SE542972C2 - Methods for use in a modular vehicle for determining information about external disturbances, and a vehicle useing such information - Google Patents

Abstract

The present disclosure relates to techniques in the context of vehicles, and to a method for use in a modular vehicle (1) comprising a first drive module (30a) and a functional module (40), for determining information about external disturbances to be used by a second drive module (30b). The disclosure also relates to a method for using information about external disturbances determined by a first drive module (30a) or a thereto connected functional module (40) of a vehicle (1). The disclosure also relates to corresponding control devices, to a vehicle comprising the control device or devices, to computer programs and computerreadable mediums.

Description

Methods for use in a modular vehicle for determining information about external disturbances, and a vehicle using such information Technical field The present disclosure relates to techniques in the context of vehicles, and to amethod and a control device for use in a modular vehicle comprising a first drivemodule and a functional module, for determining information about externaldisturbances to be used by a second drive module. The disclosure also relates toa corresponding method and control device, for use in a modular vehiclecomprising the second drive module, and for using information about the externaldisturbances determined by the first drive module or the thereto connectedfunctional module of the vehicle. The disclosure also relates to a vehiclecomprising the control device(s), to computer programs and computer-readable mediums.

Background“vehicles of today are typically manufactured for a specific purpose, eg. a bus is rnanufactured for transporling people anci a truck is rnanufactured for transporlinggoods. Such vehicles are commonly rnanufactured and completely assernbled in afactory, or they may be partly assernbled in a factory and completed at a bodyinanutacturer. Once the vehicle is asseinbled, the vehicle may be used for thespecific purpose. Thus, a bus may be used as a bits and a garbage truck may betised as a garbage truck. lfišifferent vehicles are thus needed for different purposes,which ntay require a large fleet of vehicles for a hauler, and thereby become very costly.

There are, for example, known solutions where a truck carl be rebuilt by changinga cohcrete rriixer to a loading platfonn. This increases the flexibility and two differentfunctions can be achieved by means of one single vehicle. Also, document US-Zllfßlülââtïlšê Af discloses a modular electric vehicle using interchangeablevehicle assembly modules. The user can thereby disassernble ancl iteassernble thevehicle for use in different applications. l-lowever, in the ftiture, further developmenttowards even more flexible vehicle solutions might be needed to meet customers' 2 different vehicle needs in a cost-efficient way. Especially, new solutions will bedemanded to ensure safety and improve propulsion for modular vehicles thatoperate autonomously and/or that are remotely operated, and to ensure safety forany load in the modular vehicles.

Summarylt is an object of the disclosure to provide a solution for improving propulsion of a modular vehicle. lt is a further object to increase safety of the modular vehicle, andin particular to increasing safety of a load, carried by the modular vehicle, whiletravelling.

These objects and others are at least partly achieved by methods, control devicesand a vehicle according to the independent claims, and by the embodimentsaccording to the dependent claims.

According to a first aspect, the disclosure relates to a method for use in a modularvehicle. The modular vehicle comprises a first drive module and a functionalmodule. The method is used for determining information about externaldisturbances to be used by a second drive module. The method comprisesdetecting at least one property indicative of an external disturbance to the vehicle,and indicative of a type of the external disturbance, wherein the at least oneproperty is detected by means of at least one detector in the first module. Themethod also comprises obtaining a position of the vehicle; and communicatinginformation about the external disturbance to the second drive module, wherein theinformation includes the type of external disturbance and position data indicative ofthe position of the external disturbance based on the position of the vehicle. Thesecond drive module is located in the same modular vehicle as the first drive moduleis located. With the method, external disturbances detected by one vehicle may becommunicated to other modules in a straight forward way, such that other modulesor vehicles may take the external disturbance into account and improve theirpropulsion. The driving capabilities and passengers' comfort may be improved. 3 According to some embodiments, the detected at least one property is detectedby means of a detector comprising at least one of an accelerometer, a gyro meter, a lidar, a forward sensing camera, a laser and a weight sensor.

According to some embodiments, the type of external disturbance is a pot hole, a patch of ice, a bump or another type of obstacle.

According to some embodiments, the detecting comprises: determining a type ofthe external disturbance, based upon whether the detected at least one propertymeeting at least one predetermined type criterion. Thereby relevant thresholds forthe type of external thresholds may be used. Also, the type may then becommunicated to the second drive module, such that the second drive modulemay determine how to react to the disturbance, based on the type of the externaldisturbance.

According to some embodiments, the detecting comprises detecting at least oneproperty and determining that the detected at least one property is indicating anexternal disturbance upon the detected at least one property meeting at least onepredetermined disturbance criterion for the at least one property. Thereby it canbe determined if the detected at least one property really is indicative of an external disturbance of such dignity that it should be communicated.

According to some embodiments, the method comprises determining a position ofthe external disturbance based on the obtained position of the vehicle andincluding the determined position of the external disturbance in the information.Thereby the second drive module will immediately know where the externaldisturbance is located.

According to a second aspect, the disclosure relates to a method, for use in amodular vehicle comprising a second drive module, for using information aboutexternal disturbances determined by a first drive module of a vehicle. The method comprises receiving, from the first drive module, information about an external 4 disturbance including disturbance type and position data indicative of the positionof the external disturbance, wherein the second drive module (30b) is located in thesame vehicle (1) as the first drive module (30a) and a thereto connected functionalmodule (40) are located. The method also comprises controlling a vehicle functionof the second drive module, based on the information about the externaldisturbance, to mitigate the impact of the external disturbance on the modularvehicle. Thereby the second drive module may take the external disturbance intoaccount and improve its propulsion. The driving capabilities and passengers'comfort in the vehicle comprising the second drive module may be improved.

According to some embodiments, the vehicle function is any one or several of:steering, propulsion, braking and suspension. Thereby the vehicle mayautomatically mitigate or obviate the effects of the external disturbance.

According to a third aspect, the disclosure relates to a vehicle comprising a firstdrive module comprising a control device, a functional module, and a second drivemodule comprising another control device, wherein the functional module isconnected to the first drive module and to the second drive module, wherein thecontrol device in the first drive module is configured to detect at least one propertyindicative of an external disturbance to the vehicle, and indicative of a type ofexternal disturbance, wherein the at least one property is detected by means of atleast one detector in the first drive module. The control device is also configuredto obtain a position of the vehicle; and communicate information about theexternal disturbance to the other control device in the second drive module,wherein the information includes the type of external disturbance and positiondata indicative of the position of the external disturbance based on the position of the vehicle.

According to some embodiments, the vehicle also comprises a control deviceaccording to the fourth aspect, and a second drive module.

According to a fourth aspect, the disclosure relates to a computer programcomprising instructions which, when the program is executed by a computer, causethe computer to carry out the method according to the first aspect.

According to a fifth aspect, the disclosure relates to a computer-readable mediumcomprising instructions which, when executed by a computer, cause the computer to carry out the method according to the first aspect.

Brief description of the drawinqs Fig. 1 i||ustrates a set of modules, a vehicle assembled from the set of modules,and an offboard system.

Fig. 2 i||ustrates another vehicle assembled from the set of modules in Fig. 1.

Fig. 3 schematically i||ustrates a drive module in further detail in a side view.

Fig. 4 i||ustrates a method for detecting at least one property indicating an externaldisturbance to a vehicle according to the first aspect.

Fig. 5 i||ustrates a method for using information about an external disturbanceaccording to the second aspect.

Fig. 6 schematically i||ustrates an example scenario according to oneembodiment.

