CN113056380A

CN113056380A - Method performed by a control device for controlling the position of a vehicle relative to a platform, control device and vehicle comprising such a control device

Info

Publication number: CN113056380A
Application number: CN201980074578.2A
Authority: CN
Inventors: A·克拉松; R·舍丁; L·艾尔利格; S·泰波拉; M·卡利奥; T·斯凯普斯特伦; M·科林
Original assignee: Scania CV AB
Current assignee: Scania CV AB
Priority date: 2018-12-07
Filing date: 2019-10-30
Publication date: 2021-06-29
Also published as: SE542901C2; DE112019005390T5; WO2020117111A1; SE1851523A1

Abstract

The invention relates to a method performed by a control device (100) for controlling the position of a vehicle (1) relative to a platform (8), the vehicle (1) comprising: at least one sensor device (2); at least two front wheels (4); at least two rear wheels (6); and a control device (100). The method comprises the following steps: determining (s101) a platform height above a road surface (16) at the platform (8); determining (s102) the inclination of the platform (8); controlling (s103) the vehicle (1) such that a floor surface (14) of the vehicle (1) has a level corresponding to the platform height; and controlling (s104) the vehicle (1) such that a floor surface (14) of the vehicle (1) has an inclination corresponding to the inclination of the platform (8). The invention also relates to a computer program (P), a computer readable medium, a control device (100) and a vehicle (1) comprising such a control device (100).

Description

Method performed by a control device for controlling the position of a vehicle relative to a platform, control device and vehicle comprising such a control device

Technical Field

The present invention relates to a method for controlling the position of a vehicle relative to a platform, performed by a control device, according to the appended claims. The invention also relates to a computer program, a computer readable medium, a control device and a vehicle according to the appended claims.

Background

Different types of vehicles are used to load and unload items, cargo and passengers on platforms such as loading docks. When the vehicle is stopped or parked adjacent to the platform, items, cargo and passengers are thereby transferred from the platform or vehicle through the door opening of the vehicle. To facilitate loading and unloading of the vehicle, it is desirable that the floor of the vehicle be aligned as closely as possible to the height of the platform surface.

Today's vehicles are often manufactured for specific purposes, for example, buses are manufactured for transportation personnel and trucks are manufactured for transporting goods. Such vehicles are typically manufactured and fully assembled in a factory, or they may be partially assembled in a factory and completed at the body manufacturer. Once the vehicle is assembled, the vehicle may be used for a specific purpose. Thus, the bus may be used as a bus, and the truck for transporting the item will be used as a truck for transporting the item. Thus, different vehicles need to be used for different purposes, which may require bulky fleets of vehicles and is very expensive. Thus, it may be desirable to be able to customize the vehicle to different tasks.

For example, in known solutions, trucks can be rebuilt by changing the concrete mixer to a loading platform. This increases flexibility and two different functions can be achieved by means of a single vehicle. In addition, document US-2016/0129958A discloses a modular electric vehicle using interchangeable vehicle component modules. The user may thereby disassemble and reassemble the vehicle for different applications. However, disassembling and reassembling such vehicles would be a very cumbersome and time consuming task. Furthermore, when a failure occurs in one of the known vehicle modules, it may be difficult to replace the failed module, which may result in the vehicle being unusable for a considerable period of time. Transporting replacement modules to the vehicle site with the failed module can also be cumbersome.

Disclosure of Invention

Although there are known solutions in the art, it is desirable to facilitate and minimize the loading and unloading time of the vehicle. It is also desirable to increase safety and minimize damage when loading and unloading vehicles.

It is an object of the present invention to facilitate and minimize loading and unloading time of a vehicle.

Another object of the invention is to increase safety and minimize damage when loading and unloading vehicles.

The object mentioned herein is achieved by a method for controlling the position of a vehicle relative to a platform, performed by a control device, according to the appended claims. The objects mentioned herein are also achieved by a computer program, a computer readable medium, a control device and a vehicle according to the appended claims.

According to one aspect of the invention, a method performed by a control device for controlling a position of a vehicle relative 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; controlling the vehicle such that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform.

According to another aspect of the invention, a control apparatus for controlling the position of a vehicle relative 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 configured to: determining a platform height above a road surface at the platform; determining an inclination of the platform; controlling the vehicle such that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform.

