WO2020117111A1 - Procédé, mis en œuvre par un dispositif de commande, pour commander une position de véhicule par rapport à une plate-forme, dispositif de commande et véhicule comprenant un tel dispositif de commande - Google Patents

Procédé, mis en œuvre par un dispositif de commande, pour commander une position de véhicule par rapport à une plate-forme, dispositif de commande et véhicule comprenant un tel dispositif de commande Download PDF

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Publication number
WO2020117111A1
WO2020117111A1 PCT/SE2019/051087 SE2019051087W WO2020117111A1 WO 2020117111 A1 WO2020117111 A1 WO 2020117111A1 SE 2019051087 W SE2019051087 W SE 2019051087W WO 2020117111 A1 WO2020117111 A1 WO 2020117111A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
platform
inclination
control device
floor surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2019/051087
Other languages
English (en)
Inventor
André Claesson
Robert SJÖDIN
Linus ÄHRLIG
Sami Teppola
Mikko Kallio
Tomas SKEPPSTRÖM
Morgan Colling
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Priority to CN201980074578.2A priority Critical patent/CN113056380B/zh
Priority to DE112019005390.6T priority patent/DE112019005390B4/de
Publication of WO2020117111A1 publication Critical patent/WO2020117111A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/017—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their use when the vehicle is stationary, e.g. during loading, engine start-up or switch-off
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/02—Trucks; Load vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/14—Buses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/50—Electric vehicles; Hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0511—Roll angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0512—Pitch angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/252—Stroke; Height; Displacement vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/14—Photo or light sensitive means, e.g. Infrared
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/15—Doppler effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/21—Laser
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/014—Pitch; Nose dive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/20—Stationary vehicle
    • B60G2800/204—Stationary vehicle adjusting floor height to the loading ramp level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems

Definitions

  • the invention relates to a method, performed by a control device, for controlling a ve hicle position in relation to a platform according to the appended claims.
  • the inven tion further relates to a computer program, a computer-readable medium, a control device and a vehicle according to the appended claims.
  • Different types of vehicles are operated for loading and unloading goods, cargo and passengers on platforms, such as loading docks.
  • platforms such as loading docks.
  • the vehicle When the vehicle is stopped or parked adjacent to the platform whereby goods, cargo and passengers are transferred from the platform or vehicle through a door opening of the vehicle.
  • a floor of the vehicle be aligned as closely as possible with the elevation of the platform surface.
  • Vehicles of today are typically manufactured for a specific purpose, e.g. a bus is man ufactured for transporting people and a truck is manufactured for transporting goods. Such vehicles are typically manufactured and completely assembled in a factory or they may be partly assembled in a factory and completed at a body manufacturer. Once the vehicle is assembled, the vehicle can be used for the specific purpose.
  • a bus may be used as a bus and a truck for transporting goods will be used as a truck for transporting goods.
  • Different vehicles are thus needed for different purposes, which may require a large fleet of vehicles and which is very costly. It may therefore be de sired to be able to customize a vehicle depending on different missions.
  • An object of the invention is to facilitate and minimize the time for loading and un loading of a vehicle.
  • a further object of the invention is to increase security and minimize damages at loading and unloading of a vehicle.
  • the herein mentioned objects are achieved with a method, performed by a control device, for controlling a vehicle position in relation to a platform according to the ap pended claims.
  • the herein mentioned objects are also achieved with a computer pro gram, a computer-readable medium, a control device and a vehicle, according to the appended claims.
  • a method, performed by a control device, for controlling a vehicle position in relation to a platform comprising: at least one sensor device; at least two front wheels; at least two rear wheels; and the control device, the method comprising: determining a platform height above a road surface at the platform; determining an inclination of the platform; controlling the vehicle, so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.
  • a control device for controlling a vehicle position in relation to a platform, the vehicle comprising: at least one sensor device; at least two front wheels; at least two rear wheels; and the control device, the control device being configured to: determine a platform height above a road surface at the platform; determine an inclination of the platform; control the vehicle, so that a floor surface of the vehicle has a level corresponding to the platform height; and control the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.
  • the vehicle may be controlled, so that the floor surface of the ve hicle has a level corresponding to the platform height, and also so the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.
  • Loading and unloading goods, cargo and passengers on the platform are facilitated when the floor surface of the vehicle has a level and an inclination corresponding to the platform height, and to any inclination of the platform.
  • the time will be minimized when loading and unloading goods, cargo and passengers on the platform, since the goods and cargo may easily be moved between the surfaces of the vehicle floor and the platform, without any lift.
  • the security is increased and damages minimized on the goods, cargo and passengers, since there is no step between the surfaces of the vehicle floor and the platform.
  • a vehicle assembled from a set of modules comprises at least one drive module and at least one functional module, wherein the at least one drive module comprises the a least two front wheels or the at least two rear wheels, and is configured to be autono mously operated and drive the assembled vehicle.
  • the vehicle further comprises a control device as disclosed herein.
  • Vehicles of today are typically manufactured for a specific purpose, e.g. a bus is manufactured for transporting people and a truck is manufactured for transporting goods. Such vehicles are typically manufactured and completely assembled in a fac tory or they are partly assembled in a factory and completed at a body manufacturer. Once the vehicle is assembled, the vehicle will only be used for the specific purpose. Thus, a bus will only be used as a bus and a truck for transporting goods will be used as a truck for transporting goods. Different vehicles are thus needed for different pur poses, which may require a large fleet of vehicles and which may be very costly. As sembling a vehicle from a set of modules according to the invention makes it possible to dynamically assemble a modularised vehicle depending on a current mission or function to be performed.
  • the vehicle is autonomously operated by means of the at least one drive module.
  • the drive module may autonomously/automatically perform physical and electrical connection/discon nection with a second module. This way, no manual work is required and the assem bly of the vehicle is less cumbersome and much more time efficient.
  • the platform height above a road surface and any inclination of the plat form are autonomously determined by the control device of the vehicle.
  • the vehicle is autonomously controlled, so that the floor surface of the vehicle has a level corresponding to the platform height, and also so the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.
  • FIGS. 1 a and 1 b schematically illustrate side views of a vehicle provided with a con trol device according to an embodiment
  • FIGS. 2a and 2b schematically illustrate side views of a vehicle provided with a con trol device according to an embodiment
  • Figure 2c schematically illustrate a view of from behind of a vehicle provided with a control device according to an embodiment
  • FIGS. 3a and 3b schematically illustrate side views of a modularised vehicle provided with a control device according to an embodiment
  • Figure 4 schematically illustrates a drive module provided with a control device accord ing to an embodiment
  • Figure 5a illustrates a flow chart for a method, performed by a control device, for con trolling the height of a modularised vehicle according to an embodiment
  • Figure 5b illustrates a flow chart for a method, performed by a control device, for con trolling the height of a modularised vehicle according to an embodiment
  • Figure 6 schematically illustrates a control device or computer according to an embod iment.
  • the method, performed by the control device, for controlling a vehicle position in rela tion to a platform will facilitate loading and unloading the vehicle and minimizing the time for loading and unloading. In addition, security will increase and damages mini mized when loading and unloading the vehicle.
