 104 i is equipped with a means, such as a processor or a computer, for interpreting a driving instruction injected into the communication bus.

[0065] The vehicle 100 further comprises an on-board autonomous driving system 108, a manual driving position 110 and a driving mode control unit 112, independently connected to the communication bus 102.

[0066] The digital communication bus 102, for example a CAN data bus, thus allows the transfer of data, for example driving instructions, between the different elements connected to it.

[0067] The members 104 1 -104 n may be, by way of non-limiting examples, a brake member, a steering member, a propulsion member of the electric motor type, a stabilization member of the shock absorber type for example, one or more batteries, in particular rechargeable batteries, a human-machine interface (HMI) member, an operating assistance system (EAS) or a fleet management system (FMS).

[0068] The autonomous driving system 108 and the manual driving station 110 can send driving instructions to the various components 104 1 -104 n of the rolling base 106 via the bus 102.

[0069] The driving mode control unit 112 may be, for example, a computer. The control unit 112 allows the management of the driving modes and thus improves their coexistence within the vehicle 100.

[0070] In manual driving mode, the control unit 112 inhibits the driving instructions sent on the digital communication bus 102, by the autonomous driving system 108, without inhibiting the driving instructions sent by the manual driving station 110. In autonomous driving mode, the control unit 112 does not inhibit the driving instructions sent by the autonomous driving system 108. In addition, in autonomous driving mode, the control unit 112 may inhibit, or not inhibit, any instructions sent by the manual driving station 110.

[0071] According to the embodiment illustrated in FIGURE 1 , the control unit 112 is arranged to inhibit the driving instructions issued by the autonomous driving system 108 via the emission of a request not to take them into account, on the communication bus 102.

[0072] In this embodiment, the autonomous driving system 108 marks all the driving instructions that it issues, by a predetermined identification data item, for example by writing said predetermined identification data item in each of them. This identification data item may be an identifier of the autonomous driving system 108, or a code associated with the autonomous driving mode, etc.

[0073] Each member 104 i of the rolling base 106 of the vehicle 100 is thus capable of identifying the driving instructions emanating from the autonomous driving system 108 and circulating on the communication bus 102. Thus, each member 104 can choose to take into account the instructions comprising the identification data when the control unit 112 issues a request to take into account the instructions. Conversely, each member can also choose not to take into account the instructions comprising the identification data when the control unit 112 issues a request not to take into account the instructions.

[0074] There FIGURE 2 is a schematic and partial representation of a second, non-limiting example of embodiment of a vehicle according to the invention.

[0075] Vehicle 200 of the FIGURE 2 includes all elements of the 100 vehicle of the FIGURE 1 .

[0076] Vehicle 200 of the FIGURE 2 differs from vehicle 100 of the FIGURE 1 in that the autonomous driving system 108 of the vehicle 200 is connected to the communication bus via the driving mode control unit 112. In other words, the control unit 112 constitutes a gateway between the autonomous driving system 108 and the communication bus.

[0077] In the vehicle 200 illustrated in FIGURE 2 , the control unit 112 can inhibit the driving instructions issued by the autonomous driving system 108 by blocking the passage of these instructions to the communication bus. Indeed, any driving instruction issued by the autonomous driving system 108 must pass through the control unit to reach the communication bus 102. Consequently, the control unit 112 can authorize, or block, the passage of the driving instructions to respectively activate or deactivate the autonomous driving mode.

[0078] There FIGURE 3is a schematic and partial representation of yet another non-limiting exemplary embodiment of a vehicle according to the invention.

[0079] Vehicle 300 of the FIGURE 3 includes all elements of the 100 vehicle of the FIGURE 1 .

[0080] Vehicle 300 of the FIGURE 3 differs from vehicle 100 of the FIGURE 1 in that the vehicle 300 further comprises a manual driving device 302 connected to the communication bus via a connection interface, preferably removable.

[0081] The manual driving device 302 may be of the joystick or controller type. This manual driving device makes it possible to drive the vehicle 300 in a so-called remote driving mode, by transmitting driving instructions to the components 104 of the rolling base 106 of said vehicle 300.

[0082] In vehicle 300 of the FIGURE 3, the driving mode control unit 112 is further configured to inhibit the driving instructions issued by the manual driving device 302, when the vehicle is in manual driving mode or in autonomous driving mode.

[0083] In remote driving mode, the driving instructions issued by the manual driving device 302 are not inhibited by the control unit 112.

[0084] In the vehicle 300, the control unit 112 is arranged to inhibit the driving instructions issued by the manual driving apparatus 302 via the emission of a request for non-consideration of these instructions, on the communication bus 102. In this embodiment, the apparatus 302 marks all the driving instructions that it issues, by a predetermined identification data item, for example by writing said predetermined identification data item in each of them. This identification data item may be an identifier of the autonomous driving system 108, or a code associated with the autonomous driving mode, etc.