Fig. 7 i||ustrates an example implementation of a control device according to thesecond aspect and the fourth aspect.

Detailed descriptionOne way of meeting customers' different vehicle needs in a flexible and cost- efficient way is to use a modularised vehicle assembled from a set of modules.Such a modularised vehicle, herein referred to as a modular vehicle, is typicallyassembled at the customer's premises and the customer may thus buy a set ofmodules from a manufacturer. The modular vehicle can easily be assembled and re-assembled e.g. to perform a certain mission.

A modular vehicle ls e.g. assembied by at least one functional inocluie forperforming a certain function (such as carrying a load), and at least one drlve module used for driving the vehicle. The drive modules are configured to be 6 autonomously and/or remotely operated. The load may for example be humans,animals or goods. A modular vehicle may be used to perform many different kindsof assignments, and thus transport different kinds of loads at different occasions.The modular vehicle comprises at least one drive module and one functionalmodule. Sometimes the modular vehicle comprises more modules, such as twodrive modules and one functional module. A vehicle sometimes encounters externaldisturbances such as pot holes, ice patches, bumps, road kills, dropped load oreven external disturbances such as traffic jam or road work that causes delays. ltis herein proposed that a drive module or a functional module of such a modularvehicle detects such external disturbance and communicates information about theexternal disturbance to another drive module, which is either a drive module locatedin the same vehicle or a module of another vehicle. ln this way, the other drivemodule may become aware of the external disturbance before it is affected by theexternal disturbance, and may mitigate the impact of the external disturbance onthe vehicle, e.g. mitigate the impact of the external disturbance on the other drivemodule. For example, if the second drive module becomes aware of a pot holealong the route, it can steer around it such that its wheels will not drive into the pothole. Thereby, safety and comfort can be increased. This is especially importantwhen the modular vehicle is driving autonomously or is being remotely operated,and there is no driver in the vehicle that can see and react to external disturbances.With the proposed solution, information about external disturbances can bedetermined, and the information may be used by other drive modules, to takeappropriate action to avoid being affected by the external disturbance.

For better understanding of the proposed technique, the concept of assembling avehicle from modules will now be explained with reference to the example embodiment of Fig. 1.

Fig. i iliiistrates an example sei: of modules 2% for assembling a vehicle l. Aneffboard system, herein referred te as a first control device tili), and an example efen assenibled vehicle l are else liiustrated. The set of modules ät) ceniprises a pitiraiity ofclrive rflecluies 30 and a piurallty offurictlonai modules 4G. 7 The drive modules' 30 main function is typically to drive (e.g. propel, steer andbrake) a vehicle 1. The drive modules 30 comprise a pair of wheels 37 and areconfigured to be autonomously operated. The functional modules are configured toperform a certain function such as to carry a load, e.g. goods or people. Eachmodule 30, 40 in the set of modules 20 comprises at least one interface 50releasably connectable to a corresponding interface 50 of another module 30, 40.The drive moduies 30 rnay be remoteiy controiied front a controi device 100 in an off~board systern.

By contbiniitg drive rrioduies 30 and functional moduies 40 different types ofvehicies f can be achieved. Ešorne vehicies 'i require two or rriore drive rnoduies 30and sorne vehicies t oniy require one drive rnoduie 30, debending on the structuraiconfiguration of the ftinctionai moduie 40. Each drive moduie 30 comprises a coritroidevice, herein referred to as a second controi device 200, and may thuscommunicate with a controi center or off-board systern, i.e. the first controi device100. A functional module 40 may also comprise a control device, which is referredto as a third control device 300. Since the drive modules 30 may be configured tobe operated as independently driven units by means of the second control devices200, the drive modules 30 may be connected to, or disconnected from, the functional module(s) 40 without manual work. "the orincioie of assembiing a vehicie 'i from moduies 30, 40 wiii now be described.An ooerator may receive a rnission from a ciient to transport goods from oneiocation to another. The oberator enters the information about the mission into thefirst controi device 100 via a user interface, such as a touch screen or sirriiiar. it isbointed out that this is rnereiy an exarnbie, and the received mission mayautomaticaiiy he transiated andior inputted to the first controi device 100. The firstcontroi device “E00 then determines which function to be performed and thus whichtype of vehicie “i is required to comoiete the mission. in this examoie, the requiredvehicie t rnay be a truck. The first controi device 100 seiects which moduies 30, 40to use for the required truck. The type of vehicie t and the ntoduies 30, 40 required to compiete the mission rnay for exampie be seiected based on information about 8 the goods, the distance te travei and/or the geograohicai iocatien. The first contreidevice tet) then converts the ntission into a corhrhand tor one or two seiected driveineduies SQ te ehysicaiiy and eiectricaiiy connect tfvith the seiected tiinctionairnoduie 4G. ih this exarhpie, the vehicie 'i comprises two drive ihoduies. The secondcontroi devices 2% of the drive inoddies 3G each receives the cemniand andconverts the cornrnand to cohtrei signais for the respective drive modtiie 3G. Thedrive rnodiiies 3G are therehy cohtroiied to ehysicaiiy and eiectricaiiy connect withthe ftinctienai ntoddie 4G. Centroiiing the drive meduie 3G te connect vvith atenctioitai rhodtiie 4G inay comprise centroiiing the drive medeie 3G te identify theposition ot the seiected fdnctionai inedeie 4G and move te that position. The oesitienot the seiected tiinctionai rhodiiie at? may he determined eased en informationreceived in the command te connect the drive rnedeie Itt) tvith the tiinctionai nteduie4%. Aiternativeiy, the corhmand to connect the drive rnoduie ïšt) and the fiinctionairnodiiie 40 is provided, eg. sent, te eoth the drive modtiie 3G and the functienaimodtiie 40, wherehyf the tdnctienai modtiie 40 oreoares tor the connection andstarts transmitting a signai. The drive meddie 3G may then determine the eositioitet the tenctienai rnedtiie based on this provided signai. The drive rnedtiies 3G arethus aiitonomoesiy ooerated te tind the seiected tiinctionai rhodtiie et) and connectwith that tunctionai meduie 4G. At ieast ene sensor device et) arranged at the drivemodtiies 3G and/or the functienai moduie 4G may he cohfigtired to sense when theehysicai and/or eiectricai connection has been eertornted. The at ieast one sensordevice 6G rnay send a signai te the second centret device Ztliti indicating that theconnectiehis) have heen performed. Based en the signai trorn the at ieast onesensor device 6G, the second controi device Ztitlt rnay send a verification signai tothe first contrei device titt) for verification ot the cohnectients), The first cohtroidevice titt) may then generate a unique vehicie identity ter the modtiiar vehicie t.A vehicie t is thtis asseihhied and the vehicie 'i is ready te perform the ihission.