  • Modularised vehicles are typically assembled at the customer’s premises and the cus tomer may thus buy a set of modules from a manufacturer.
  • the assembled vehicle may comprise at least two modules including at least one drive module and at least one functional module.
  • Such a modularised vehicle is applicable on all sorts of road vehicles and may thus relate to heavy vehicles, such as buses, trucks etc., which may be used on public roads.
  • the present disclosure relates to a method, performed by a control device, for controlling a vehicle position in relation to a platform, the vehicle comprising: at least one sensor device; at least two front wheels; at least two rear wheels; and the control device, the method comprising: determining a platform height above a road surface at the platform; determining an inclination of the platform; con trolling the vehicle, so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.
  • the vehicle By determining the platform height above a road surface and determining any inclina tion of the platform, the vehicle is controlled, so that the floor surface of the vehicle has a level corresponding to the platform height, and also so the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.
  • the vehicle level and inclination is controlled when the ve hicle is moving towards the platform or when the vehicle has stopped adjacent to the platform.
  • the vehicle level is controlled so that a specific component of the vehicle is changing height.
  • the level of the platform surface above the road surface may be the same level as the platform height above the road surface.
  • the level of the floor sur face above the road surface may be the same level as a floor surface height above the road surface.
  • the difference between the level and height may be very small, and will not affect boarding and exit the vehi cle or loading and unloading of the vehicle.
  • the vehicle can be configured with a passenger compartment for accommodating passengers and may thus function as a bus.
  • the vehi cle can be configured with a load compartment for accommodating load, goods and cargo, and may thus function as a truck.
  • the determined platform height above the road surface at the platform is compared to the actual vehicle floor surface level in relation to the road surface.
  • the vehicle floor surface level present when the vehicle approaching the platform is a vehicle floor surface level used when driving the vehicle during normal driving conditions. However, the vehicle floor surface level used when driving the vehicle during normal driving conditions may vary depending on the weight of the passengers and/or the loaded goods within the vehicle.
  • the vehicle floor surface level present when the ve hicle approaching the platform is detected by any means of a height sensor device.
  • the height sensor device may also be used during controlling the vehicle floor sur face level before arriving at platform, so that a floor surface of the vehicle has a level corresponding to the height of the platform surface.
  • Determining the platform height above a road surface at the platform is based on detected height information from any means of a height or position sensor device.
  • a height or position sensor device may be a laser sensor, ultra sound sensor, a radar, a lidar or the like.
  • Such sensor devices may also be combined on the vehicle in order to increase the accuracy of the determining of the platform height.
  • Determining the inclination of the platform is based on detected inclination information from any means of an inclination sensor device.
  • Such sensor device may be a laser sensor, ultra sound sensor, a radar, a lidar or the like.
  • Such sensor devices may also be combined on the vehicle in order to increase the accu racy of the determining of the inclination of the platform.
  • the sensor devices also de tects an outer edge of the platform and transmit signals to the control unit for control ling the vehicle to be positioned with an outer edge of the floor surface of the vehicle parallel to the outer edge of the platform.
  • the control device comprised in the vehicle is configured to receive commands and instructions from a control centre or an off-board system and to execute the com mands/instructions for controlling the vehicle level and inclination in relation to the road surface based on data from the sensor device.
  • the vehicle may be autono mously operated in order to determining the platform height above a road surface at the platform; determining the inclination of the platform; controlling the vehicle, so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.
  • Controlling the vehicle level in relation to the road surface according to the method is performed, by the control device comprised in the vehicle, without instructions from the control centre.
  • controlling the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform comprises control ling the inclination of the vehicle in a longitudinal direction of the vehicle and in a lat eral direction of the vehicle.
  • Determining an inclination of the platform surface may result in that the platform sur face has an inclination in relation to a horizontal plane.
  • the platform surface may have an inclination in any direction of a horizontal plane. Controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a lateral direction of the ve hicle may result in that the floor surface of the vehicle may achieve a corresponding inclination to the inclination of the platform.
  • the vehicle may comprise a sensor de vice, such as a levelling sensor, which is connected to the control device. The sensor device may detect the inclination of the vehicle.
  • controlling the vehicle comprises controlling an individually controllable wheel suspension of at least one wheel.
  • the wheel suspension of the vehicle is arranged between each wheel and a body of the vehicle.
  • the wheel suspension may comprise springs and dampers for improving the driving characteristics of the vehicle.
  • the wheel suspension of the vehicle may comprise adjusting means for controlling the vehicle level when arriving at the plat form.
  • the control device receives information about the platform and the road surface at the platform. Thereafter the control device is configured to control the adjusting means of each wheel suspension individually to adjust the vehicle in relation to the platform.
  • the road surface at the platform may have a curvature and have cavities, which the individually controllable wheel suspension of at least one wheel may com pensate for.
  • the suspension system may also be controlled so that an outer edge of the platform is parallel to an outer edge of the floor surface of the vehicle.
  • controlling the vehicle comprises controlling an individually controllable wheel suspension of at least one wheel, so that the floor surface of the vehicle coincide with a platform surface in a common plane.
  • the control device receives information about the platform height and the inclination of the platform surface above the road surface at the platform from the one or more sensor device(s). Thereafter the control device controls the adjusting means of each wheel suspension individually to adjust the vehicle level and inclination correspond ing to the platform height and the inclination of the platform surface.
  • the vehicle may have at least four wheels, each provided with an individually controlled wheel sus pension. Controlling the inclination of the vehicle in a longitudinal direction of the ve hicle and in a lateral direction of the vehicle is possible when arranging the wheels in the area of, for example, each corner of the vehicle.
  • determining a platform height comprises determining the platform height by means of the least one sensor device.
  • At least one sensor device is arranged on the vehicle for determining the platform height.
  • Such sensor device may be a laser sensor, ultra sound sensor, a radar, a li- dar or the like. Such sensor devices may also be combined on the vehicle in order to increase the accuracy of the determining of the height of the platform.
  • the sensor de vice is connected to the control device, and provides the control device with infor mation about the platform height. When the vehicle approaches the platform, the sensor device detects the platform height. Signals from the sensor device is transmit ted to the control device. Based on the information from the sensor device, the con trol unit controls the vehicle, so that the floor surface of the vehicle has a level corre sponding to the platform height.
  • a plurality of sensor devices for determining the plat form height are arranged on the vehicle. One sensor device is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two other sensor devices are arranged on each side of the vehicle.
  • Signals from the sensor comprising the information about the platform height above the road surface at the target destination is received by the control device in the vehi cle.
  • the control device is configured to control the vehicle height when approaching the platform, so that the floor surface of the vehicle has a level corresponding to the height of the platform surface.
  • the control device is configured to verify that the level of the floor surface of the vehicle corresponds to the height of the platform surface when the vehicle is close to or adjacent to the platform. Controlling of the floor sur face level by means of the control device may set a number of software marks (flags) of the control device. If the control device determines that the floor surface level is higher than the platform height, a first flag is set by the control device in a software of the control device.