By such a method and control device, loading and unloading of the vehicle is facilitated. When loading and unloading vehicles, time is minimized, safety is increased and damage is minimized.

By determining the platform height above the road surface and determining any inclination of the platform, the vehicle can be controlled such that the floor surface of the vehicle has a level corresponding to the platform height and also such that the floor surface of the vehicle has an inclination corresponding to the platform inclination.

Loading and unloading of items, cargo and passengers on the platform is facilitated when the floor surface of the vehicle has a level and an inclination corresponding to the height of the platform and any inclination of the platform. The time to load and unload items, cargo and passengers on the platform will be minimized because the items and cargo can be easily moved between the surface of the vehicle floor and the platform without any lifting. Since there is no step between the surface of the vehicle floor and the platform, safety is increased and damage to items, cargo and passengers is minimized.

According to yet another aspect of the invention, a vehicle assembled from a set of modules is provided. The vehicle comprises 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 configured to operate autonomously and drive the assembled vehicle. The vehicle further comprises a control device as disclosed herein.

By means of such a vehicle, loading and unloading of the vehicle is facilitated. When loading and unloading vehicles, time is minimized, safety is increased and damage is minimized.

Today's vehicles are often manufactured for specific purposes, for example, buses are manufactured for transportation personnel and trucks are manufactured for transporting goods. Such vehicles are typically manufactured and fully assembled in a factory, or they are partially assembled in a factory and completed at the body manufacturer. Once the vehicle is assembled, the vehicle will be used for a specific purpose only. Thus, a bus will be used only as a bus, while a truck for transporting goods will be used as a truck for transporting goods. Thus, different vehicles need to be used for different purposes, which may require bulky fleets of vehicles and may be very expensive. Assembling a vehicle from a set of modules according to the present invention makes it possible to dynamically assemble a modular vehicle according to the current task or function to be performed. In this way, for example a truck, a garbage truck, a bus or a snow plough can be assembled from the same set of modules. This not only improves flexibility, but will significantly reduce the cost to the vehicle owner, as compared to having multiple different vehicles for different applications. The vehicle operates autonomously by means of at least one drive module. In addition, by using at least one autonomously operating drive module, the drive module can autonomously/automatically perform physical and electrical connection/disconnection with the second module. In this way, no manual operation is required, and assembly of the vehicle is less cumbersome and saves more time.

Since the vehicle is configured to operate autonomously and drive the assembled vehicle, the height of the platform above the road surface and any inclination of the platform is determined autonomously by the control means of the vehicle. In addition, the vehicle is autonomously controlled such that the floor surface of the vehicle has a level corresponding to the height of the platform, and also such that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.

Other objects, advantages and novel features of the invention will become apparent to those skilled in the art from the following detailed description and by practice of the invention. Although the invention is described below, it should be apparent that the invention may not be limited to the details specifically described. Those skilled in the art, having the benefit of the teachings herein, will recognize additional applications, modifications, and incorporation within the scope of the present invention.

Drawings

The following is a description of preferred embodiments by way of example, with reference to the accompanying drawings in which:

fig. 1a and 1b schematically show side views of a vehicle equipped with a control device according to an embodiment;

fig. 2a and 2b schematically show side views of a vehicle equipped with a control device according to an embodiment;

fig. 2c schematically shows a view from the rear of a vehicle equipped with a control device according to an embodiment;

fig. 3a and 3b schematically show side views of a modular vehicle equipped with a control device according to an embodiment;

fig. 4 schematically shows a drive module equipped with a control device according to an embodiment;

fig. 5a shows a flow chart of a method performed by a control device for controlling the height of a modular vehicle according to an embodiment;

fig. 5b shows a flow chart of a method performed by the control device for controlling the height of the modular vehicle according to an embodiment; and

fig. 6 schematically shows a control device or computer according to an embodiment.

Detailed Description

The method performed by the control device for controlling the position of the vehicle relative to the platform will facilitate loading and unloading the vehicle and minimize loading and unloading time. Furthermore, safety will be increased and damage will be minimized when loading and unloading the vehicle.

Modular vehicles are typically assembled at the customer's site so that the customer can purchase a set of modules from the manufacturer. The assembled vehicle may comprise at least two modules including at least one drive module and at least one functional module. Such modular vehicles are suitable for various types of road vehicles and may thus relate to heavy vehicles that may be used on public roads, such as buses, trucks and the like.