The modular vehicle 1 in Fig. 1 comprises a first drive module 30a, a functionalmodule 40 and a second drive module 30b. However, it should be understood thatthe modular vehicle 1 may comprise only a first drive module 30a and a functionalmodule 40, for example when the functional module 40 only comprises one 9 interface 50 for connecting to a drive module, and also comprises an own pair ofwheels 37. Such a vehicle 2 is illustrated in Fig. 2. Also, the modular vehicle 1 maycomprise more than one functional module 40, thus, at least one functional module40. ln any case, the at least one functional module 40 is arranged for carrying aload, and the at least one functional module 40 is releasably connected with thefirst drive module 30a that is configured to be autonomously operated. The load ofthe vehicle 1 is a load in the at least one functional module 40, which thus constitutethe load of the vehicle 1. lf the vehicle 1 comprises several functional modules 40,the load of the vehicle 1 comprises all the individual loads in the functional modules40. The control devices 200 in the first drive module 30a and the second drivemodule 30b are in the modular vehicle 1 in Fig. 1 denoted 200a and 200b,respectively. ln order to be able to navigate autonomously, the vehicle 1 need to retrieveinformation about the surroundings, and how the vehicle behaves. As illustrated inthe modular vehicle 1 in Fig. 1, each individual module 30a, 30b, 40 individuallycomprises at least one detector 250a, 250b, 250c. Alternatively, only the drivemodules 30a, 30b comprises at least one detector 250a, 250b. These detectors250a, 250b, 250c may be used during driving to detect at least one property, orseveral properties, indicative of one or several external disturbances of the vehicle1. A property is for example information or data that indicates at least one externaldisturbance to the vehicle 1. ln some embodiments, the detectors may also be usedduring autonomous driving, for detecting properties affecting, or may affect, adriving behavior of the vehicle 1. For example, the at least one detector 250a, 250b,250c that is normally used in the autonomous operation of the vehicle 1 such asautonomous driving of the vehicle including autonomous steering, autonomousaccelerating and braking, may be used to detect an external disturbance. Thedetectors are for simplicity not shown in the unassembled modules in Fig. 1, but itshould be understood that these modules comprise corresponding detectors. Atleast one property is provided, e.g. sent, to a control device 200a, 200b, 300 of themodules, e.g. as information or data. For example, information or data from at leastone detector 250a in the first drive module 30a, is provided, e.g. sent, to the control lO device 200a in the first drive module 30a. This information or data may be usedduring driving to detect properties indicative of one or several external disturbancesto the vehicle 1, and in particular to the first drive module 30a. Information or datafrom the at least one detector 250b in the second drive module 30b, is provided,e.g. sent, to the control device 200b in the second drive module 30b. Thisinformation or data may be used during driving to detect properties indicative of oneor several external disturbances to the vehicle 1, and in particular to the seconddrive module 30b. Data or information from at least one detector 250c in thefunctional module 40, is provided, e.g. sent, to the control device 300 in thefunctional module 40. This information or data may be used during driving to detectat least one property, or several properties, indicative of one or several externaldisturbances to the vehicle 1, and in particular to the functional module 40. Theinformation or data may thereafter be provided, e.g. sent, by wire 51 or by wirelesscommunication between the control devices 200a, 200b, 300 in the vehicle 1, andby wireless communication to the remotely located control device 100 located in anoff-board system. ln other words, the at least one property is detected by means ofat least one detector 250a, 250c in the first module 30a or the functional module40. ln some embodiments, the at least one detector 250a, 250b, 250c that is normallyused during autonomous operation of the vehicle, for example as feedback to theautonomous control ofthe vehicle or as preparatory data to the autonomous control.The at least one detector 250a, 250b, 250c may comprise one or several detectorsof the same or of different kinds. For example, the at least one detector 250a, 250b,250c comprises one or several of at least one accelerometer, at least one gyrometer, a lidar, a forward sensing camera, a laser, at least one weight sensor, atleast one ultra-sonic sensor and a positioning device. For example, data orinformation including properties such as sideway forces, and/or lengthwise forcesand/or vertical forces, may be collected by means of accelerometers or forcedetectors. Accelerometers are used to measure forces caused by turning,accelerating or braking. An accelerometer is for example an electromechanical device used to measure acceleration forces of the vehicle (e.g. any of the individual ll modules 30a, 30b, 40). ln other words, dynamic acceleration forces of the vehicle.Rotational forces may be measure by means of gyro meters. By means of gyrometers, the amount of static acceleration due to gravity can be measured, and thetilt angle of the vehicle (e.g. any of the individual modules 30a, 30b, 40) with respectto gravity can be determined. For example, each module 30a, 30b, 40 may beequipped with a three-axis accelerometer aligned along the body of the module.Three angular-rate sensors, in other words, three gyro meters, may be aligned withthe accelerometer axes, to measure the rate the module rotates around a givenaxis and subtract the gravity components produced by the tilt from theaccelerometer's x-axis and y-axis data. Thereby, the true acceleration forcescaused by the vehicle's motion, without gravity effects, can be calculated. Also, aproperty such as the inclination of the vehicle may be determined. Information ordata including properties such as axle load to a module, or to an individual wheelof the module, may be collected by means of weight detectors, pressure detectorsor degree of flexion detectors. The lidar, laser and forward sensing camera may beused to collect information or data that can be used to find sudden changes to theinclination of the vehicle 1 (e.g. any of the individual modules 30a, 30b, 40), thatmay be indicative of one or several external disturbances to the vehicle 1. Also, thedetectors may be used to find road surface irregularities in the road, e.g. a pot hole,a bump, pits, speed breakers etc. Ultra-sonic sensors may be used to detect thedistance and/or orientation of an object, and is typically used as a parking assistant,to detect objects etc. A positioning device, e.g. Global Positioning System (GPS)receiver, detects or determines a position of the vehicle 1 (e.g. of an individualmodule 30a, 30b, 40).

Fig. 3 schematically illustrates a drive module 30 (e.g. any of the drive modules30a, 30b) in further detail in a side view. The drive module 30 comprises at leastone (only one illustrated) propulsion system 91, an energy storage device 92, aninterface 50 and a control device 200. The drive module 30 may also comprise asuspension system (not shown), that is arranged to suspend the wheels to the drive module 30. The suspension system may be configured, e.g. by the control device 12 200 in the drive module 300, to have different suspension action. Also, the functional module 40 may include a suspension system (not shown).

The propulsion system(s) 91 comprises for example an electric machine(s)connected to the wheels 37. ln some embodiments, each wheel 37 is individuallydriven by its own electric machine. The electric machine(s) may also work asgenerators and generate electric energy when braking the wheels 37. Thus, thepropulsion system is typically the primary braking system of the vehicle 1. iievvever,because the braking 'iunctienaiity system rnay in some situations be irisuificient erfaii for serrie reason, a secondary braking systern is required. This secondarybraking systern is nerein referrerï ie as the braking systern. The braking systerneernprises for exairipie standard disc brakes and eiectremeehariicai actuaters that require reliable power supply.

The drive module 30 also comprises at least one energy storage device 92 forproviding the propulsion system 91 with energy. The energy storage device 92 isfor example an electric battery that may be recharged with electric energy.

The control device 200 is configured to operate the drive module 30 as anindependently driven unit. The drive module 30 may transport itself without anyexternally driven unit such as a towing vehicle. The drive module 30 may transportitself by means of the at least one propulsion system 91. The drive module 30 maybe configured to be autonomously operated. Thus, the control device 200 may beconfigured to control the operation of the drive module 30. The control device 200may be configured to transmit control signals to the various systems andcomponents of the drive module 30 for controlling for example the steering and thepropulsion of the drive module 30. The control device 200 may be configured tooperate the drive module 30 autonomously based on received commands. Thecontrol device 200 may thus be configured to receive commands from a remotelylocated off-board system i.e. the first control device 100, and to convert thecommands into control signals for controlling the various systems and componentsof the drive module 30. The control device 200 may also be configured to receive data about the surroundings from at least one sensor and based on this data control 13 the drive module 30. The control device 200 will be described in further detail in connection with Fig. 7.