  • a second flag is set by the control device in the software of the control device. If the control device determines that the floor surface level already correspond to the platform height a third flag is set by the control device in the soft ware of the control device. Depending on the flag set, the control device controls the vehicle to a floor surface level that correspond to the platform height at the target destination, so that a floor surface of the vehicle has a level corresponding to the height of the platform surface.
  • the definition of the expression that the floor surface of the vehicle corresponds to the height of the platform surface is that there is a small margin of error between the level of the floor surface and the height of the platform surface.
  • controlling the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform comprises deter mining the inclination of the floor surface by means of a level sensor and determining the inclination of the platform by means of the at least one sensor device.
  • the vehicle may comprise a sensor device, such as a level sensor, which is con nected to the control device.
  • the sensor device may detect the inclination of the vehi cle and transmit the information to the control device.
  • At least one sensor device is arranged on the vehicle for determining the inclination of the platform.
  • Such sensor device may be a laser sensor, ultra sound sensor, a radar, a lidar or the like.
  • Such sensor devices may also be combined on the vehicle in order to increase the accu racy of the determining of the inclination of the platform.
  • the sensor device is con nected to the control device, and provides the control device with information about the inclination of the platform.
  • Determining an inclination of the platform surface may result in that the platform surface has an inclination in relation to a horizontal plane.
  • the platform surface may have an inclination in any direction of a horizontal plane.
  • the sensor device detects the inclination of the platform. Signals from the sensor device is transmitted to the control device.
  • a plurality of sensor devices for determining the inclination of the platform are arranged on the vehicle. One sensor device is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two other sensor devices are ar ranged on each side of the vehicle.
  • the control unit is configured to control the vehicle, so that the floor surface of the ve hicle has an inclination corresponding to the inclination of the platform.
  • the method comprises the further step of determining the dis tance between the vehicle and the platform by means of the at least one sensor de vice.
  • the at least one sensor device detects the platform.
  • the at least one sensor device transfers the detected signals of the plat form to the control device. Based on these signals, the control device determines the distance between the vehicle and the platform. Based on the determined distance between the vehicle and the platform, the control device controls the vehicle to move to a position adjacent to the platform.
  • the method comprises the further step of determining the shape of the road surface by means of the at least one sensor device.
  • the road surface at the platform may have a curvature, cavities and elevations, which may influence on the position of the vehicle in relation to the platform.
  • At least one sensor device is arranged on the vehicle for determining the shape of the road surface.
  • the sensor device may detect the curvature and any cavities in the road sur face at the platform.
  • the sensor device may also detect any elevation or bump in the road surface at the platform.
  • Such sensor device may be a laser sensor, ultra sound sensor, a radar, a lidar or the like.
  • Such sensor devices may also be combined on the vehicle in order to increase the accuracy of the determining of the shape of the road surface.
  • the sensor device is connected to the control device, and provides the con trol device with information about the shape of the road surface.
  • the sensor device When the vehicle approaches the platform, the sensor device detects the shape of the road surface at the platform. Signals from the sensor device is transmitted to the control device. Based on the information from the sensor device, the control unit may controlling the vehicle, so that the floor surface of the vehicle has a level and inclination correspond ing to the platform height and inclination.
  • a plurality of sensor devices for determining the shape of the road surface may be arranged on the vehicle. One sensor device is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two other sensor devices are arranged on each side of the vehicle. A fur ther sensor device for determining the shape of the road surface is arranged on the underside of the vehicle.
  • the method comprises the further step of determining any obstacles above or beside the road surface in front of the platform by means of the at least one sensor device.
  • the vehicle When approaching the platform, the vehicle may interfere with obstacles above or beside the road surface in front of the platform. Such obstacles may be a ceiling above and in front of the platform. Such obstacles may also be another vehicle parked at the platform.
  • At least one sensor device is arranged on the vehicle for de termining any obstacles above or beside the road surface in front of the platform. The sensor device may detect the any obstacles above or beside the road surface in front of the platform.
  • Such sensor device may be a laser sensor, ultra sound sensor, a ra dar, a lidar or the like.
  • Such sensor devices may also be combined on the vehicle in order to increase the accuracy of the determining of any obstacles above or beside the road surface in front of the platform.
  • the sensor device is connected to the con trol device, and provides the control device with information about any obstacles above or beside the road surface in front of the platform.
  • the sensor device detects any obstacles above or beside the road surface in front of the platform. Signals from the sensor device is transmitted to the control device. Based on the information from the sensor device, the control de vice is configured to control the vehicle, so that the vehicle avoids the detected ob stacles.
  • a plurality of sensor devices for determining any obstacles above or beside the road surface in front of the platform may be arranged on the vehicle.
  • One sensor device is arranged in front of the vehicle.
  • Another sensor device is arranged at the rear of the vehicle and two other sensor devices are arranged on each side of the ve hicle.
  • the method comprises the further step of receiving infor mation about the platform height and the inclination of the platform from another vehi cle.
  • Other vehicles may have visited the site of the platform and thus registered and stored information about the platform height above the road surface and the inclina tion of the platform.
  • the information about the platform height above the road surface and the inclination of the platform are received from such other vehicle before the ve hicle is arriving at the target destination.
  • the information may be received close to the moment when the vehicle is arriving at the target destination.
  • the vehicle may receive updated information about the platform height and the inclination of the platform.
  • a change in platform height above the road sur face and a change of the inclination of the platform may take place due to reconstruc tion of the road and/or the platform.
  • the vehicle height and inclination is controlled before arriving at the target destina tion.
  • the vehicle height and inclination are controlled so that a specific component of the vehicle is changing height.
  • the vehicle height and inclination may be controlled before arriving at the target destination, so that the floor surface of the vehicle may have a level above the road surface and an inclination corresponding to the level of the platform surface above the road surface and the inclination of the platform at the target destination.
  • the level of the platform surface above the road surface may be the same level as the platform height above the road surface.
  • the level of the floor surface above the road surface may be the same level as a floor surface height above the road surface.
  • the information about the platform height and the inclina tion of the platform is received from an external control centre.
  • the control device comprised in the vehicle is configured to receive information, commands and instruc tions from the control centre or an off-board system and to execute the commands/in structions for controlling the vehicle height and inclination corresponding to the plat form height and platform inclination at the target destination.
  • a door actuator is controlled for opening at least one door of the vehicle. The door is opened after verifying that the floor surface of the vehicle has a level and inclination that correspond to the height and inclination of the platform surface. The door actuator is controlled by the control device in the vehicle.
  • the doors of the ve hicle are opened when there is a difference between the floor surface level and the platform surface height, the doors may be obstructed by the platform, which may lead to a technical malfunction of the doors and/or the door actuators. Opening of the doors after verifying that the floor surface of the vehicle has a level corresponding to the height of the platform surface may result in a secure and convenient boarding and exit of passengers to and from the vehicle. Also, load and goods may safely be loaded and unloaded to and from the vehicle if the doors are opened after verifying that the floor surface of the vehicle has a level and inclination corresponding to the height and inclination of the platform surface.