[0085] Alternatively to what is depicted on the FIGURE 3, the manual driving device 302 can be connected to the communication bus 102 via the control unit 112, the latter then constituting a gateway between said device 302 and the communication bus 102. In this case, the control unit 112 can inhibit the driving instructions issued by the manual driving device 302 by blocking the passage of these instructions on the communication bus 102.

[0086] In addition, the manual driving device 302 may include a means for detecting the presence of the user, also called a “dead man”, for example in the form of a button or a combination of buttons.

[0087] There FIGURE 4 is a schematic representation of another non-limiting example of a vehicle.

[0088] Vehicle 400, shown on the FIGURE 4, is a public transport vehicle 400, more precisely an electric bus comprising a passenger compartment delimited by a front wall 402, two longitudinal side walls 404 and 406, a rear wall 408, an upper wall 410 and a lower wall 412.

[0089] The electric bus 400 comprises one or more electric motors (not shown), one or more modules 414, called rear, for storing electrical energy, arranged on the side of the rear wall 408. The bus 400 further comprises one or more modules 416, called upper, for storing electrical energy, arranged in a housing provided in the upper wall 410 of the bus 400.

[0090] The electric bus 400 is driven exclusively by electrical energy supplied by the electrical energy storage modules 414 and 416, which may be batteries or supercapacitors.

[0091] The electrical energy storage modules 414 and 416 are recharged from an external electrical source, via a recharging cable, possibly comprising a pilot wire.

[0092] The electric bus 400 can be any of the vehicles 100, 200 and 300 shown in the FIGURES 1 to 3 .

[0093] There FIGURE 5 is a block diagram illustrating a non-limiting exemplary embodiment of a procedure for starting a manual or autonomous driving mode of a vehicle according to the invention.

[0094] The example startup procedure illustrated in Figure 5is implemented in a vehicle according to the invention, equipped with a manual driving mode selector. This vehicle, for example of the bus type, is equipped with a set of indicator lights indicating the activated driving mode by a color specific to it. This set of indicator lights can, for example, take the form of a column and be arranged in the passenger compartment of the vehicle, at the front and / or at the rear.

[0095] In the first step, block 502, the manual driving mode selector is in neutral and the indicator lights are off. The driver then changes the position of the manual driving mode selector.

[0096] To start the vehicle in manual driving mode, the driver puts the mode selector in the manual position during a step 504. Then, during a verification step 506, an electronic control unit (ECU) checks whether the starting conditions in list 508 are met. The electronic control unit thus checks: that a driver is seated, for example using a presence sensor; that the vehicle is not in driving mode, i.e. an autonomous or manual driving mode has not already been activated; that the speed is zero, i.e. the vehicle is stationary; that the parking brake is active, the parking brake being able for example to be an electric parking brake EPB (from the English Electric Park Brake) or a parking brake lever HCU (from the English Hand Control Unit).

[0097] If the electronic control unit determines that at least one of these conditions is not met, output NOK from verification step 506, the driving mode of the vehicle remains in the previous state, step 510. The vehicle thus remains in neutral mode.

[0098] If the electronic control unit determines that all conditions are met, output OK from block 506, the vehicle's electronic control unit switches the driving mode to manual mode and turns on a green indicator light, during a step 512.

[0099] During a step 514, in order to park the vehicle at the end of the mission, the selector must be put in neutral position and predefined stopping conditions must be met.

[0100] Alternatively, to start the vehicle in autonomous driving mode from a neutral position, the driver puts the mode selector in the autonomous position during a step 516. Then, during a verification step 518, the electronic control unit checks whether the starting conditions of list 508 are met.

[0101] If the electronic control unit determines that at least one of these conditions is not met, output NOK of step 518, the driving mode of the vehicle remains in the previous state, step 510.

[0102] If the electronic control unit determines that all the conditions are met, output OK from step 518, the electronic control unit of the vehicle informs, in a step 520, the autonomous driving system AD (from the English Autonomous Driving) as well as the electronic “driving” control units of the request to start the autonomous driving mode. In a following step 522, the autonomous driving system acquires the state of the electronic “driving” control units. It is then possible, in an optional step 524, to carry out various checks relating to the state of the electronic “driving” control units.

[0103] If these checks are not conclusive, NOK output from step 524, the vehicle status remains in the previous status.

[0104] If these checks are conclusive, exit OK from step 524, the vehicle's electronic control unit switches the driving mode to manual mode and lights up a green indicator light, during step 528.

[0105] In the absence of optional step 524, the procedure for starting the vehicle in autonomous driving mode goes directly from step 522 to step 528.

[0106] During a final step 514, in order to park the vehicle at the end of the mission, the selector must be put in neutral position and previously defined stopping conditions must be met.