The drive module 30 may be configured to be releasably connected to either asecond drive module 30 and/or a functional module 40 for forming an assembledvehicle 1. At least one of the sides of the drive module 30 may thus have a shapethat allows the drive module 30 to be releasably connected to the second drivemodule 30 and/or the functional module 40.

The at least one interface 50 of the drive module 30 is configured to physicallyconnect the drive module 30 with a second drive module 30 and/or a functionalmodule 40. The interface(s) 50 of the drive module 30 may be releasablyconnectable to a corresponding interface 50 of a second drive module 30 and/or afunctional module 40. in Fig. “i the drive modoies 30 are iiiuetrated vvitit oniy one interface 50, on one sideof the drive module 30. Hovvever, it is to be understood that each drive modtiie 30may oornprise a piuraiity oi interfaces 50 for reieasabie connection with otherntoduiee 40. The interface(s) 50 of the drive modtiies 30 may be arranged ondifferent sides of the drive modtiie 30 and thus enahie connection with othermoduies 30, 40 on nttiitipie sides of the drive rnoduie 30. The interfaces 50 on thedrive modoies 30 and the ftinctionai modoies 40 respeotiveiy, are soitabiy arrangedon corresponding positions to enabie connection between the modoies 30, 40. ln some embodiments, the at least two interfaces 50 comprises electric interfaces,arranged for transferring electric power and/or transmitting electric signals betweenthe drive module 30 and another module e.g. to a functional module 40 to whichthe drive module is connected. The electrical interface 50 may be a wirelessinterface, for example, a conductive interface. ln other words, by connecting thedrive module 30 and the functional module 40 electrically the modules 30, 40 maytransfer power between each other and share information. The drive module 30may, for example, control parts of the functional module 40, such as opening andclosing of doors, heating and cooling. Also, one drive module 40 of the modular 14 vehicle 1 may transmit electric power and/or electric signals via a functional module30 and further to another drive module of the same vehicle 1, as illustrated by theconnection 51 in Fig. 1. Thus, the connection 51 comprises e.g. at least one of acable, bus or electrical line. ln some embodiments, the second control device 200 of the drive module 30 isconfigured to communicate with another drive module 30 being a part of the sameassembled vehicle 1, as illustrated by dashed lines in Fig. 1. ln some embodiments, the second control device 200 of the drive module 30 isconfigured to communicate with a further control device e.g. the control device 300of a functional module 40. The communication between the modules 30, 40 may bewireless or conductively or by wire. The wireless communication may be directlybetween the modules or via the off-board system (i.e. first control device 100). Themodules 30, 40 of an assembled vehicle may communicate with each other and/orthe first control device via 4G, 5G, V2V (Vehicle to Vehicle), Wi-Fi or any other wireless communication means. lf the modular vehicle 1 comprises two drive modules, the first control device 100may appoint one drive module to be master drive module and the other to be slave drive module.

The prepesed technique xfviii :fevv be explained vvith reference te the fievv charts ofFig. 4 and Fig. 5. As described above, this disclosure proposes, according to afirst aspect, a method for determining information about external disturbances to avehicle, for example to the modular vehicle 1 illustrated in Figs. 1, determined bythe first drive module 30a or the thereto connected functional module 40. Theinformation is for use by the second drive module 30b of the same vehicle 1, or foruse by a second drive module 30b of another vehicle, for example of the modularvehicle 2 illustrated in Fig. 2. The method may be implemented as a computerprogram comprising instructions which, when the program is executed by acomputer (e.g. a processor in a second control device 200 (Fig. 5)), cause the computer to carry out the method. According to some embodiments the computer program is stored in a computer-readable medium (e.g. a memory or a compactdisc) that comprises instructions which, when executed by a computer, cause thecomputer to carry out the method. The proposed method is eg. pertorrhed ih asecond control device 200 of a drive modoie 4% assigned to be e ihaster drivemoduie. Hevvever, it most be appreoieted that the method :hey aiterhativeiy, atieast partiy, be irhpiemehted ih the first coritroi device 1% or in erry one of thecontrol devices 2G0, 309 of the itieduiee of the vehieie or the impiemeritetioh theybe distributed among severei or eii of the oohtroi devices iiiiü, 299, 390.

With reference to the flow chart in Fig. 4, the method comprises S1 detecting atleast one property indicative of an external disturbance to the vehicle 1, andindicative of a type of the external disturbance. The method may use informationor data provided by the previously described at least one detector 250a, 250b,250c to detect at least one property, of the environment or of the vehicle 1, that isindicative of an external disturbance to the vehicle 1. An external disturbance is adisturbance in the environment of the vehicle that may cause a problem to thevehicle, for example in the sense that the propulsion of the vehicle may bedisturbed, the load of the vehicle may be disturbed, the vehicle may be damaged,or the vehicle may be delayed. lt should be understood that a plurality of differentdetected properties, or the same type or of different type, may be collected andincluded in an analysis to determine that an external disturbance is detected, and that a detected at least one property is indicative of an external disturbance.