  • the present disclosure also relates to a computer program comprising instructions which, when the program is executed by a computer, causes the computer to carry out the method disclosed above.
  • the invention further relates to a computer-readable me dium comprising instructions, which when executed by a computer causes the com puter to carry out the method disclosed above.
  • the present disclosure relates to a control device for controlling a vehicle position in relation to a platform, the vehicle comprising: at least one sensor device; at least two front wheels; at least two rear wheels; and the control device, the control device being configured to: determine a platform height above a road surface at the platform; determine an inclination of the platform; control the vehicle, so that a floor surface of the vehicle has a level corresponding to the platform height; and control the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.
  • the control device is configured to determine the platform height above a road sur face and determining any inclination of the platform. Based on this determination, the control device is configured to control the vehicle, so that the floor surface of the ve hicle may have a level corresponding to the platform height, and also so the floor sur face of the vehicle has an inclination corresponding to the inclination of the platform.
  • the control device is configured to control the vehicle, so the level of the floor surface of the vehicle and inclination of the floor surface of the vehicle is controlled when the vehicle is moving towards the platform or when the ve hicle has stopped adjacent to the platform.
  • the control device is configured to control the level of the floor surface of the vehicle and inclination of the floor surface the ve hicle, so that a specific component of the vehicle is changing height.
  • the level of the platform surface above the road surface may be the same level as the platform height above the road surface.
  • the level of the floor surface above the road surface may be the same level as a floor surface height above the road surface.
  • the vehicle may be configured with a passenger compartment for accommodating passengers and may thus function as a bus.
  • the vehi cle may be configured with a load compartment for accommodating load, goods and cargo, and may thus function as a truck.
  • the control device comprised in the vehicle is configured to receive commands and instructions from a control centre or an off-board system and to execute the com mands/instructions for controlling the vehicle level and inclination in relation to the road surface based on data from the sensor device.
  • the vehicle may be autono mously operated by the control device in order to determine the platform height above a road surface at the platform; determine the inclination of the platform; control the vehicle, so that a floor surface of the vehicle has a level corresponding to the platform height; and control the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.
  • the control device comprised in the vehicle is configured to control the floor surface level in relation to the height of the platform surface, without instructions from the control centre.
  • control device configured to control the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform, comprising controlling the inclination of the vehicle in a longitudinal di rection of the vehicle and in a lateral direction of the vehicle.
  • the control device is configured to determine any inclination of the platform surface. This may result in the determination that the platform surface has an inclination in re lation to a horizontal plane.
  • the platform surface may have an inclination in any di rection of a horizontal plane.
  • the control device is configured to control the inclination of the vehicle in a longitudinal direction of the vehicle and in a lateral direction of the vehicle so that the floor surface of the vehicle achieves a corresponding inclination to the inclination of the platform.
  • the vehicle may comprise a sensor device, such as a levelling member, which is connected to the control device. The level sensor may de tect the inclination of the vehicle and transmit signals about the detection to the con trol unit.
  • control device configured to control the vehicle, compris ing controlling an individually controllable wheel suspension of at least one wheel.
  • the control device receives transmitted information from a sensor device about the platform and the road surface at the platform. Thereafter the control device controls adjusting means of each wheel suspension individually to adjust the vehicle in rela tion to the platform.
  • the road surface at the platform may have curvatures, cavities and elevations, which the individually controllable wheel suspension of at least one wheel may compensate for.
  • the control device configured to control the vehicle, comprising controlling an individually controllable wheel suspension of at least one wheel, so that the floor surface of the vehicle coincide with a platform surface in a common plane.
  • the control device receives information about the platform height and the inclination of the platform surface above the road surface at the platform from the sensor de vice. Thereafter the control device controls the adjusting means of each wheel sus pension individually to adjust the vehicle level and inclination corresponding to the platform height and the inclination of the platform surface.
  • the vehicle may have at least four wheels, each provided with an individually controlled wheel suspension. Controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a lateral direction of the vehicle is possible when arranging the wheels in the area of, for example, each corner of the vehicle.
  • control device configured to determine a platform height, comprising determining the platform height by means of the least one sensor device.
  • At least one sensor device is arranged on the vehicle for determining the platform height.
  • Such sensor device may be a laser sensor, ultra sound sensor, a radar, a li- dar or the like. Such sensor devices may also be combined on the vehicle in order to increase the accuracy of the determining of the height of the platform.
  • the sensor de vice is connected to the control device, and provides the control device with infor mation about the platform height. When the vehicle approaches the platform, the sensor device detects the platform height. Signals from the sensor device is transmit ted to the control device. Based on the information from the sensor device, the con trol device may control the vehicle, so that the floor surface of the vehicle has a level corresponding to the platform height.
  • a plurality of sensor devices for determining the platform height is arranged on the vehicle.
  • One sensor device is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two other sensor devices are arranged on each side of the vehicle.
  • the signal comprising the information about the platform height above the road sur face at the target destination is received by the control device in the vehicle.
  • the con trol device is configured to control the vehicle height when approaching the platform, so that the floor surface of the vehicle has a level corresponding to the height of the platform surface.
  • the control device is configured to verify that the level of the floor surface of the vehicle corresponds to the height of the platform surface when the ve hicle is close to or adjacent to the platform.
  • the definition of the expression that the floor surface of the vehicle corresponds to the height of the platform surface is that there is a small margin of error between the level of the floor surface and the height of the platform surface.
  • control device configured to control the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform, comprising determine the inclination of the floor surface by means of a level sensor and determine the inclination of the platform by means of the at least one sensor device.
  • the vehicle may comprise a sensor device, such as a level sensor, which is con nected to the control device.
  • the sensor device may detect the inclination of the vehi cle and transmit the information to the control device.
  • At least one sensor device is arranged on the vehicle for determining the inclination of the platform.
  • Such sensor device may be a laser sensor, ultra sound sensor, a radar, a lidar or the like.
  • Such sensor devices may also be combined on the vehicle in order to increase the accu racy of the determining of the inclination of the platform.
  • the sensor device is con nected to the control device, and provides the control device with information about the inclination of the platform.
  • Determining an inclination of the platform surface may result in that the platform surface has an inclination in relation to a horizontal plane.
  • the platform surface may have an inclination in any direction of a horizontal plane.
  • the sensor device detects the inclination of the platform. Signals from the sensor device is transmitted to the control device.
  • a plurality of sensor devices for determining the inclination of the platform are arranged on the vehicle. One sensor device is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two other sensor devices are ar ranged on each side of the vehicle.
  • the control unit is configured to control the vehicle, so that the floor surface of the ve hicle has an inclination that correspond to the inclination of the platform.
  • control device further is configured to determine the dis tance between the vehicle and the platform by means of the at least one sensor de vice.
  • the at least one sensor device detects the platform.
  • the at least one sensor device transfers the detected signals of the plat form to the control device.
  • the control device is configured to determine the distance between the vehicle and the platform.
  • the control device is configured to control the vehicle to move to a position adjacent to the platform.
  • control device further is configured to determine the shape of the road surface by means of the at least one sensor device.