According to one aspect, the present disclosure relates to a method performed by a control device for controlling a position of a vehicle relative 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; controlling the vehicle such that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform.

In this way, loading and unloading of the vehicle is facilitated. When loading and unloading vehicles, time is minimized, safety is increased and damage is minimized.

By determining the platform height above the road surface and determining any inclination of the platform, the vehicle is controlled such that the floor surface of the vehicle has a level corresponding to the platform height and also such that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.

Based on the determined height of the platform above the road surface and the determined inclination of the platform, the vehicle level and inclination are controlled when the vehicle is moving towards the platform or when the vehicle has stopped adjacent to the platform. The vehicle level is controlled so that certain parts of the vehicle are changing height. The level of the platform surface above the road surface may be the same as the level of the platform height above the road surface. The level of the floor surface above the road surface may be the same as the level of the floor surface height above the road surface.

The definition that the floor surface of the vehicle has a level corresponding to the height of the platform includes that the level and the height correspond exactly to each other or that there is some difference between the level and the height. The difference between level and height may be small and does not affect boarding and disembarking or loading and unloading of vehicles.

The vehicle may be configured with a passenger compartment for accommodating passengers, and thus may be used as a bus. According to another example, the vehicle may be configured with a load compartment for containing loads, items and cargo, and may thus be used as a truck.

The determined platform height above the road surface at the platform is compared to the actual vehicle floor surface level relative to the road surface. The vehicle floor surface level that exists when the vehicle approaches the platform is the vehicle floor surface level used when driving the vehicle during normal driving conditions. However, the floor surface level of the vehicle used when driving the vehicle under normal driving conditions may vary depending on the weight of the passenger and/or the load within the vehicle. The vehicle floor surface level present when the vehicle approaches the platform is detected by any of the height sensor devices. The height sensor device may also be used during controlling the level of the floor surface of the vehicle before reaching the platform, so that the floor surface of the vehicle has a level corresponding to the height of the platform surface. Based on the height information detected from the height sensor device or any of the position sensor devices, a platform height above the road surface at the platform is determined. Such sensor means may be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices may also be incorporated on vehicles in order to improve the accuracy of determining the platform height. Determining the inclination of the platform based on inclination information detected from any of the inclination sensor devices. Such sensor means may be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor means may also be combined on the vehicle in order to improve the accuracy of determining the inclination of the platform. The sensor device also detects the outer edge of the platform and transmits a signal to the control unit for controlling the vehicle to be positioned with the outer edge of the floor surface of the vehicle parallel to the outer edge of the platform.

A control device included in the vehicle is configured to receive commands and instructions from a control center or an off-board system, and to execute the commands/instructions for controlling the vehicle level and inclination relative to the road surface based on data from the sensor device. The vehicle may operate autonomously to: determining a platform height above a road surface at a platform; determining the inclination of the platform; controlling the vehicle such that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform.

Controlling the vehicle level relative to the road surface according to the method is performed by a control device included in the vehicle without an instruction from a control center.

According to one aspect, controlling the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform comprises controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a lateral direction of the vehicle.

Determining the inclination of the platform surface may cause the platform surface to have an inclination with respect to the horizontal plane. The platform surface may have an inclination in any direction of the horizontal plane. Controlling the inclination of the vehicle in the longitudinal direction of the vehicle and in the lateral direction of the vehicle may enable the floor surface of the vehicle to reach an inclination corresponding to the inclination of the platform. The vehicle may comprise sensor means, such as a leveling sensor, connected to the control means. The sensor device may detect the inclination of the vehicle.

According to one aspect, 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 of the vehicle and the body. The wheel suspension may comprise springs and dampers for improving the driving characteristics of the vehicle. The wheel suspension of the vehicle may comprise an adjustment device for controlling the level of the vehicle when reaching the platform. The control device receives information about the platform and the road surface at the platform. Thereafter, the control device is configured to individually control the adjustment device of each wheel suspension to adjust the vehicle relative to the platform. The road surface at the platform may have a curvature and may have a crater, which curvature and crater are compensated for by the individually controllable wheel suspension of the at least one wheel. The suspension system may also be controlled so that the outer edge of the platform is parallel to the outer edge of the floor surface of the vehicle.

According to one aspect, controlling the vehicle comprises: an individually controllable wheel suspension of at least one wheel is controlled such that a floor surface of the vehicle coincides with a platform surface in a common plane.