The type of external disturbance is, for example, a pot hole, a patch of ice, abump or another type of obstacle. The external disturbance may be anotherobstacle such as a road kill, a dropped load etc. Such external disturbances mayalso be detected in similar manner as a bump. The type of external disturbancemay alternatively be a traffic jam or road work. ln order to detect such externaldisturbances, the data or information including properties of the environment or ofthe vehicle 1, from the at least one detectors, is analyzed to find out if theproperties show abnormalities, for example differs from values that the propertiesshould have if no disturbances were present. A property may for example include 16 a property of the environment such as a magnitude (of an external disturbance),e.g. a depth, a height, a length, a width, an area, a distribution, a distance, or acamera image etc. of the surroundings of the vehicle. Alternatively, the at leastone property may include a property of the vehicle such as an acceleration, arotation, an inclination, a weight or pressure, a suspension action etc. of thevehicle, e.g. of the first drive module 30a and/or the functional module 40. ln orderto find out if a property is indicative of an external disturbance, the type of thepossible external disturbance may first be determined. Thereby, the at least oneproperty may be evaluated in a relevant context for that type of externaldisturbance, e.g. compared with one or several relevant references for that type ofexternal disturbance. ln other words, in some embodiments, the detecting S1comprises determining a type of the external disturbance, based upon whetherthe detected at least one property is meeting at least one predetermined typecriterion. For example, the type may be determined based upon the type and/orlocation of the detector from which the detected at least one property is receivedfrom. Thus, a predetermined type criterion then includes that the type and/orlocation of the detector matches a certain detector type and/or location on thevehicle. For example, if the property is detected with a detector that monitors thesuspension action, it may be determined that the type is a bump or a pot hole, oranother type of obstacle. ln one example, if the property is detected by means ofone or several wheel rotation detectors, e.g. that one or several wheels areslipping, it may indicate that the type is a patch of ice. ln one further exampleembodiment, an electro-optical sensor may be used to detect hazardous roadconditions such as ice, snow and water. The spectral differences of the roadconditions are used to determine the surface state. The spectral data is analyzedin real-time and a road condition is reported. Thus, if the detected at least oneproperty is detected with the electro-optical sensor, it may be determined that thetype of external disturbance is a road condition disturbance. ln another example, ifthe property is detected with a camera, an object in the image may be recognizedor identified by means of an object identification algorithm. For example, thedetected object may be determined to be a bump, a hole, a traffic jam or a roadwork etc. Thereafter, it may be determined if the detected at least one property 17 actually is indicating an external disturbance that is worth taking notice of. Stateddifferently, if the detected disturbance is significant. ln other words, in someembodiments, the detecting S1 comprises detecting at least one property anddetermining that the detected at least one property is indicating an externaldisturbance upon the detected at least one property meeting at least onepredetermined disturbance criterion for the at least one property. The disturbancecriterion for example include that a difference between the detected at least oneproperty, e.g. a magnitude of a detected hole, and the at least one referenceproperty, is going beyond at least one predetermined threshold. ln other words,the property is greater than the reference property, and is greater to such anextent that it is an external disturbance worth taking notice of. Then, the methodcomprises determining that at least one property indicative of an externaldisturbance has been detected, upon the difference between the detected at leastone property and the at least one reference property going beyond thepredetermined threshold. The predetermined threshold may be a numeric valuethat has been experimentally determined. For different types of properties, itshould be understood that there are individual type specific predeterminedthreshold to compare with. Thus, for depth, a height, a length, a width, an area, adistribution, or an acceleration, a rotation, an inclination, an axle load, a weight orpressure, a suspension action, or camera images there are correspondingthresholds to compare with. The at least one reference property may be obtainedin a plurality of ways, as will be exemplified below, and is considered to be orshow the “correct” property or data that the detected at least one property orinformation or data should be or show if no external disturbance of that type waspresent. ln some embodiments, the at least one property indicates that theexternal disturbance is a traffic jam, traffic line or a road work, for exampleidentified by camera or by monitoring the movement or velocity of the vehicle (thevelocity of the vehicle is zero or close to zero for a longer period of time) thatinformation and the position of the external disturbance may be communicated directly, without comparing with at least one reference property. 18 Thus, one or several of a plurality ofdifferent methods may be used for determiningat least one property indicative of an external disturbance. ln one embodiment, thedetecting S1 comprises comparing the at least one property with at least onereference property being detected at a different time instance and determining thatat least one property indicative of an external disturbance has been detected, uponthe difference between the at least one property and the at least one referenceproperty going beyond at least one predetermined threshold. Thus, by continuallyor continuously collecting information or data indicative of properties, changes tothe properties may be detected. The at least one reference property may then beinformation or data collected at a different time when it is known that no externaldisturbances occurred. ln another embodiment, the detecting S1 comprises comparing at least oneproperty with at least one reference property being a predicted property retrievedfrom a model of expected behavior of the vehicle 1 and determining that at leastone property indicative of an external disturbance has been detected, upon thedifference between at least one property and the at least one reference propertygoing beyond at least one predetermined threshold. Thus, a model that isreplicating an expected behavior of the vehicle, and thus a behavior withoutexternal disturbances to the vehicle, may be used that gives reference propertiesthat is known to not indicate any disturbances. ln order to take action to the detected external disturbance, position dataindicative of the position of the external disturbance should be determined. Theposition of the vehicle 1, or a module 30a, 40, may be used to determine theposition of the external disturbance. The position data indicative of the position ofthe external disturbance may thus include the position of the vehicle 1, or aposition related to the position of the vehicle 1. Thus, the method comprisesobtaining S2 a position of the vehicle 1. The position of the vehicle 1 may bedetermined with a positioning device in the vehicle 1. The position data of theexternal disturbance may alternatively include a more precise position of theexternal disturbance, for example determined based on from which detector the 19 external disturbance is determined from. The method may also include todetermine a distance to the external disturbance, by means of detected data, inrelation to the position of the vehicle 1, and including the distance in the positiondata or using the distance to determine a position of the external disturbance.Thus, in some embodiments, the method comprises determining S3 a position ofthe external disturbance based on the obtained position of the vehicle 1 andincluding the determined position of the external disturbance in the information tobe communicated. Additionally, a location or place of the external disturbancemay be determined. Also, an area or distribution of the external disturbance maybe determined. This information, that is location, place, area and/or distributionmay be included in the information communicated to the second drive module 30band/or functional module 40.

When an external disturbance has been detected, information about the externaldisturbance should be communicated to another entity such as the second drivemodule 30b, such that the second drive module 30b, if possible, can takeappropriate action. ln other words, the method comprises communicating S4information about the external disturbance to the second drive module 30b,wherein the information includes the type of external disturbance and positiondata indicative of the position of the external disturbance based on the position ofthe vehicle 1. The second drive module 30b is located, or comprised, in themodular vehicle 1 or in another modular vehicle 2. Thus, the information includesfor example that there is an external disturbance in the shape of a pot hole, an icepatch, a bump, a traffic jam or a road work, and position data indicative of theposition of the same.

The communication may be performed in different ways. ln one embodiment, themethod comprises communicating S4 the information about the externaldisturbance to a second drive module 30b via an off board system, wherein thesecond drive module 30b is located in a modular vehicle being different from themodular vehicle 1 where the first drive module 30a is located. The second drivemodule 30b is for example located in the second vehicle 2 illustrated in Fig. 2, or in another modular vehicle not shown. Thereby, a completely different vehiclemay take action to mitigate the impact of the external disturbance on that othervehicle. ln an alternative embodiment, the method comprises communicating S4 theinformation about the external disturbance to the second drive module 30b,wherein the second drive module 30b is located in the same vehicle 1 as the firstdrive module 30a is located. Thereby the second drive module 30b may takeaction upon an external disturbance that that a first drive module 30a or afunctional module 40 in the same vehicle has detected, to mitigate the impact ofthe external disturbance on the second drive module 30b and thus to the vehicle.

Reference will now be made to the flowchart in Fig. 5, which illustrates acorresponding method performed in a receiving second control device 200b of adifferent drive module 30b, that received information about the externaldisturbance. The flowchart illustrates, according to a third aspect, a method forusing the information about external disturbances determined as explained above,thus information determined by a first drive module 30a or a thereto connectedfunctional module 40. The method thus comprises receiving S5, from the firstdrive module 30a or the thereto connected functional module 40, informationabout an external disturbance including disturbance type and position dataindicative of the position of the external disturbance. This step corresponds toreceiving the information communicated in step S4 of the method in Fig. 4. Thedisturbance type is for example used to determine what action that is to be taken.For example, if the disturbance type is a pot hole, the pot hole could be drivenaround along the same road. lf the disturbance type is a road work, another routemight be considered. The position data indicative of the position of the externaldisturbance is used to know where the external disturbance is located in relationto the drive module 30b. Thereby the external disturbance can be taken intoaccount, when planning a route, or when driving where the external disturbance is located. 21 As explained, the information may be communicated via an off board system. lnother words, in some embodiments, the method comprises receiving S5 thedetermined information about the external disturbance at the second drive module30b via an off board system, wherein the second drive module 30b is located in amodular vehicle being different from the modular vehicle 1 where the first drivemodule 30a and the thereto connected functional module 40 are located. Therebyother vehicles may make use of the determined information that has been determined in a vehicle. ln some other embodiments, the method comprises receiving S5 the informationabout the external disturbance at the second drive module 30b, wherein thesecond drive module 30b is located in the same vehicle 1 as the first drive module20a and a thereto connected functional module 40 is located. Thereby the seconddrive module 30b of the same vehicle 1 may make use of the determined information.