  • the road surface at the platform may have a curvature, cavities and elevations, which may influence on the position of the vehicle in relation to the platform.
  • At least one sensor device is arranged on the vehicle for determining the shape of the road surface.
  • the sensor device may detect the curvature and any cavities in the road sur face at the platform.
  • the sensor device may also detect any elevation or bump in the road surface at the platform.
  • Such sensor device may be a laser sensor, ultra sound sensor, a radar, a lidar or the like.
  • Such sensor devices may also be combined on the vehicle in order to increase the accuracy of the determining of the shape of the road surface.
  • the sensor device is connected to the control device, and provides the con trol device with information about the shape of the road surface.
  • the sensor device When the vehicle approaches the platform, the sensor device detects the shape of the road surface at the platform. Signals from the sensor device is transmitted to the control device. Based on the information from the sensor device, the control device is configured to control the vehicle, so that the floor surface of the vehicle has a level and inclination corresponding to the platform height and inclination.
  • a plurality of sensor devices for determining the shape of the road surface is arranged on the vehicle. One sensor de vice is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two other sensor devices are arranged on each side of the vehicle. A further sensor device for determining the shape of the road surface is arranged on the underside of the vehicle.
  • control device further is configured to determine any ob stacles above or beside the road surface in front of the platform by means of the at least one sensor device.
  • the vehicle When approaching the platform, the vehicle may interfere with obstacles above or beside the road surface in front of the platform. Such obstacles may be a ceiling above and in front of the platform. Such obstacles may also be another vehicle parked at the platform.
  • At least one sensor device is arranged on the vehicle for de termining any obstacles above or beside the road surface in front of the platform. The sensor device may detect the any obstacles above or beside the road surface in front of the platform.
  • Such sensor device may be a laser sensor, ultra sound sensor, a ra dar, a lidar or the like.
  • Such sensor devices may also be combined on the vehicle in order to increase the accuracy of the determining of any obstacles above or beside the road surface in front of the platform.
  • the sensor device is connected to the con trol device, and provides the control device with information about any obstacles above or beside the road surface in front of the platform.
  • the sensor device detects any obstacles above or beside the road surface in front of the platform. Signals from the sensor device is transmitted to the control device.
  • the control de vice is configured to control the vehicle, so that the vehicle avoids the detected ob stacles.
  • a plurality of sensor devices for determining any obstacles above or beside the road surface in front of the platform are arranged on the vehicle.
  • One sensor de vice is arranged in front of the vehicle.
  • Another sensor device is arranged at the rear of the vehicle and two other sensor devices are arranged on each side of the vehicle.
  • control device further is configured to receive information about the platform height and the inclination of the platform from another vehicle.
  • the information about the platform height above the road surface and the inclination of the platform may be received from another vehicle before the vehicle is arriving at the target destination. The information may be received close to the moment when the vehicle is arriving at the target destination.
  • the vehicle may receive updated information about the platform height and the inclination of the platform. A change in platform height above the road surface and a change of the inclination of the platform may take place due to reconstruction of the road and/or the platform.
  • the control device is configured to control the vehicle height and inclination before arriving at the target destination.
  • the vehicle height and inclination are controlled so that a specific component of the vehicle is changing height.
  • the control device may be configured to control the vehicle height and inclination before arriving at the target destination, so that the floor surface of the vehicle may have a level above the road surface and an inclination corresponding to the level of the platform surface above the road surface and the inclination of the platform at the target destination.
  • the level of the platform surface above the road surface is the same level as the platform height above the road surface.
  • the level of the floor surface above the road surface is the same level as a floor surface height above the road surface.
  • the information about the platform height and the inclina tion of the platform from may be received by the control device in the vehicle from an external control centre.
  • the control device comprised in the vehicle is configured to receive information, commands and instructions from the control centre or an off- board system and to execute the commands/instructions for controlling the vehicle height and inclination corresponding to the platform height and platform inclination at the target destination.
  • control device is configured to control a door actuator for opening at least one door of the vehicle.
  • the door is opened after verifying that the floor surface of the vehicle has a level and inclination that correspond to the height and inclination of the platform surface. If the doors of the vehicle are opened when there is a differ ence between the floor surface level and the platform surface height, the doors may be obstructed by the platform, which may lead to a technical malfunction of the doors and/or the door actuators. Opening of the doors after verifying that the floor surface of the vehicle has a level corresponding to the height of the platform surface may re sult in a secure and convenient boarding and exit of passengers to and from the vehi cle. Also, load and goods may safely be loaded and unloaded to and from the vehicle if the doors are opened after verifying that the floor surface of the vehicle has a level and inclination corresponding to the height and inclination of the platform surface.
  • the present disclosure relates to a vehicle, comprising at least one sen sor device, at least two front wheels; and at least two rear wheels, wherein the vehi cle comprising the herein mentioned control device.
  • the vehicle is applicable on all sorts of road vehicles and may thus relate to heavy vehicles, such as buses, trucks etc., which may be used on public roads.
  • the vehicle may also be a boat or ship, and also an aircraft.
  • the control unit comprised in the vehicle, is configured to perform the herein mentioned method steps and activities.
  • the control unit may be configured to autonomously operate the vehicle.
  • the vehicle is a modular vehicle comprising at least one drive module and at least one functional module, wherein the at least one drive module comprises the at least two front wheels or the at least two rear wheels, and is config ured to be autonomously operated and drive the assembled vehicle.
  • the modularised vehicle is applicable on all sorts of road vehicles and may thus re late to heavy vehicles, such as buses, trucks etc., which may be used on public roads.
  • the control unit comprised in the modularised vehicle, is configured to per form the herein mentioned method steps and activities.
  • the control unit may be con figured to autonomously operate the modularised vehicle.
  • At least one drive module is used together with different functional modules.
  • the functional modules are designed for specific purposes. Therefore, by combining a drive module with a suitable functional module, it is possible to customize a vehicle depending on different missions.
  • a functional module is prepared to perform a spe cific function and the autonomously operated drive module may connect with the functional module to achieve an assembled vehicle customized for a certain mission.
  • the at least one functional module is configured with a passenger com partment for accommodating passengers and may thus function as a bus when being assembled with the at least one drive module.
  • the at least one functional module is configured with a load compartment for accommodat ing load and goods and may thus function as a truck when being assembled with the at least one drive module.
  • the at least one drive module and thus the assembled vehicle may be configured to be autonomously operated.
  • the control device comprised in the functional module is configured to receive commands and instructions from a control centre or an off- board system and to execute the commands/instructions for driving the vehicle and also for controlling the vehicle height in relation to the road surface. This way, the as Sild vehicle can drive itself based on the received commands and instructions.
  • the control device comprised in any one of the modules may control the assembled vehicle to be autonomously driven or operated also based on data from the at least one sensor device, taking situations that may happen during transportation into ac count.
