• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A hand-held communication unit (2) adapted for wireless communication with an unmanned and autonomous vehicle (4), the communication unit comprising one or more input means (6), a first communication means (8) and a processing means (10). The first communication means (8) is adapted to wirelessly deliver, depending on inputs via said input means (6), an instruction signal (12) with at least one high-level instruction, a high-level instruction being an instruction to the autonomous vehicle (2) to independently perform a high level task performed without external control (Figure 1)
    公开号:SE1350333A1
    申请号:SE1350333
    申请日:2013-03-19
    公开日:2014-09-20
    发明作者:Jon Andersson；Joseph Ah-King；Tom Nyström
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    Move between different positions without human navigation assistance.
    ~ Perform work for a long time without human intervention.
    ~ Avoid situations that are dangerous to people, property and your own vehicle, unless it is part of the mission.
    ~ Repair yourself without external help.
    In addition, an autonomous vehicle can often include a capacity for autonomous learning that involves: ~ Learning or creating new abilities without external assistance.
    ~ Adjust strategies based on the environment.
    ~ Adapt to the environment without external assistance.
    Of course, autonomous vehicles still require regular service, as for all machines.
    Autonomous vehicles have, among other things, been developed for use in dangerous environments, for example in the defense and war industry and in the mining industry, both above ground and underground. If people or ordinary, manually controlled vehicles approach the work area of the autonomous vehicles, they normally cause a break in work due to safety reasons. When the work area is free again, the autonomous vehicles can be ordered to resume work.
    An autonomous vehicle in the present application thus refers to a vehicle that is capable of navigating and maneuvering without human control. The vehicle uses information regarding the road, the surroundings and other conditions that affect the travel to automatically regulate, for example, the throttle, braking and steering.
    A careful assessment and identification of the planned progress is necessary to assess whether a road is passable and is necessary to be able to successfully replace a person's assessment when it comes to driving the vehicle.
    Road conditions can be complex and during normal driving of a vehicle, the driver makes hundreds of observations per minute and adjusts the operation of the vehicle based on the perceived road conditions. One aspect of assessing road conditions is to perceive the road and its surroundings and to find a passable road past objects that may be on the road. In order to be able to replace human perception with an autonomous system, this means, among other things, being able to perceive objects in an accurate way in order to be able to effectively regulate the vehicle so that you steer past these objects.
    The technical methods used to identify an object adjacent to the vehicle include using one or more cameras and radar to create images of the surroundings. Laser technology is also used, both scanning lasers and fixed lasers, to detect objects and measure distances. These are often referred to as LIDAR (Light Detection and Ranging) or LADAR (Laser Detection and Ftanging). In addition, various sensors are used in the vehicle, among other things, to sense speed and accelerations in different directions.
    The cameras translate visual images captured in the form of light patterns or infrared radiation into manageable data format. Such a format can be pixelated images where a detected image is broken down into series of pixels. Radar imaging uses radio waves generated by a transmitter which are then detected and used to estimate shapes and objects in front of the transmitter. Different patterns of these reflected shapes and objects can then be analyzed to determine the position of these objects. GPS and other wireless technology can also be used to determine if, for example, you are approaching an intersection, a narrowing of the road, and other vehicles. l / clay specifically, an autonomous vehicle must be able to read the surroundings well enough to be able to carry out the task assigned to it, for example "move the boulders from place A to place B via the mine passage C". The autonomous vehicle 4 needs to plan and follow a road to the selected destination while detecting and avoiding obstacles on the road. In addition, the autonomous vehicle must carry out its task as quickly as possible without making any mistakes.
    US-2010/0114416 relates to systems and methods for navigating an autonomous vehicle using laser detection and distance measurement.
    US-2012/0035788 relates to a navigation and control system for autonomous vehicles and which includes sensors, for example laser sensors, configured to locate objects in front of the vehicle so that it can be driven without colliding with these objects.
    There are many documents describing vehicles controlled by a handheld device in the vicinity of the vehicle, some of which are discussed below.