The received information is typically used to avoid that the same externaldisturbance affects the other drive module 30b or to mitigate further externaldisturbances that are related to the detected disturbance. More specifically, themethod comprises controlling S6 a vehicle function of the second drive module30b or the thereto connected functional module 40, based on the informationabout the external disturbance, to mitigate the impact of the external disturbanceon the modular vehicle. The modular vehicle is here the vehicle comprising thesecond drive module 30b or the thereto connected functional module 40. By usingthe information, the vehicle may mitigate or completely obviate any impact of theexternal disturbance on the vehicle. The controlling S6 may include controlling avehicle function based on the type of external disturbance. Thus, depending onwhat type, or kind, of external disturbance, different control actions may be taken.One or several vehicle functions of the second drive module 30b may for examplebe controlled, e.g. operated, based on the disturbance type and position data,such that the second drive module 30b avoids the detected external disturbance,thus drives around a pot hole, a bump or a patch of ice, that is, such that its 22 wheels do not drive on or into the pot hole, the bump or the patch of ice. lf thesecond drive module 30b is located in another vehicle, the drive module 30b maycontrol the another vehicle to take another way to avoid a communicated externaldisturbance such as a traffic jam or a road work. Also, by increasing thesuspension action in the second drive module 30b and/or the functional module40 before driving over an external disturbance such as a pothole or bump, thevehicle will be spared, and any load of the vehicle may be less affected by theexternal disturbance. Such actions may be taken by controlling vehicle functionssuch as steering, propulsion, braking and/or suspension. ln other words, in someembodiments, the controlling S6 comprises controlling a vehicle function of thesecond drive module 30b or a thereto connected functional module 40, the vehiclefunction being any one or several of steering, propulsion, braking and suspension.ln order to control the second drive module 30b or a thereto connected functionalmodule 40, the position of the module 30b, 40 should be known, to be able toknow where the module 30b, 40 is in relation to the location or position of thedetected external disturbance. Thus, the method may comprise to obtain theposition of the second drive module 30b and/or the thereto connected functionalmodule 40 and use the position in order to determine when and/or where tocontrol the one or several vehicle functions to mitigate or obviate the effects of theexternal disturbance. The position may be obtained from a position device in thesecond drive module 30b and/or the thereto connected functional module 40. lnsome embodiments, the controlling a vehicle function comprises controlling S6navigation of the vehicle. For that purpose, the vehicle may have access to mapdata, a destination and optionally several waypoints, and the position of thevehicle. The map data may be received from the off-board system or saved to the second drive module 30b.

Controlling a vehicle function may include configuring operation of the seconddrive module 30b and/or the functional module 40. Configuring operation mayinclude one or several of: configuring steering, configuring propulsion e.g.configuring braking, acceleration and/or speed, and/or configuring suspensionaction. Configuring operation of the vehicle 1 may also include performing a 23 mission, e.g. driving the vehicle comprising the second drive module 30b and/orthe functional module 40 an alternative route. These configurations may beautomatically made by the vehicle 1, e.g. by means of one or several of thecontrol devices 200b, 300 in the modules, or remotely performed by the controldevice 100 in the off-board system. For example, in order to configure theoperation of the second drive module 30b and/or the functional module 40, thecontrol device 100, 200b, 300 may, based on the communicated informationabout the external disturbance, automatically send control signals or control datato one or several functions in the vehicle comprising the second drive module 30band/or the functional module 40, where the control signals or control data includesinformation to configure the one or several functions in the second drive module30b and/or the functional module 40. The functions may for example include thebraking system of the driving module 30b, the propulsion system(s) 91 of the drivemodule 30b, a navigation system of the drive module 30b, or the suspensionsystem of the drive modules 30b and/or functional module 40.

Fig. 6 is illustrating an example traffic scenario where the method may be used. Avehicle i comprising a first driving module 30a, a functional ntodule 40, and asecond driving module 30b, such as the modular vehicle i in Fig. i, is drivingautonornously along a road 450 and is approaching a pot hole 500. The firstdriving ntodule Eda is equipped with at least one detector Zötla, e.g. a forwardsensing camera, a three-axis accelerometer andior a gyro meter. ln one scenario,the forward sensing camera detects the pot hole by identifying the pot hole inimage data from the camera, e.g. by coniparing with reference images of potholes (step Si in flowchart in Fig. 4), or e.g. hy identifyirtg shadows or edges inthe image. "the pot hole may have several properties itself, such as an area and adepth, that may be deterrnined from the image data. The depth of the pot hole ishere determined and is compared to a depth reference for the pot hole. Thedifference is greater than a predetermined depth threshold, and lt is determinedthat the pot hole is an external dlsturoance that should be communicated tosecond drive modules 30b. The position, location or place of the pot hole isdetermlned by using the position of the first drive module íštla (step S2 in 'llowchart 24 in Fig. fi) and distance to the pot hoie ironi tne position of the first drive niodtiieïštša (step S3 in fiowchart in Fig. 4). The information that an externai disturhance inthe shape of a pot hoie has heen detected is cornrnunicated to the second drivernoduie šilih in the sarne vehicie f, together vvith information ahout the piace of thepot hoie (step S4 in fiovvchart in Fig. 4). The intorniation ntay inciude the area orthe distribution of the externai disturhance, nere tne pot noie. Aiternativeiv, the pothoie is detected hy nteans of the acceierorneter and/or the gyro rtteter, hvdetecting that tne vehicie inciines vvnen it drives into tne pothoie, eg. inciinesrnore than a predeterrnined threshoid. The inciination rnay indirectiy he a measureot the deptn ot tne pot hoie, and the hy contparing tne inciination of the vehicievvitn a threshoid, it can he deterntined it the pot hoie shouid he cornrnonicated ornot. it the difference is greater than a predeterntined depth tnreshoid, and it isdeterinined that the pot hoie is an externai distdrhance that shooid he contrnunicated to second drive nioduies íšüh The second controi device Ztitih in the second drive rnoduie íštih receives theintorniation (step S5 in tne fiovvcnart ot Fig, 5), and discovers upon anaiysis of theinformation that the pot hoie dot) is iocated aiong the route 41 (i ot the seconddrive rnoduie Sdp and tnat poth vvneeis ot the second drive ntoduie Éitšh vviii driveinto the pot hoie 5% if the second drive ntoduie íštšh does not steer around the potnoie. The second controi device Edith in tne second drive ntoduie íšdh nowcontrois the steering of the second drive nioduie 30th to taite the aiternative route429 such that vvheeis of the second drive rnoduie íšOh drivas around the pot hoieodd and thus do not drive into the pot hoie ätit). The second drive rnoduie 30ththereafter continues aiong the sanie route 419 as hefore.

The inforrnation is aiso sent to a first controi device 'itid iocated in an off hoardsystern. The information is provided, eg. sent, from tne tirst controi device 109 tosecond drive rnodoies íšdh in other vehicies, thus a second vehicie 2 and a thirdvehicie 3. The information is received to second controi devices Edith in the drivenioduies 3tih. Tne second controi devices âiiitih recognizes, hv cornparing theposition of the detected externai disturhance vvith the routes of the vehicies, that the externai disturbance is located aicng the route of the vehictes. The secondcentret device 200b En the second drive module 30b cf the secend vehtcte 2deterrnines a new reute 430 td steer around the pot hole 500 and centrets thesteering function ef the second drive module 30b accordšngiy. The steeringfunction ef any other drive ntddules of the second vehšcte 2 rhay hecerrespondiitgty controited by the second centret device 20%, e.g. appcinted asmaster. The prepdtsidn et the second vehicte 2 may etse be cenfigdred, e.g.Eowered, frem the current speed. The third vehicie 3 may be cerresppndinglycentrdtled.

The proposed technique is applicable on all sorts of road vehicles. However, thedisclosure may relate to heavy vehicles, such as buses, trucks etc. Specifically, thepresent disclosure may relate to vehicles for use on public roads.