  • the autonomously operation of the modularised vehicle may thus comprise determining a platform height above a road surface at the platform; determining an inclination of the platform; controlling the modularised vehicle, so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the modularised vehicle, so that the floor surface of the modularised vehicle has an incli nation corresponding to the inclination of the platform controlling the modularised ve hicle, so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the modularised vehicle, so that the floor surface of the modu larised vehicle has an inclination corresponding to the inclination of the platform may be performed, by the control device comprised in any one of the modules, without in structions from the control centre.
  • the functional module is adapted to be releasably connected to the drive module for forming the assembled vehicle.
  • the drive module comprises a pair of wheels and is configured to be autonomously operated and drive the assembled vehicle when the drive module and a functional module are connected.
  • the functional module comprising at least one connecting means adapted for physically connecting the functional module to the drive module.
  • the functional module may also comprise wheels.
  • the connecting means may comprise a physical interface for the purpose of physically connecting and disconnecting the modules.
  • the drive module and the functional mod ule each suitably comprises at least one physical interface for the purpose of physically connecting and disconnecting the modules.
  • the physical interface on the drive module is connected to the control device, which is configured to control the physical interface on the drive module to physically connect and disconnect the modules.
  • the functional module is provided with an indentation. The indentation is adapted for the drive mod ule. Due to the indentation the length of the assembled vehicle will coincide with the length of the functional module.
  • the functional module may be configured without an indentation and the drive module may be connected directly to the front side or the rear side of the functional module.
  • the driving module may comprise a suspension system, which is arranged between each of the wheels and a body of the driving module.
  • the suspension system may comprise springs and dampers for improving the driving characteristics of the driving module and also of the assembled vehicle.
  • the suspension system of the driving module may comprise adjusting means for controlling the vehicle level when ap proaching the platform.
  • the control device is connected to the adjusting means of the suspension system.
  • the control device may receive information about the platform height above the road surface at a target destination.
  • the control device is config ured to control the adjusting means of the suspension system based on the infor mation about the platform height above the road surface at a target destination in or der to adjust the vehicle level before arriving at the target destination.
  • the control de vice is configured to control the adjusting means of each wheel suspension individu ally to adjust the vehicle in relation to the platform.
  • Fig. 1 a schematically illustrates a side view of a vehicle 1 provided with a control de vice 100 according to an embodiment.
  • the vehicle 1 comprises at least one sensor device 2, at least two front wheels 4 and at least two rear wheels 6.
  • the vehicle 1 is in fig. 1 a positioned beside of or in front of a platform 8.
  • a door opening 10 is ar ranged in a body 1 1 of the vehicle 1 .
  • Goods, cargo and passengers are transferred from the platform 8 or vehicle 1 through the door opening 10 of the vehicle 1 .
  • the ve hicle 1 comprises a floor 12 with a floor surface 14.
  • the control device 100 is config ured for controlling the vehicle position in relation to the platform 8.
  • the control de vice 100 is configured to determine a platform height above a road surface 16 at the platform 8 and also determine an inclination of the platform 8.
  • the control device 100 receives information from a sensor device 2 about the vehicle position in relation to the platform 8. Based in the signals from the sensor device 2 the control device 100 is configured to determine a platform height above a road surface 16 at the platform 8 and also determine an inclination of the platform 8.
  • the vehicle 1 comprises the sensor device 2. However, the control device 100 may alternatively receive said in formation from a sensor device arranged on another vehicle.
  • the sensor device 2 may be configured to detect objects in the surroundings of the vehicle 1 .
  • the sensor device 2 is connected to the control device 100 and transfer signals to the control de vice 100 about the position of objects in the surrounding.
  • the sensor device 2 may detect the shape of the platform 8, such as the height, inclination and any curvature of the platform 8. The sensor device 2 may also detect the distance between the ve hicle 1 and the platform 8.
  • the control device 100 with input from the sensor device 2 is configured to determine the platform height and the inclination of the platform 8.
  • the sensor device 2 may detect the shape of the road surface 16 in front of the plat form 8. Together with the control device 100, the sensor device 2 is configured to de termine the shape of the road surface 16.
  • the sensor device 2 may detect any obsta cles 18 above or beside the road surface 16 in front of the platform 8. Together with the control device 100, the sensor device 2 is configured to determine if there are any obstacles 18 above or beside the road surface 16 in front of the platform 8.
  • the platform 8 has an inclination a in relation to the road surface 16 at the platform 8.
  • the floor surface 14 of the vehicle 1 has a different level and a different inclination in relation to the height and inclination a of the platform 8.
  • Fig. 1 b schematically illustrate a side view of the vehicle 1 provided with a control de vice 100 according to an embodiment.
  • the vehicle 1 has been controlled, so that the floor surface 14 of the vehicle 1 has a level corresponding to the platform height.
  • the vehicle 1 has been controlled, so that the floor surface 14 of the vehicle 1 has an inclination a in the longitudinal direction of the vehicle 1 , corre sponding to the inclination a of the platform 8.
  • the inclination a of the vehicle 1 is controlled in a longitudinal direction of the vehicle 1 and in a lateral direction of the vehicle 1 .
  • the control device 100 is configured to control an individually controllable wheel suspension 20 of the wheels of the vehicle 1 . Each wheel of the vehicle 1 is provided with such an individually controllable wheel suspension 20.
  • the vehicle 1 comprises a level sensor 22, which detects the inclination of the floor surface 14 in the vehicle 1 .
  • the level sensor 22 is connected to the control device 100.
  • the control device 100 with input from the level sensor 22 is configured to de termine the inclination of the floor surface 14 in the vehicle 1 .
  • the vehicle 1 is controlled by the control device 100, so the floor surface 14 of the vehicle 1 will have an inclination corresponding to the inclination of the platform 8.
  • the control device 100 is configured to control an individually controllable wheel sus pension 20 of at least one wheel.
  • the position of the body 1 1 of the vehicle 1 is ad justed in relation to the wheels by means of the wheel suspension 20 of each wheel.
  • the control device 100 is configured to control the individually controllable wheel suspension 20 of wheels, so that the floor surface 14 of the vehicle 1 coincide with a platform surface 9 in a common plane.
  • the control device 100 further is configured to receive information about the platform height and the inclination of the platform 8 from another vehicle 21 .
  • the information about the platform height and the inclination of the platform 8 may be received wire less directly from the other vehicle or via a control centre 24.
  • the control device 100 further is configured to receive information about the platform height and the inclina tion of the platform 8 from a control centre 24.
  • FIGS 2a and 2b schematically illustrate side views of a vehicle 1 provided with a control device 100 according to an embodiment.
  • the vehicle 1 approaches the platform 8.
  • the vehicle 1 may be a bus, a truck or any other type of heavy vehicle.
  • the height and inclination of the platform 8 is determined by means of the sensor de vice 2.
  • the shape of the road surface 16 is determined by means of the at least one sensor device 2.
  • the platform 8 in fig. 2a has an inclination b in relation to a horizontal plane.
  • the vehicle 1 has reached the platform 8 and has parked adjacent to the platform 8.
  • the control unit Based on the information from the sensor device 2, the control unit has controlled the vehicle 1 , so that a floor surface 14 of the vehicle 1 has a level corre- sponding to the platform height; and so that the floor surface 14 of the vehicle 1 has an inclination b corresponding to the inclination b of the platform 8.