    WO-2010/134070 relates to a remote control for a vehicle. The remote control includes a display screen and a number of buttons and controls. The vehicle is equipped with one or more cameras that are adapted to capture images from the surroundings around the vehicle and display them on the screen. Via the buttons and controls, an operator can remotely control the vehicle, including activating the horn, deciding which implement to use, controlling the implement, controlling the engine / inheritance, and controlling the control of the vehicle. There are also controls for starting the engine and selecting the gear.
    The communication between the remote control and the vehicle takes place via a cable or wireless, for example via Bluetooth. With the remote control, an operator can thus handle the vehicle at a distance, which is advantageous, for example in dangerous environments.
    FR-2764091 refers to a remote control for a car, for example an electric car. The remote control is intended to be aimed at the car and has a lower part that acts as a joystick, ie. hand movements can control the car. Furthermore, there are a number of buttons that affect different functions of the car, e.g. which gear to use. US-2010/0106344 relates to remote control of an unmanned work machine with a remote control. The work machine is adapted for autonomous operation in complex and complicated environments.
    JP-2006256382 relates to a remote control for causing a vehicle to move from a position marked with a laser beam. A control signal is then issued to the vehicle with control instructions for the vehicle to automatically move to the marked position.
    Autonomous vehicles are today used as load carriers in, for example, the mining industry - both in opencast mines and underground mines. If people or ordinary, manually controlled vehicles approach the working area of the autonomous vehicles, they normally cause a break in the work due to for safety reasons. When the work area is free again, the autonomous vehicles can be ordered to resume work.
    Autonomous vehicles communicate with a control center often via a radio interface. If any person in the vicinity of the vehicles wants to give them an instruction to perform a task, it must be handled via the command center, or by simply driving the vehicle himself - if possible. A future autonomous vehicle may not be able to be driven directly by a human, ie. there is no cab, no steering wheel or no pedals.
    In some situations, it is a disadvantage to have to wait for the management centre's actions. This may, for example, be when the vehicle needs to be stopped in order for a job to be carried out in the vicinity of the vehicle and then moved to another location.
    An object of the present invention is to facilitate the control of an autonomous vehicle, especially when one is close to the vehicle.
    Summary of the Invention The above objects are achieved by the invention defined by the independent claims.
    Preferred embodiments are defined by the dependent claims.
    In order for a human being to be able to interact quickly and easily with an autonomous vehicle in the daily work, a communication interface realized according to the present invention through a communication unit, and a method associated with this unit, according to the independent claims, are needed.
    The communication device is a handheld device adapted for use by people interacting with autonomous vehicles. The device can, for example, communicate with a vehicle via laser (similar to a standard TV remote control but focused on a narrower beam) or via radio (WiFi, mobile network, etc.), and preferably also with the vehicle's control center via radio. The vehicle is equipped with a communication device adapted for bi-directional wireless communication with the communication unit.
    According to one embodiment, the communication unit is adapted to transmit information to a control center that the vehicle has received instructions from the communication unit and also the consequences of these instructions.
    According to a further embodiment, the communication unit is provided with, for example, a laser pointer adapted to generate a visible laser beam to make it easier for the user to point to the right vehicle or place.
    To be able to determine its own position, what or which place it points to and how it is moved, the communication unit may contain gyros and / or accelerometers as well as equipment for satellite positioning (in cases where it is used outdoors). The position can also be determined by monitoring the signal strength from several nearby WiFi access points. With gyros / accelerometers, the device can also make the first gestures that the user makes with it in his hand. 7 Preferably, the communication unit is equipped with a screen to display, for example, information about the vehicle the user is pointing to.
    By applying the present invention, the communication between people and autonomous vehicles becomes smoother, faster and more practical in the daily work, compared to having a command center handle this, since the control of the vehicle can be done by a person in the vicinity of the vehicle.
    The invention thus aims to provide a simple communication in connection with the routing of, for example, heavy autonomous vehicles which are normally driverless. It is not about remote control and maneuvering the vehicle without using the vehicle's built-in intelligence.
    For example, a person in the vicinity of the autonomous vehicle can easily move the vehicle by giving some simple instructions via the communication unit.
    Simplified, the invention thus relates to a local interface adapted to deliver high-level instructions to an autonomous vehicle. These high-level instructions are normally issued by a control center.
    The invention will now be described in detail with reference to the accompanying drawings. In the figures, the same or similar parts have been given the same reference numerals.