Now turning to Fig. 7 which illustrates an example implementation a control device,configured to implement the proposed methods, here referred to as a secondcontrol device 200. The second control device 200 may be any of the controldevices of the vehicle 1 in Figs. 1 to 3, for example the second control device 200ain the first drive module 30a. lt should be understood that the method may also beimplemented by a third control device 300, thus, a control device in the functionalmodule 40, and that the third control device 300 then comprises the same featuresas the second control device 200. The second control device 200 comprises aprocessor 210, a memory 220 and one or more communication interfaces 230. Thesecond control device 200 is, according to the second aspect, used for determininginformation about external disturbances to be used by a second drive module 30,e.g. the second rive module 30b illustrated in any of the Figs. 1-3. The secondcontrol device 200 is configured to detect at least one property indicative of anexternal disturbance to the vehicle 1, and indicative of a type of externaldisturbance. The at lest one property is detected by means of at least one detector250a, 2500 in the first module 30a or the functional module 40. The second controldevice 200 is also configured to obtain a position of the vehicle 1. ln someembodiments, the control device 200 is configured to receive the at least one 26 detected at least one property e.g. as information or data, and the position asposition data, by means of the communication interface 230 in the second controldevice 200. The second control device 200 is then configured to communicateinformation about the external disturbance to the second drive module 30b, e.g. viathe communication interface 230, wherein the information includes the type ofexternal disturbance and position data indicative of the position of the externaldisturbance based on the position of the vehicle 1. The second drive module 30b islocated, or comprised, in the modular vehicle 1 or in another modular vehicle 2.

According to some embodiments, the second control device 200 is configured tocommunicate the determined information about the external disturbance to asecond drive module 30b via an off board system, wherein the second drivemodule 30b is located in a modular vehicle, for example the second vehicle in Fig.2 or 6, being different from the modular vehicle 1 where the first drive module 30a is located (e.g. the vehicle in Fig. 1).

According to some embodiments, the second control device 200 is configured tocommunicate the information about the external disturbance to the second drivemodule 30b, wherein the second drive module 30b is located in the same vehicle,e.g. the vehicle 1 in Fig. 1, as the first drive module 30a is located.

According to some embodiments, the second control device 200 is configured todetermine a type of the external disturbance, based upon whether the detected atleast one property meeting at least one predetermined type criterion.

According to some embodiments, the second control device 200 is configured todetermine that the detected at least one property is indicating an externaldisturbance upon the detected at least one property meeting at least onepredetermined disturbance criterion for the at least one property.

According to some embodiments, the second control device 200 is configured todetermine a position of the external disturbance based on the obtained position of 27 the vehicle 1 and including the determined position of the external disturbance in the information.

According to the fourth aspect, the disclosure relates to a control device 200, e.g.any of the control devices of the vehicle 1 in Figs. 1 to 3, for example the secondcontrol device 200b in the second drive module 30b. lt should be understood thatthe method may also be implemented by a third control device 300, thus, a controldevice in the functional module 40, and that the third control device 300 thencomprises the same features as the second control device 200. The secondcontrol device 200 is here used, according to the fourth aspect, for usinginformation about external disturbances determined by a first drive module 30a orthe thereto connected functional module 40 of a vehicle. The second controldevice 200 is configured to receive, from the first drive module 30a or the theretoconnected functional module 40, information about an external disturbanceincluding disturbance type and position data indicative of the position of theexternal disturbance. The second control device 200 is also configured to controla vehicle function of the second drive module 30b or a thereto connectedfunctional module 40, based on the information about the external disturbance, tomitigate the impact of the external disturbance on the vehicle 1, 2. As previouslyexplained, this may be performed by sending control signals or control data tofunctions of the vehicle 1. ln some embodiments, the second control device isconfigured to obtain a position of the second drive module 30b and/or thefunctional module 40, and to locate the external disturbance in relation to theposition of the second drive module 30b and/or the functional module 40.

According to some embodiments, the control device 200b is configured to receivethe determined information about the external disturbance via an off boardsystem, wherein the second drive module 30b and the thereto connectedfunctional module 40 are located in a vehicle 2 being different from the modular vehicle 1 where the first drive module 30a is located. 28 According to some embodiments, the control device 200b is configured to receivethe information about the external disturbance, wherein the second drive module30b and the thereto connected functional module 40 are located in the samevehicle 1 as the first drive module 30a is located.

According to some embodiments, the control device 200b is configured to controla vehicle function of the second drive module 30b or the thereto connectedfunctional module 40, the vehicle function being any one or several of: steering,propulsion, braking and suspension.

According to some embodiments, the first vehicle 1 comprises a second controldevice 200a according to the second aspect, a first drive module 30a and athereto connected functional module 40. The second control device 200a iscomprised in the first drive module 30a. According to some embodiments, the firstvehicle 1 also comprises a second control device 200b according to the secondaspect and a second drive module 30b comprising the second control device200b. ln some embodiments, the second control device 200 is a “unit” in a functionalsense. Hence, in some embodiments the second control device 200 is a controlarrangement comprising several physical control units that operate in corporation.The second control device 200 comprises hardware and software. The hardwarebasically comprises various electronic components on a Printed Circuit Board,PCB. The most important of those components is typically a processor 210 alongwith a memory 220.

The second control device 200 also comprises one or more communicationinterfaces 230, enabling the second control device 200 to communicate with othermodules 30, 40 of the modular vehicle 1, or of other vehicles. The communicationbetween the modules is as mentioned above wireless, conductive or wired. Wiredcommunication may be implemented standard protocols such as Controller AreaNetwork, CAN. CAN is a robust vehicle bus standard designed to allow 29 microcontrollers and devices to communicate with each other in applicationswithout a host computer. Wireless communication between the modules may beimplemented using any short-range communication protocol such as Bluetooth or100211.

The one or more communication interfaces 230 is also configured to enablewireless communication with the first control device 100, i.e. with the off-boardsystem. The wireless communication between the second control device 200 andthe first control device is e.g. implemented using 4G, 5G, V2V (Vehicle to Vehicle) or any other suitable wireless communication protocol.

The second control device 200, or more specifically the processor 210 of thesecond control device 200, is configured to cause the second control device 200 toperform all aspects of the method described above and below. This is typically doneby running computer program code stored in the memory 220 in the processor 210of the second control device 200.

The terminology used in the description of the embodiments as illustrated in theaccompanying drawings is not intended to be limiting of the described method;control arrangement or computer program. Various changes, substitutions and/oralterations may be made, without departing from invention embodiments as definedby the appended claims.

The term “or” as used herein, is to be interpreted as a mathematical OR, i.e., as aninclusive disjunction; not as a mathematical exclusive OR (XOR), unless expresslystated otherwise. ln addition, the singular forms "a", "an" and "the" are to beinterpreted as “at least one”, thus also possibly comprising a plurality of entities ofthe same kind, unless expressly stated otherwise. lt will be further understood thatthe terms "includes", "comprises", "including" and/ or "comprising", specifies thepresence of stated features, actions, integers, steps, operations, elements, and/ orcomponents, but do not preclude the presence or addition of one or more otherfeatures, actions, integers, steps, operations, elements, components, and/ or groups thereof. A single unit such as e.g. a processor may fulfil the functions of several items recited in the ciaims.