The control device receives information from the one or more sensor devices about the platform height and the inclination of the platform surface above the road surface at the platform. Thereafter, the control device individually controls the adjustment device of each wheel suspension to adjust the level and inclination of the vehicle corresponding to the platform height and inclination of the platform surface. The vehicle may have at least four wheels, each equipped with an individually controlled wheel suspension. When the wheels are arranged in the area of, for example, each corner of the vehicle, the inclination of the vehicle can be controlled in the longitudinal direction of the vehicle and in the lateral direction of the vehicle. The distance between each wheel of the vehicle and the body, and thus the distance between the road surface and the floor surface of the vehicle, is adjusted individually so that the level and inclination of the floor surface of the vehicle are adjusted to correspond to the platform height and the inclination of the platform surface. The level and inclination of the floor surface of the vehicle are adjusted to correspond to the platform height and the inclination of the platform surface such that the floor surface of the vehicle will coincide with the platform surface in a common plane.

According to one aspect, determining the platform height comprises determining the platform height by means of at least one sensor device.

At least one sensor device is arranged on the vehicle for determining the platform height. Such sensor means may be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices may also be combined on a vehicle in order to improve the accuracy of determining the height of the platform. The sensor means are connected to the control means and provide information about the height of the platform to the control means. The sensor means detects the platform height when the vehicle approaches the platform. The signals from the sensor means are transmitted to the control means. Based on the information from the sensor device, the control unit controls the vehicle such 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 are arranged on the vehicle. One sensor device is arranged at the 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 sensors are received by a control device in the vehicle, the signals including information about the height of the platform above the road surface at the target destination. The control device is configured to control the vehicle height when approaching the platform such 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 approaches or is adjacent to the platform. Controlling the floor surface level by means of the control device may set a number of software markers (flags) of the control device. If the control means determines that the floor surface level is above the platform height, a first flag is set in the software of the control means by the control means. A second flag is set in the software of the control means by the control means if the control means determines that the floor surface level is below the platform height. If the control means determines that the floor surface level already corresponds to the platform height, a third flag is set by the control means in the software of the control means. Depending on the set of signs, the control device controls the vehicle to a floor surface level corresponding to the height of the platform at the target destination such that the floor surface of the vehicle has a level corresponding to the height of the platform surface. The definition of the expression of the height of the floor surface of the vehicle corresponding to the platform surface is: there is a small margin of error between the level of the floor surface and the height of the platform surface.

According to one aspect, controlling the vehicle such that the floor surface of the vehicle has an inclination corresponding to an inclination of the platform comprises: determining the inclination of the floor surface by means of a level sensor, and determining the inclination of the platform by means of at least one sensor device.

The vehicle may comprise a sensor device, such as a level sensor, connected to the control device. The sensor device may detect the inclination of the vehicle 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 means may be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor means may also be combined on the vehicle in order to improve the accuracy of determining the inclination of the platform. The sensor means are connected to the control means and provide information to the control means about the inclination of the platform. Determining the inclination of the platform surface may cause the platform surface to have an inclination with respect to the horizontal plane. The platform surface may have an inclination in any direction of the horizontal plane. The sensor means detect the inclination of the platform when the vehicle approaches the platform. The signals from the sensor means are transmitted to the control means. A plurality of sensor devices for determining the inclination of the platform are arranged on the vehicle. One sensor device is arranged at the 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. Based on the information from the sensor device, the control unit is configured to control the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform.

According to one aspect, the method comprises the further step of determining the distance between the vehicle and the platform by means of at least one sensor device.

At least one sensor device detects the platform when the vehicle approaches the platform. At least one sensor device transmits the detected signals of the platform 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.

According to one aspect, the method comprises the further step of determining the shape of the road surface by means of at least one sensor device.

The road surface at the platform may have curvatures, potholes, and elevations that may affect the position of the vehicle relative 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 pits in the road surface at the land. The sensor device may also detect any elevation or protrusion in the road surface at the platform. Such sensor means may be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices may also be combined on vehicles in order to increase the accuracy of determining the shape of the road surface. The sensor device is connected to the control device and provides information to the control device about the shape of the road surface. When the vehicle approaches the platform, the sensor device detects the shape of the road surface at the platform. The signals from the sensor means are transmitted to the control means. Based on the information from the sensor device, the control unit may control the vehicle such that the floor surface of the vehicle has a level and an inclination corresponding to the height and the inclination of the platform. A plurality of sensor devices for determining the shape of the road surface may be arranged on the vehicle. One sensor device is arranged at the 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. Another sensor device for determining the shape of the road surface is arranged on the underside of the vehicle.