    Brief Description of the Drawings Figure 1 is a schematic block diagram illustrating an embodiment of the present invention.
    Figure 2 is a schematic block diagram illustrating a number of embodiments of the present invention.
    Figure 3 is a flow chart illustrating a method of the present invention. Figure 4 is a flow chart illustrating a method according to an embodiment of the present invention.
    Figure 5 is a schematic block diagram illustrating an embodiment of the present invention.
    Detailed Description of Preferred Embodiments of the Invention The invention will now be described with reference to the schematic block diagram of Figure 1.
    The present invention relates to a handheld communication unit 2 adapted for wireless communication with an unmanned and autonomous vehicle 4 of the type discussed above in the background part of the application. The vehicle is, for example, intended for use in mines, both above ground and underground.
    The communication unit 2 comprises one or more input means 6, for example buttons, levers, controls or input via a touch screen, a first communication means 8 and a processing means 10, which comprise, inter alia, a processor and a memory. The communication unit 2 is also provided with an energy source, preferably a rechargeable battery, for supplying the input parts with operating voltage. In order for it to be easy to use the device, preferably with one hand, the journey should not be too great. Preferably, it has an elongated rectangular shape that fits in the hand with a length that is a maximum of 15 cm and a width that is a maximum of 5 cm. The thickness can be in the order of magnitude of a maximum of about 2 cm.
    The first communication means 8 is adapted to wirelessly output an instruction signal 12, depending on inputs via the input means 6, with at least one high-level instruction. A high-level instruction refers to an instruction to the autonomous vehicle 2 to independently perform a high-level task that is performed without external control.
    A high-level task includes a number of different activities that are independently performed by the autonomous vehicle 4 using the “intelligence” that the autonomous vehicle exhibits regarding being able to react independently and make 9 decisions based on events and circumstances in the environment that are sensed by sensors on the vehicle.
    According to one embodiment, the communication unit is provided with one or more (for example programmable) shortcuts for the most common commands (high-level instructions) you want to give to the autonomous vehicle. The user can use the device to e.g. 1. Tap a vehicle, give the command "stop" The vehicle stops. Can also be used as an emergency stop. 2. Point to a vehicle, give the command "resume work". The vehicle returns to work. 3. Point to a vehicle, give command 'move', point to a place, give command "there". The vehicle drives to the desired location. 4. Show up for the vehicle's sensors, point at the vehicle, give the command "follow me".
    The vehicle follows the user. 5. Point to a vehicle, give command '' return to depot '. The vehicle drives back to the depot / workshop. 6. Point to a vehicle, give the command "who are you ". A display unit on the communication unit displays information about the vehicle.
    This compilation is only an example of various high-level tasks that the vehicle is adapted to perform.
    According to one embodiment, the high-level instructions comprise a first high-level instruction which is intended to perform a predetermined task. This could be, for example, driving to a given position, picking up stone and then leaving the stone at another position. A second high-level instruction may, for example, be intended to drive back to a predetermined position, for example a service depot.
    According to a further embodiment, the communication unit 2 comprises a motion sensor 22 (see figure 2) adapted to sense movements of the communication unit 2 and emit a movement signal depending on the sensed 10 movement to the processing means 10. The processing means 10 is adapted to determine a third high level instruction based on said movements.
    The motion signal may, for example, consist of a signal from an accelerometer and / or a gyro. A sensed movement can then be combined with giving a high-level instruction at the same time, for example "drive in the direction I am waving" or "follow me and eat the direction I am waving".
    According to yet another embodiment, the communication unit 2 comprises a position sensor 24 adapted to determine the current position of the communication unit 2 and deliver a position signal to the processing means.
    This can be done by satellite positioning (Global Navigation Satellite System, often abbreviated to GNSS) for cases where the device is used outdoors.
    GNSS is a collective name for a group of worldwide navigation systems that utilize signals from a constellation of satellites and pseudo-satellites to enable position measurement for a receiver. The American GPS system is the most famous GNSS system, but in addition there are the Russian GLONASS and the future European Galileo. The position can also be determined by monitoring the signal strength from several wireless network access points (WiFi) nearby.