Claims (3)

1 _ n* ~“\.e »- laims A method for use in a modular vehicle (1) comprising a first drive module (30a)and a functional module (40), for determining information about externaldisturbances to be used by a second drive module (30b), the methodcomprising: detecting (S1) at least one property indicative of an external disturbance to the vehicle (1 ), and indicative of a type of the external disturbance, wherešn the at least one property is detected bv means of at least one detector ílššüat änthe first rnoduåe gßïša 3; obtaining (S2) a position of the vehicle (1); and communicating (S4) information about the external disturbance to thesecond drive module (30b), wherein the information includes the type ofexternal disturbance and position data indicative of the position of the externaldisturbance based on the position of the vehicle (1 ), and wherein the seconddrive module (30b) is located in the sggnjgmodular vehicle (1) as the first drivemoduše (30a) ts äocatedet--in--anethet-ntad-ular--vehäete-(Q)_ ___________The method according to any one of the preceding claims, whereinthe detected at least one property is detected by means of a detector (250a-,- 5 \“ ~“\.u _ x “ÜÉÉ- \.^ .- f* .i\'_ ~_'Of: . \. “g *sä 'P1 v _ w 2 åäêe) comprising at least one of an accelerometer, a gyro meter, a lidar, a forward sensing camera and a weight sensor. ______The method according to any one of the preceding claims, whereinthe type of external disturbance is a pot hole, a patch of ice, a bump or another type of obstacle. The method according to any one of the preceding claims, whereinthe detecting (S1) comprises: determining a type of the external disturbance, based upon whetherthe detected at least one property meeting at least one predetermined type criterion. The method according to any one of the preceding claims, whereinthe detecting (S1) comprises detecting a property; determining that the detected at least one property is indicating anexternal disturbance upon the detected at least one property meeting at leastone predetermined disturbance criterion for the at least one property. \\\\\\\\\\\\\\\\\\\\\\ “The method according to any one of the preceding claims, comprising:determining (S3) a position ofthe external disturbance based on theobtained position of the vehicle (

1. ) and including the determined position of the external disturbance in the information. computer program comprising instructions which, when theprogram is executed by a control unit, cause the control unit to carry out the method of any one of the claims 1 to ufië. .M \\\\\\\\\\\\\\\\ “A computer-readable storage medium comprising instructions which,when executed by a control unit, cause the control unit to carry out the method of any one of the claims 1 to fiâ. =-A--eentrei--eteviee-å-Etšâa-y-ëšåíàà-ei-a--rtfaeeäuäar--veiæëei-e--å4-32"eerneifisâing--a--šäifet--eårive 5 \\\\\\\\\\\\\\\\ “A method, for use in a modular vehicle (1, 2) comprising a seconddrive module (30b), for using information about external disturbances determined by a first drive module (30a) mes-ele-(fl-fšš, the method comprising receiving (S5), from the first drive module (30a) information about an external disturbance including adisturbance type and position data indicative of a position of the externaldisturbance. xvhereiit the second drive rnodule ííšübi is located in the sameverišcle (t) as the 'first drive rfiocšule (Eíša) and a 'thsreto connected furtctiortal module (40) are âocatefí; controlling (S6) a vehicle function of the second drive module (30b)»er»the based on the information about the externaldisturbance, to mitigate the impact of the external disturbance on the modularvehicle (1,

2. ). or several of: steering, propulsion, braking and suspension. computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of ciašaww 9 or 10 . _“_E_§._A computer-readable storage medium comprising instructions which, whenexecuted by a computer, cause the computer to carry out the method of ciaim Q or 1G . 5 ê-âeššëeA vehicle (1) comprising e 'iiiei drive ineciuie ííšíiei ceniiçirisine a control device (Zoøah _ _ _ _ _ _ _ _ _ __e_ functional module (40), ene e second iäciriife nieciuie iíšüitii cenierisine enoiner conirei device (Éiiüitii, wnerein ine . _ ._I.-of-l 'å of iunciienei rnociuie í-fliïii ie eenneeieizi te ine iiiei drive iiiecšiiie (3622) ene io ineseeeiid drive iiieeuie (Büni, ififnerein ine eeniiei device (Zíiiliei in ine first ciriifernociuie iíšišei is ceniiciuree in; deieci ei ieesi ene ereeeriv indiceiiife ei en exieriiei ciieiurnenee ie inevenicie ii i. and iiidieeiive ei e ivee of exiernei ciieiurbence, iifnerein ine eiieeei ene ereeeriv ie :ïieieciecš ni; ineene ei ei ieeei ene cšeiecier (Éšifiiei in ineiiisi drive inociuie ííšüei: ebieiii e iiosiiien ei ine *ifenicie (i i:ceniniiiiiieeie iniermeiion ebeui ine exiernei iziieiurbeiice ie ine einer cenireicievice (Eíiüizi in ine seeeiiizi cšiive :necšuie iíšíibi »ifnerein ine inierineiienineiuiiee ine ivee oi exiernei cšieiuineiice encš eeeiiieii eeie iniiiceiixfe ei ine position of ine exiernei ciieiurnance based en ine eeeiiion ei ine venieie (i i, Meine xfenieie eeeeiiziiiie ie cieiiii 1

3. ifvneiein ine ei ieeei ene izzieieciei* išüišieerneiiees ei ieeei ene of en ecceieremeier, e civre ineier, e iicier, e ienverci eeneine camera and e vifeieni sensor, 8 “iäThe vehieie eceereihe te cieirh 'i 3 er 'irl srrherein the tvee ef externei ciieterhartee ie e net hete e :æatch ef iee. a hiirne er anether tvee of eheteeie. fEíThe xfehieie eeeereirte te anv ene ef the etainwe "i 3 te få. titfhereirt the centretdevice (Zftüai åh the first drive rrieetite (Stian te cenfienree te determine e tveeef the externet eisttirhenee, based tieert »whether the eeteetee et ieast eneereeertv rneetirie et ieeet ene ereeeterrnâiiee tvee criterien. fZfïThe vehicie eceertfine ie anv ene ef the eteirns iíš te tå, wherein the centreteeviee tšeüai än the tiret cirive rneeuie (Eee) ie eentietaree te: determine thatthe eetectee at ieeet ene ereeertv is šneicetšne an externaâ eieturtience noenthe eeteetee et ieaet ene ereeertv rrreetine et âeest ene erecieteritiihect ciieterhenee eriterien ter the et teeet ene ereeertv. fšíThe xfehieie eeeereirte te anv ene ef the etairn 13 te fï. virherešn the eentreidevice (Zftüai åh the first drive rrieetite (Stian te cenfienree te determine eeeeitäeh ef the externei ctáetnrhariee heeee en the ehteiriee neeitiert et theireifrieie fi) ene šneitieirie the deierrriiriee eesštien ef tite externei dšeturherice in the inferrnetiert, fäfthe venäeie ti i eceereiite te env ene ef the eterrne fä te få. witereirr the ethercentret :tet/ice (Eíiühi äs eerifšeiireci te:receive, freni the fåret drive rneeete (3633, inferinatien eieeiit en externeteieterhence irieitieirte eietitreenee tvee ene ttesštien esta inttieatrtre et theiißesitâeii ef the externei ešettirhance: ene teeentrei e vehieie fnrietieit ef the eeeerie dräve rrreetiie (Sen), iaeeee en theinferrnetiert ahetii the externaâ eieturtience. te rnitieete the ârrteeet ef theexternaâ eieterhenee en the trehieie (t, Qi. »m- The vehicäe aeeerdâne te eteârn 'i Q, »ritfhereirr the vehicte ftritctien äs env ene er eevereä ef: eteerine ereeuisšen brekšne arte eiiseeneien.