According to one aspect, the method comprises the further step of determining any obstacles above or beside the road surface in front of the platform by means of at least one sensor device.

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 flat tops above and in front of the platform. Such obstacle may also be another vehicle parked at the platform. At least one sensor device is arranged on the vehicle for determining any obstacle above or beside the road surface in front of the platform. The sensor means may detect any obstacle above or beside the road surface in front of the platform. Such sensor means may be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices may also be combined on the vehicle in order to improve the accuracy of determining any obstacles above or beside the road surface in front of the platform. The sensor means is connected to the control means and provides the control means with information about any obstacles above or beside the road surface in front of the platform. When the vehicle approaches the platform, the sensor device detects any obstacle above or beside the road surface in front of the platform. The signals from the sensor means are transmitted to the control means. Based on the information from the sensor device, the control device is configured to control the vehicle such that the vehicle avoids the detected obstacle. 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 at the 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.

According to one aspect, the method comprises the further step of receiving information about the platform height and inclination of the platform from another vehicle.

Other vehicles may have gone to the location of the platform and therefore information about the height of the platform above the road surface and the inclination of the platform has been recorded and stored. Information regarding the height of the platform and the inclination of the platform above the road surface is received from such other vehicles before the vehicle reaches the target destination. This information may be received at a time proximate to when the vehicle reaches the target destination. The vehicle may receive updated information about the platform height and inclination of the platform as soon as the platform height above the road surface changes or the inclination of the platform changes. Due to the reconstruction of the road and/or the platform, changes in the height of the platform above the road surface and changes in the inclination of the platform may occur.

The vehicle height and inclination are controlled before reaching the target destination. The vehicle height and inclination are controlled so that certain parts of the vehicle are changing height. The vehicle height and inclination may be controlled before reaching the target destination so that the floor surface of the vehicle may have a level and inclination above the road surface corresponding to a level of the platform surface and an inclination of the platform above the road surface at the target destination. The level of the platform surface above the road surface may be the same as the level of the platform height above the road surface. The level of the floor surface above the road surface may be the same as the level of the floor surface height above the road surface.

Alternatively or additionally, information about the platform height and inclination of the platform is received from an external control center. A control device included in the vehicle is configured to receive information, commands and instructions from a control center or off-board system and execute the commands/instructions for controlling vehicle height and inclination corresponding to platform height and platform inclination at a target destination.

In addition, a door actuator is controlled to open at least one door of the vehicle. After verifying that the floor surface of the vehicle has a level and an inclination corresponding to the height and the inclination of the platform surface, the door is opened. The door actuator is controlled by a control device in the vehicle. If the vehicle door is opened when there is a difference between the floor surface level and the platform surface height, the door may be blocked by the platform, which may lead to technical failure of the door and/or the door actuator. Opening the door after verifying that the floor surface of the vehicle has a level corresponding to the height of the platform surface can enable passengers to safely and conveniently board and disembark from the vehicle. Further, if the door is opened after verifying that the floor surface of the vehicle has a level and an inclination corresponding to the height and the inclination of the platform surface, the load and the items can be safely loaded and unloaded to and from the vehicle.

The present disclosure also relates to a computer program comprising instructions which, when said program is executed by a computer, cause said computer to carry out the method disclosed above. The invention also relates to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to perform the method disclosed above.

Furthermore, the present disclosure relates to a control device for controlling a position of a vehicle relative 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 configured to: determining a platform height above a road surface at the platform; determining an inclination of the platform; controlling the vehicle such that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform.

By such a control device, loading and unloading of the vehicle is facilitated. When loading and unloading vehicles, time is minimized, safety is increased and damage is minimized.

The control device is configured to determine a platform height above a road surface and to determine any inclination of the platform. Based on this determination, the control device is configured to control the vehicle such that the floor surface of the vehicle may have a level corresponding to the height of the platform and also such that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.