    According to one embodiment, the communication unit 2 comprises a light generating unit 14 adapted to generate a light beam 16 in a predetermined direction depending on an input via said input means 6. For example, pressing a button. The light generating unit 14 may be a laser pointer generating a laser beam within the visible range.
    The communication unit 2 is further adapted to communicate with a vehicle which is in said direction. In more detail, the communication unit 2 is adapted to first identify a vehicle by pointing to a vehicle with said light generating unit and then delivering a high level instruction to the designated vehicle, depending on inputs via said input means 6. ll According to one embodiment, the communication unit 2 comprises a second communication means 18 (see Figure 2) adapted to transmit said delivered high level instructions to a control center 20, preferably via a predetermined radio interface. This is illustrated in Figure 2 with a bidirectional arrow between the second means of communication 18 and the control center 20. In Figures 1 and 2 there is also a bidirectional arrow between the vehicle 4 and the control center 20. This indicates the communication which takes place between the control center and the vehicle, and which relates to for example, the transmission of high-level instructions from the control center to the vehicle and the transmission of information from the vehicle to the control panel. It is important for the command center to be informed about the autonomous vehicle's activities. This can be done via the other means of communication, and of course by the vehicle communicating directly with the control center.
    According to one embodiment, the first communication means 8 is adapted to deliver the high-level instruction to the autonomous vehicle in the form of an optical signal, preferably a laser signal.
    According to another embodiment, the first communication means 8 is adapted to deliver the high-level instruction to the autonomous vehicle in the form of a radio signal.
    The autonomous vehicle is in turn equipped with a communication device adapted to communicate with the first communication means 8. This communication device then in turn communicates with a control device on the vehicle which is responsible for regulating the autonomous vehicle in dependence on the received high level instructions. The Fiegler device must, for example, be able to handle the situation if high-level instructions have also been received directly from the control center and then be able to prioritize these received instructions. When the communication device has received an instruction signal with a high-level instruction, the reception can be confirmed, for example, by a handshake procedure where identities of the communication unit and the vehicle are exchanged. The bricking device is thus adapted to interpret the received high level instructions and translate these into controllable activities for the vehicle.
    An example of this could be that if the high-level instruction "stop" is received, it means that the following procedure is performed: - Reduce the throttle to zero.
    - Brake the vehicle.
    - Perform this until the speed is 0 m / s.
    The communication unit 2 preferably comprises a display unit 26 adapted to display identification information about the autonomous vehicle with which the communication unit 2 communicates. The display unit can also display information about the high-level instructions that are to be issued, or that have been issued.
    The display unit can be equipped with a touch screen and can also be used for input.
    The invention also relates to a method in connection with a hand-held communication unit adapted for wireless communication with an unmanned and autonomous vehicle. The communication unit has been described in detail above with reference to Figures 1 and 2. The method according to the invention will now be described with reference to the flow chart in Figure 3. A special embodiment is illustrated by the flow chart in Figure 4. The method thus comprises: - make an entry via the input means; - identify a high-level instruction corresponding to the input; emit a wireless instruction signal containing the high-level instruction, which is an instruction to the autonomous vehicle to independently perform a high-level task performed without external control.
    A high-level task includes a number of different activities that are performed independently by the autonomous vehicle. According to an embodiment of the method, the communication unit comprises a light generating unit adapted to generate a light beam in a predetermined direction depending on an input via the input means, the communication unit being adapted to communicate with a vehicle located in said direction. Specifically, the method comprises first identifying a vehicle by pointing to a vehicle with the light generating unit and then delivering the instruction signal with the high level instruction to the designated vehicle, depending on inputs via said input means. This is illustrated by the flow chart in Figure 4.
    According to a further embodiment, a second communication medium is arranged which is adapted to send the delivered high-level instructions to a control center, preferably via a predetermined radio interface.
    Examples of different high-level instructions and related high-level tasks for the autonomous vehicle have been discussed above in connection with the description of the communication unit and reference is made to the description where the method is now described.
    According to one embodiment, the method is intended to utilize a motion sensor arranged in the communication unit and adapted to sense movements of the communication unit and emit a movement signal in dependence on the sensed movement to the processing means. The processing means is adapted to determine a third high-level instruction based, among other things, on said movements.