[0107] Of course, the invention is not limited to the examples detailed above, in particular the length of the bus, the number and the position of the modules may be different from those given in the aforementioned examples.

Claims

1. Vehicle (100; 200; 300) comprising: - a station (110) for manual driving by a driver, - an on-board system (108) for autonomous driving in an autonomous driving mode, by sending driving instructions to at least one component (1041-104n) of a rolling base (106) of said vehicle, via a digital communication bus (102), said autonomous driving system (108) remaining functional and continuing to send driving instructions in manual driving mode, and - a driving mode control unit (112); characterized in that said driving mode control unit (112) is configured to inhibit the driving instructions sent by said autonomous driving system (108), in manual driving mode.

2. Vehicle (100; 300) according to claim 1, characterized in that the autonomous driving system (108) is configured to enter a piece of predetermined identification data into each of the driving instructions sent therefrom, the driving mode control unit (112) being configured to send: - a request to take into account the instructions comprising said identification data, in order to activate the autonomous driving mode; and - a request to disregard the instructions comprising said identification data, in order to deactivate the autonomous driving mode.

3. Vehicle (200) according to claim 1, characterized in that the autonomous driving system (108) is connected to the communication bus (102) via the driving mode control unit (112), said driving mode control unit being configured to: - authorize the passing of the driving instructions sent by said autonomous driving system (108) to the communication bus (102), in order to activate the autonomous mode; and - block the passing of the driving instructions sent by said autonomous driving system (108) to the communication bus (102), in order to deactivate the autonomous mode.

4. Vehicle (100; 200; 300) according to any one of the preceding claims, characterized in that it comprises a manual driving mode selector, the driving mode control unit (112) being configured to activate or deactivate the autonomous driving mode on the basis of the state of said selector.

5. Vehicle (100; 200; 300) according to any one of the preceding claims, characterized in that the driving mode control unit (112) is configured to deactivate the autonomous driving mode upon detection of at least one of the following conditions: - application of a force, greater than a predetermined threshold, to a steering wheel of said vehicle; - application of braking to a brake pedal of said vehicle; - activation of a parking brake of said vehicle; and - non-detection of a presence on a driver's seat.

6. Vehicle (100; 200; 300) according to claim 4, characterized in that the driving mode control unit (112) is configured to activate the autonomous driving mode upon detection of all of the following conditions: - vehicle speed of zero; - detection of a presence on a driver's seat; - parking brake of said vehicle activated; and - driving mode selector set to autonomous driving mode.

7. Vehicle (300) according to any one of the preceding claims, characterized in that it comprises an interface (302) for connecting a manual driving device, such as a lever or joystick, to the communication bus (102) of said vehicle (300), in order to drive said vehicle in a so-called remote driving mode; the driving mode control unit (112) being further configured to inhibit the driving instructions sent by said manual driving device, in manual driving mode or in autonomous driving mode.

8. Vehicle (300) according to claim 7, characterized in that it comprises a manual switch for selecting, or not selecting, the remote driving mode, the driving mode control unit (112) being configured to activate or deactivate the remote driving mode on the basis of the state of said switch.

9. Vehicle (300) according to claim 8, characterized in that the driving mode control unit (112) is configured to activate the remote driving mode when: - the autonomous driving mode is active, and - the manual switch is in the remote driving mode position.

10. Vehicle (100; 200; 300) according to any one of the preceding claims, characterized in that it is a land-based public transport vehicle, of the bus or coach type, in particular an electric vehicle.

11. Method for managing a driving mode in a vehicle (100; 200; 300) that can be selectively driven in: - a mode for manual driving by a driver, - a mode for autonomous driving by an on-board autonomous driving system (108) sending driving instructions to at least one component (104) of a rolling base (106) of said vehicle (100; 200; 300) via a digital communication bus (102), said autonomous driving system (108) remaining functional and continuing to send driving instructions in manual driving mode, and characterized in that said method comprises inhibiting, by means of a driving mode control unit (112), the driving instructions sent by said autonomous driving system (108), in manual driving mode.

12. Method according to the preceding claim, characterized in that the driving instructions sent by the autonomous driving system (108) can be inhibited by: - blocking the passing of said instructions to a communication bus (102) of the vehicle (200); and - sending a request to disregard said instructions, said instructions comprising a piece of identification data allowing them to be identified.

13. Method according to any one of claims 11 or 12, characterized in that said vehicle (300) can also be driven, in a so-called remote driving mode, by a driving device which is connected, in particular removably, to the communication bus (102) of said vehicle (300) by means of a connection interface (302) of said vehicle, said method further comprising inhibiting, by means of the driving mode control unit (112), the driving instructions sent by said remote driving device, in manual driving mode or in autonomous driving mode.