Based on the determined height of the platform above the road surface and the determined inclination of the platform, the control device is configured to control the vehicle such that the level of the floor surface of the vehicle and the inclination of the floor surface of the vehicle are controlled when the vehicle is moving towards the platform or when the vehicle has stopped adjacent to the platform. The control device is configured to control a level of a floor surface of the vehicle and an inclination of the floor surface of the vehicle such that a specific component of the vehicle is changing height. The level of the platform surface above the road surface may be the same as the level of the platform height above the road surface. The level of the floor surface above the road surface may be the same as the level of the floor surface height above the road surface.

A control device included in the vehicle is configured to receive commands and instructions from a control center or an off-board system, and to execute the commands/instructions for controlling the vehicle level and inclination relative to the road surface based on data from the sensor device. The vehicle may be autonomously operated by the control device to: determining a platform height above a road surface at a platform; determining the inclination of the platform; controlling the vehicle such that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform.

The control means comprised in the vehicle are configured to control the floor surface level with respect to the height of the platform surface without instructions from the control center.

According to one aspect, the control device being configured to control the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform comprises: controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a lateral direction of the vehicle.

The control means is configured to determine any inclination of the platform surface. This may allow determining that the platform surface has an inclination with respect to the horizontal plane. The platform surface may have an inclination in any direction of the horizontal plane. The control device is configured to control the inclination of the vehicle in the longitudinal direction of the vehicle and in the lateral direction of the vehicle such that the floor surface of the vehicle reaches an inclination corresponding to the inclination of the platform. The vehicle may comprise sensor means, such as leveling members, connected to the control means. The level sensor may detect the inclination of the vehicle and transmit a signal regarding the detection to the control unit.

According to one aspect, a control device configured to control a vehicle comprises an individually controllable wheel suspension controlling at least one wheel.

The control device receives transmitted information from the sensor device about the platform and the road surface at the platform. Thereafter, the control device individually controls the adjustment device of each wheel suspension to adjust the vehicle relative to the platform. The road surface at the platform may have a curvature, a pothole and a lift, which can be compensated for by the individually controllable wheel suspension of the at least one wheel.

According to one aspect, a control device configured to control a vehicle comprises an individually controllable wheel suspension controlling at least one wheel such that a floor surface of the vehicle coincides with a platform surface in a common plane.

The control device receives information from the sensor device about the platform height above the road surface at the platform and the inclination of the platform surface. Thereafter, the control device individually controls the adjustment device of each wheel suspension to adjust the level and inclination of the vehicle corresponding to the platform height and inclination of the platform surface. The vehicle may have at least four wheels, each equipped with an individually controlled wheel suspension. When the wheels are arranged in the area of, for example, each corner of the vehicle, the inclination of the vehicle can be controlled in the longitudinal direction of the vehicle and in the lateral direction of the vehicle. The distance between each wheel of the vehicle and the body, and thus the distance between the road surface and the floor surface of the vehicle, is adjusted individually so that the level and inclination of the floor surface of the vehicle are adjusted to correspond to the platform height and the inclination of the platform surface. The level and inclination of the floor surface of the vehicle are adjusted to correspond to the platform height and the inclination of the platform surface such that the floor surface of the vehicle will coincide with the platform surface in a common plane.

According to one aspect, the control device is configured to determine a platform height comprising determining the platform height by means of at least one sensor device.

At least one sensor device is arranged on the vehicle for determining the platform height. Such sensor means may be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices may also be combined on a vehicle in order to improve the accuracy of determining the height of the platform. The sensor means are connected to the control means and provide information about the height of the platform to the control means. The sensor means detects the platform height when the vehicle approaches the platform. The signals from the sensor means are transmitted to the control means. Based on the information from the sensor device, the control device may control the vehicle such 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 are arranged on the vehicle. One sensor device is arranged at the 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 signal comprising information about the height of the platform above the road surface at the target destination is received by a control device in the vehicle. The control device is configured to control the vehicle height when approaching the platform such 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 approaches or is adjacent to the platform. The definition of the expression of the height of the floor surface of the vehicle corresponding to the platform surface is: there is a small margin of error between the level of the floor surface and the height of the platform surface.

According to one aspect, the control device being configured to control the vehicle such that a floor surface of the vehicle has an inclination corresponding to an inclination of the platform comprises: determining the inclination of the floor surface by means of a level sensor, and determining the inclination of the platform by means of at least one sensor device.

According to one aspect, the control device is further configured to determine a distance between the vehicle and the platform by means of the at least one sensor device.