    According to a further embodiment, a position sensor arranged in the communication unit and adapted to determine the current position of the communication unit and to deliver a position signal to said processing unit is used. This is then used by the processing unit to determine a high level instruction. According to an embodiment of the method, the first communication means is adapted to deliver the high-level instruction to the autonomous vehicle in the form of an optical signal, preferably a laser signal.
    According to another embodiment of the method, the first means of communication is adapted to deliver the high-level instruction to the autonomous vehicle in the form of a radio signal.
    As discussed above, the communication unit preferably comprises a display unit and according to the method it is adapted to display identification information about the autonomous vehicle with which the communication unit communicates. It can also be used to display information about the high-level instructions.
    The present invention further comprises a computer program (P) for vehicles, wherein said computer program (P) comprises program code for causing a processing means 10; 500 or another computer 500 connected to the processing means 10; 500 to perform the steps according to the method described above.
    Furthermore, the invention also comprises a computer program product comprising a program code stored on a computer-readable medium for performing the method steps described above, when said program code is run on a processing means 10; 500 or another computer 500 connected to the processing means 10; 500.
    Referring to the block diagram of Figure 5, the computer 500 will now be described.
    The program P may be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550. When it is described that the data processing unit 510 performs a certain function, it should be understood that the data processing unit 510 performs a certain part of the program which is stored in memory 560, or a certain part of the program stored in read / write memory 550.
    The data processing device 510 can communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511.
    The read / write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 599 the units connected to the processing means 10 (see figure 1 or 2) can be connected.
    When data is received on the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is arranged to perform code execution in a manner described above.
    Parts of the methods described herein may be performed by the device 500 (corresponding to the processing means 10 in Figure 1 or 2) by means of the data processing unit 510 running the program stored in the memory 560 or the read / write memory 550. When the device 500 runs the program, the methods described herein are executed.
    The present invention is not limited to the above-described preferred embodiments. Various alternatives, modifications and equivalents can be used.
    The above embodiments are therefore not to be construed as limiting the scope of the invention as defined by the appended claims.
    权利要求:
    Claims (28)
    [1]
    A hand-held communication unit (2) adapted for wireless communication with an unmanned and autonomous vehicle (4), wherein the communication unit comprises one or more input means (6), a first communication means (8) and a processing means (10), characterized in that said first communication means (8) is adapted to wirelessly output an instruction signal (12), depending on inputs via said input means (6), with at least one high-level instruction, a high-level instruction being an instruction to the autonomous vehicle (2) to independently perform a high-level task. performed without external control.
    [2]
    The communication unit (2) according to claim 1, wherein a high-level task comprises a plurality of different activities performed independently by the autonomous vehicle (4).
    [3]
    The communication unit (2) according to claim 1 or 2, wherein the communication unit (2) comprises a light generating unit (14) adapted to generate a light beam (16) in a predetermined direction depending on an input via said input means (6), wherein the communication unit (2) is adapted to communicate with a vehicle located in said direction.
    [4]
    The communication unit (2) according to claim 3, wherein the communication unit (2) is adapted to first identify a vehicle by pointing at a vehicle with said light generating unit and then delivering a high level instruction to the designated vehicle, depending on inputs via said input means ( 6).
    [5]
    The communication unit (2) according to any one of the preceding claims, wherein the communication unit (2) comprises a second communication means (18) adapted to send said delivered high-level instructions to a control center (20), preferably via a predetermined radio interface. 17
    [6]
    The communication unit (2) according to any one of the preceding claims, wherein said high-level instructions comprise a first high-level instruction which is intended to perform a predetermined task.
    [7]
    The communication unit (2) according to any one of the preceding claims, wherein said high-level instructions comprise a second high-level instruction which is intended to drive to a predetermined position, for example a service depot.
    [8]
    The communication unit (2) according to any one of the preceding claims, wherein said communication unit (2) comprises a motion sensor (22) adapted to sense movements of the communication unit (2) and emit a movement signal depending thereon to said processing means (10), said processing means (10) is adapted to determine a third high-level instruction based, inter alia, on said movements.
    [9]
    The communication unit (2) according to any one of the preceding claims, wherein said communication unit (2) comprises a position sensor (24) adapted to determine the current position of the communication unit (2) and deliver a position signal to said processing means (10).