  • a door 26 of the door opening 10 is opened.
  • the floor sur face 14 of the vehicle 1 has an inclination which is smaller than the inclination b of the platform 8 in order to facilitate a manoeuvring of a pallet loader within the vehicle 1 .
  • Fig. 2c schematically illustrate a view of from behind of the vehicle 1 provided with a control device 100 according to an embodiment.
  • the platform 8 in fig. 2c has, in addi tion to the inclination b in fig. 2a and 2b an inclination a in relation to a horizontal plane.
  • the vehicle 1 has been controlled so that the floor surface 14 of the vehicle 1 has an inclination a, in the lateral direction, in addition to the inclination b in the longitudinal direction of the vehicle 1
  • Fig. 3a schematically illustrates a side view of a modular vehicle 1 , comprising two drive modules 30 and a functional module 40 provided with a control device 100 ac cording to an embodiment.
  • the vehicle 1 may be a modular vehicle 1 comprising at least one drive module 30 and at least one functional module.
  • the modular vehicle 1 may comprise only one drive module 30.
  • the drive module 30 comprises two front wheels 4 or two rear wheels 6.
  • the modular vehicle 1 may com prise two drive modules 30, of which one of the drive modules 30 comprises the two front wheels 4 and the other drive module 30 comprises the two rear wheels 6.
  • the modular vehicle 1 is configured to be autonomously operated and drive the assem bled vehicle 1 .
  • the drive modules 30 are adapted to be releasably connected to the functional module 40 for forming the assembled vehicle 1 .
  • the drive modules 30 and the func tional module 40 are disconnected from each other.
  • Each drive module 30 comprises a pair of wheels 48 and is configured to be autonomously operated and drive the as Sild vehicle 1 when the drive modules 30 and a functional module 40 are con nected.
  • the pair of wheels 48 of the drive module 30 correspond to the at least two front wheels 4 or the at least two rear wheels 6 of the vehicle 1 .
  • the functional module 40 comprising at least one connecting means 42 adapted for physically connecting the functional module 40 to the drive module 30.
  • the control device 100 is comprised in any of the modules 30, 40. Thus, the control device 100 may be comprised in each of the drive modules 30.
  • the control device 100 may alternatively be comprised in the functional module 40.
  • the connecting means 42 may comprise a physical interface 42 for the purpose of physically connecting and disconnecting the modules 30, 40.
  • the drive module 30 and the functional module 40 each suitably comprises at least one physical interface 42 for the purpose of physically connecting and disconnecting the modules 30, 40.
  • the phys ical interface 42 on the drive module 40 is connected to the control device 100, which is configured to control the physical interface 42 on the drive module 30 to physically connect and disconnect the modules 30, 40.
  • the functional module 40 in fig. 1 is pro vided with an indentation 46, which is adapted for each drive module 30. Due to the indentation 46 the length of the assembled vehicle 1 will coincide with the length of the functional module 40.
  • the functional module 40 may be configured without an indentation 46 and the drive modules 30 may be connected directly to the front side or the rear side of the functional module 40.
  • the functional module is provided with at least one door opening 10.
  • the functional module 40 is provided with a floor 1 2.
  • the floor 12 is provided with a floor surface 14.
  • At least one sensor device 2 is arranged on the functional module 40.
  • the sensor device 2 may provide the control device 100 with information of the level of the floor surface 14 of the functional module 40.
  • the sensor device 2 may also provide the control device 100 with information of the height and inclination of the platform surface 9 (fig. 1 a).
  • the sensor device 2 may also be arranged on the drive modules 30.
  • Fig. 3b schematically illustrates a side view of the two drive modules 30 and the func tional module 40 provided with a control device 100 according to an embodiment.
  • the drive modules 30 and the functional module 40 are connected to each other.
  • the connected drive modules 30 and functional module 40 together form the assembled vehicle 1 .
  • the drive modules 30 and the functional module 40 are con nected by means of the connecting means 42.
  • Fig. 4 schematically a drive module 30 provided with a control device 100 according to an embodiment.
  • the drive module 30 may comprise a pair of wheels 48.
  • a steering unit 39 is connected to the wheels 48.
  • the steering unit 39 may make the drive module 30 steerable.
  • the pair of wheels 48 may be so arranged at the drive module 30 that a centre axis 43 of each wheel 48 coincides with each other.
  • Each wheel 48 has a centre axis 43 and is arranged at the drive module 30 so that each wheel 48 may rotate about its centre axis 43. When the centre axis 43 of each wheel 48 coincides with each other the drive module 30 has good manoeuvring abilities.
  • the drive module 30 is provided with a suspension system 52 for the wheels 48.
  • the height of a body 54 of the drive module 30 is adjusted in relation to the wheels 48 by means of the suspension system 52.
  • the control device 100 is configured to control the vehicle level by means of the suspension system 52.
  • the suspension system 52 of the driving module 30 is arranged between the wheels 48 and a body 54 of the driving module 30.
  • the suspension system 52 may comprise springs 54 and dampers 56 for improving the driving characteristics of the driving module 30 and also of the assembled vehicle 1 .
  • the suspension system 52 of the driving module may comprise adjusting means for controlling the vehicle level.
  • the control device 100 is connected to the adjusting means of the suspension system 52.
  • the drive module 30 may comprise at least two connecting means 42.
  • the connecting means 42 si configured as interfaces for transferring electric energy and/or transmitting electric signals, and for physically connection.
  • the drive module 30 may comprise at least one propulsion unit 50 connected to the pair of wheels 48.
  • the propulsion unit 50 may be an electric machine connected to the wheels 48.
  • Two electric machines are arranged as propulsion units 50 in the drive module 30.
  • One electric machine 50 is connected to one wheel 48 and the other elec tric machine 50 is connected to the other wheel 48.
  • the electric machines 50 are ar ranged in the rim 44 of the wheels 48.
  • the wheels 48 may thereby be driven inde pendently of each other.
  • the electric machines 50 may also work as generators and generate electric energy when braking the wheels 48.
  • the at least one propulsion unit 50 may be an internal combus tion engine, such as an otto engine or a diesel engine connected to the wheels 48.
  • the drive module 30 may comprise at least one energy storage unit 52 for providing the propulsion unit 50 with energy.
  • the drive module 30 may comprise the control device 100.
  • the control device 100 is configured to operate the drive module 30 as an independently driven unit.
  • the control device 100 may be configured to transmit and receive infor mation and control signals to and from an external control centre 24.
  • the control device 100 may be configured to transmit and receive information and control signals to and from another vehicle 21 .
  • Fig. 5a illustrates a flow chart for a method, performed by a control device 100, for controlling a vehicle position in relation to a platform 8.
  • the method thus relates to the controlling of the vehicle position in relation to a platform 8 of the vehicle 1 and the modularised vehicle 1 disclosed in figures 1 a - 4.
  • the vehicle 1 comprising: at least one sensor device 2; at least two front wheels 4; at least two rear wheels 6; and the control device 100.