    [10]
    The communication unit (2) according to any one of the preceding claims, wherein the first communication means (8) is adapted to deliver the high-level instruction to the autonomous vehicle in the form of an optical signal, preferably a laser signal.
    [11]
    The communication unit (2) according to any one of claims 1-10, wherein the first communication means (8) is adapted to deliver the high-level instruction to the autonomous vehicle in the form of a radio signal.
    [12]
    The communication unit (2) according to any one of the preceding claims, wherein the communication unit (2) comprises a display unit adapted to display identification information about the autonomous vehicle with which the communication unit 18 (2) communicates.
    [13]
    The communication unit (2) according to any one of the preceding claims, wherein said autonomous vehicle is a mining vehicle.
    [14]
    A method in connection with a handheld communication unit adapted for wireless communication with an unmanned and autonomous vehicle, used in the communication unit comprising one or more input means, a first communication means and a processing means, characterized in that the method comprises: - making an input via the input means; - identify a high-level instruction corresponding to the input; emit a wireless instruction signal containing the high-level instruction, which is an instruction to the autonomous vehicle to independently perform a high-level task performed without external control.
    [15]
    The method of claim 14, wherein a high level task comprises a plurality of different activities performed independently by the autonomous vehicle.
    [16]
    The method of claim 14 or 15, wherein the communication unit comprises a light generating unit adapted to generate a light beam in a predetermined direction depending on an input via said input means, the communication unit being adapted to communicate with a vehicle located in said direction.
    [17]
    The method of claim 16, wherein the method comprises first identifying a vehicle by pointing to a vehicle with said light generating unit and then delivering the control signal with the high level instruction to the designated vehicle, depending on inputs via said input means.
    [18]
    The method according to any one of claims 14-17, wherein the communication unit comprises a second communication means adapted to send said delivered high-level instructions to a command center, preferably via a predetermined radio interface.
    [19]
    The method of any of claims 14-18, wherein said high-level instructions comprise a first high-level instruction intended to perform a predetermined task.
    [20]
    The method of any of claims 14-19, wherein said high level instructions comprise a second high level instruction intended to drive back to a predetermined position, for example a service depot.
    [21]
    The method according to any of claims 14-20, wherein said communication unit comprises a motion sensor adapted to sense movements of the communication unit and emit a movement signal depending thereon to said processing means, said processing means being adapted to determine a third high level instruction based on said movements .
    [22]
    The method of any of claims 14-21, wherein said communication unit comprises a position sensor adapted to determine the current position of the communication unit and output a position signal to said processing unit.
    [23]
    The method according to any one of claims 14-22, wherein the first communication means is adapted to deliver the high-level instruction to the autonomous vehicle in the form of an optical signal, preferably a laser signal.
    [24]
    The method of any of claims 14-22, wherein the first means of communication is adapted to deliver the high level instruction to the autonomous vehicle in the form of a radio signal.
    [25]
    The method of any of claims 14-24, wherein the communication unit comprises a display unit adapted to display identification information about the autonomous vehicle with which the communication unit communicates.
    [26]
    The method according to any of the preceding claims, wherein the method is used in connection with autonomous vehicles which are mining vehicles.
    [27]
    Computer program (P) for vehicles, wherein said computer program (P) comprises program code for causing a processing medium (10; 500) or another computer (500) connected to the processing means (10; 500) to perform the steps according to the method according to any one of claims 14-26.
    [28]
    A computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 14-26, when said program code is run on a processing medium (100; 500) or another computer (500) connected to the processing agent (10; 500).
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1350333A|SE540268C2|2013-03-19|2013-03-19|Communication unit and method of communication with an autonomous vehicle|SE1350333A| SE540268C2|2013-03-19|2013-03-19|Communication unit and method of communication with an autonomous vehicle|
    PCT/SE2014/050294| WO2014148980A1|2013-03-19|2014-03-11|Communication unit and method for communication with an autonomous vehicle|
    BR112015019994A| BR112015019994A2|2013-03-19|2014-03-11|communication unit and method for communicating with a stand-alone vehicle|
    DE112014001056.1T| DE112014001056T5|2013-03-19|2014-03-11|Communication unit and method of communication with an autonomous vehicle|
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