  • the method comprising: determining s101 a platform height above a road surface 16 at the platform 8; determining s102 an inclination of the plat form 8; controlling s103 the vehicle 1 , so that a floor surface 14 of the vehicle 1 has a level corresponding to the platform height; and controlling s104 the vehicle 1 , so that the floor surface 14 of the vehicle 1 has an inclination corresponding to the inclination of the platform 8.
  • controlling s104 the vehicle 1 so that the floor surface 14 of the vehicle 1 has an inclination corresponding to the inclination of the platform 8, comprises controlling the inclination of the vehicle 1 in a longitudinal direction of the vehicle 1 and in a lateral direction of the vehicle 1 .
  • controlling s103, s104 the vehicle 1 comprises controlling an individually controllable wheel sus pension 20 of at least one wheel 4, 6.
  • controlling s103, s104 the vehicle 1 comprises controlling an individually controllable wheel suspension 20 of at least one wheel 4, 6, so that the floor surface 14 of the vehicle 1 coincide with a platform surface 9 in a common plane.
  • determining s101 a platform height comprises determining the platform height by means of the least one sensor device 2.
  • controlling s104 the vehicle 1 , so that the floor surface 14 of the vehicle 1 has an inclination corresponding to the inclination of the platform 8 comprises determining the inclination of the floor surface 14 by means of a level sensor 22 and determining the inclination of the platform 8 by means of the at least one sensor device 2.
  • the method comprises the fur ther step of determining s105 the distance between the vehicle 1 and the platform 8 by means of the at least one sensor device 2.
  • the method comprises the further step of determining s106 the shape of the road surface 16 by means of the at least one sensor device 2.
  • the method com prises the further step of determining s107 any obstacles 18 above or beside the road surface 16 in front of the platform 8 by means of the at least one sensor device 2.
  • the method comprises the further step of receiving s108 information about the platform height and the inclination of the platform 8 from an other vehicle 21 .
  • Fig. 5b illustrates a flow chart for a method, performed by a control device 100, for controlling a vehicle position in relation to a platform 8.
  • the method thus relates to the controlling of the vehicle position in relation to a platform 8 of the vehicle 1 and the modularised vehicle 1 disclosed in figures 1 a - 4.
  • the method comprising: deter mining s101 a platform height above a road surface 16 at the platform 8; determining s102 an inclination of the platform 8; controlling the vehicle 1 , so that a floor surface 14 of the vehicle 1 has a level corresponding to the platform height; controlling s103 the vehicle 1 , so that the floor surface 14 of the vehicle 1 has an inclination corre sponding to the inclination of the platform 8; controlling s104 the inclination of the ve hicle 1 in a longitudinal direction of the vehicle 1 and in a lateral direction of the vehi cle 1 ; controlling an individually controllable wheel suspension 20 of at least one wheel 4, 6; controlling an individually controllable wheel suspension 20 of at least one wheel 4, 6, so that the floor surface 14 of the vehicle 1 coincide with a platform surface 9 in a common plane; determining the platform height by means of the least one sensor device 2; determining the inclination of the floor surface 14 by means of a level sensor 22 and determining the inclination of the platform 8 by means of
  • Fig. 6 is a diagram of a version of a device 500.
  • the control device 100 of the vehicle 1 may in a version comprise the device 500.
  • the device 500 comprises a non-volatile memory 520, a data processing unit 510 and a read/write memory 550.
  • the non-vola tile memory 520 has a first memory element 530 in which a computer programme, e.g. an operating system, is stored for controlling the function of the device 500.
  • the device 500 further comprises a bus controller, a serial communication port, I/O means, an A/D converter, a time and date input and transfer unit, an event counter and an interruption controller (not depicted).
  • the non-volatile memory 520 has also a second memory el ement 540.
  • the programme P which comprises routines for performing the safety method.
  • the programme P may be stored in an executable form or in a compressed form in a memory 560 and/or in a read/write memory 550.
  • the data processing unit 510 is described as performing a certain function, it means that the data processing unit 510 effects a certain part of the programme stored in the memory 560 or a certain part of the programme stored in the 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 pro cessing unit 510 via a data bus 512.
  • the separate memory 560 is intended to com municate with the data processing unit 510 via a data bus 51 1 .
  • the read/write memory 550 is adapted to communicating with the data processing unit 510 via a data bus 542.
  • Parts of the methods herein described may be effected by the device 500 by means of the data processing unit 510 which runs the programme stored in the memory 560 or the read/write memory 550. When the device 500 runs the programme, methods herein described are executed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

La présente invention concerne un procédé, mis en œuvre par un dispositif de commande (100), pour commander la position d'un véhicule (1) par rapport à une plate-forme (8), le véhicule (1) comprenant : au moins un dispositif de capteur (2) ; au moins deux roues avant (4) ; au moins deux roues arrière (6) ; et le dispositif de commande (100). Le procédé comprenant : la détermination (s101) d'une hauteur de plate-forme au-dessus d'une surface de route (16) au niveau de la plate-forme (8) ; la détermination (s102) d'une inclinaison de la plate-forme (8) ; la commande (s103) du véhicule (1), de sorte qu'une surface de plancher (14) du véhicule (1) a un niveau correspondant à la hauteur de plate-forme ; et la commande (s104) du véhicule (1), de sorte que la surface de plancher (14) du véhicule (1) a une inclinaison correspondant à l'inclinaison de la plate-forme (8). L'invention concerne en outre un programme informatique (P), un support lisible par ordinateur, un dispositif de commande (100) et un véhicule (1) comprenant un tel dispositif de commande (100).
PCT/SE2019/051087 2018-12-07 2019-10-30 Procédé, mis en œuvre par un dispositif de commande, pour commander une position de véhicule par rapport à une plate-forme, dispositif de commande et véhicule comprenant un tel dispositif de commande Ceased WO2020117111A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980074578.2A CN113056380B (zh) 2018-12-07 2019-10-30 由控制装置执行的用于控制车辆相对于平台的位置的方法、控制装置和包括此类控制装置的车辆
DE112019005390.6T DE112019005390B4 (de) 2018-12-07 2019-10-30 Verfahren, ausgeführt von einer Steuervorrichtung, zum Steuern einer Fahrzeugposition in Relation zu einer Plattform, Steuervorrichtung und Fahrzeug, umfassend eine derartige Steuervorrichtung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1851523A SE542901C2 (en) 2018-12-07 2018-12-07 A method, performed by a control device in a vehicle, for controlling a vehicle position in relation to a platform
SE1851523-9 2018-12-07

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WO2020117111A1 true WO2020117111A1 (fr) 2020-06-11

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CN (1) CN113056380B (fr)
DE (1) DE112019005390B4 (fr)
SE (1) SE542901C2 (fr)
WO (1) WO2020117111A1 (fr)

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Also Published As

Publication number Publication date
CN113056380A (zh) 2021-06-29
SE1851523A1 (en) 2020-06-08
CN113056380B (zh) 2024-08-23
DE112019005390T5 (de) 2021-08-12
SE542901C2 (en) 2020-09-15
DE112019005390B4 (de) 2024-11-28

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