At least one sensor device detects the platform when the vehicle approaches the platform. At least one sensor device transmits the detected signals of the platform to the control device. Based on these signals, the control device is configured to determine the distance between the vehicle and the platform. Based on the determined 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.

According to one aspect, the control device is further 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 curvatures, potholes, and elevations that may affect the position of the vehicle relative 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 pits in the road surface at the land. The sensor device may also detect any elevation or protrusion in the road surface at the platform. Such sensor means may be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices may also be combined on vehicles in order to increase the accuracy of determining the shape of the road surface. The sensor device is connected to the control device and provides information to the control device about the shape of the road surface. When the vehicle approaches the platform, the sensor device detects the shape of the road surface at the platform. The signals from the sensor means are transmitted to the control means. Based on the information from the sensor device, the control device is configured to control the vehicle such that a floor surface of the vehicle has a level and an inclination corresponding to the platform height and inclination. A plurality of sensor devices for determining the shape of the road surface are arranged on the vehicle. One sensor device is arranged at the 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. Another sensor device for determining the shape of the road surface is arranged on the underside of the vehicle.

According to one aspect, the control device is further configured to determine any obstacles above or beside the road surface in front of the platform by means of the at least one sensor device.

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 flat tops above and in front of the platform. Such obstacle may also be another vehicle parked at the platform. At least one sensor device is arranged on the vehicle for determining any obstacle above or beside the road surface in front of the platform. The sensor means may detect any obstacle above or beside the road surface in front of the platform. Such sensor means may be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices may also be combined on the vehicle in order to improve the accuracy of determining any obstacles above or beside the road surface in front of the platform. The sensor means is connected to the control means and provides the control means with information about any obstacles above or beside the road surface in front of the platform. When the vehicle approaches the platform, the sensor device detects any obstacle above or beside the road surface in front of the platform. The signals from the sensor means are transmitted to the control means. Based on the information from the sensor device, the control device is configured to control the vehicle such that the vehicle avoids the detected obstacle. A plurality of sensor devices are arranged on the vehicle for determining any obstacles above or beside the road surface in front of the platform. One sensor device is arranged at the 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.

According to one aspect, the control device is further configured to receive information about the platform height and inclination of the platform from another vehicle.

Information regarding the height of the platform and the inclination of the platform above the road surface may be received from another vehicle before the vehicle reaches the target destination. This information may be received at a time proximate to when the vehicle reaches the target destination. The vehicle may receive updated information about the platform height and inclination of the platform as soon as the platform height above the road surface changes or the inclination of the platform changes. Due to the reconstruction of the road and/or the platform, changes in the height of the platform above the road surface and changes in the inclination of the platform may occur.

The control device is configured to control the vehicle height and inclination before reaching the target destination. The vehicle height and inclination are controlled so that certain parts of the vehicle are changing height. The control device may be configured to control the vehicle height and inclination before reaching the target destination such that the floor surface of the vehicle may have a level and inclination above the road surface corresponding to a level of the platform surface above the road surface at the target destination and an inclination of the platform. The level of the platform surface above the road surface is the same as the level of the platform height above the road surface. The level of the floor surface above the road surface is the same as the level of the floor surface height above the road surface.

Alternatively or additionally, information about the platform height and inclination of the platform may be received by a control device in the vehicle from an external control center. A control device included in the vehicle is configured to receive information, commands and instructions from a control center or off-board system and execute the commands/instructions for controlling vehicle height and inclination corresponding to platform height and platform inclination at a target destination.

In addition, the control device is configured to control the door actuator to open at least one door of the vehicle. After verifying that the floor surface of the vehicle has a level and an inclination corresponding to the height and the inclination of the platform surface, the door is opened. If the vehicle door is opened when there is a difference between the floor surface level and the platform surface height, the door may be blocked by the platform, which may lead to technical failure of the door and/or the door actuator. Opening the door after verifying that the floor surface of the vehicle has a level corresponding to the height of the platform surface can enable passengers to safely and conveniently board and disembark from the vehicle. Further, if the door is opened after verifying that the floor surface of the vehicle has a level and an inclination corresponding to the height and the inclination of the platform surface, the load and the items can be safely loaded and unloaded to and from the vehicle.

Furthermore, the present disclosure relates to a vehicle comprising at least one sensor device, at least two front wheels, and at least two rear wheels, wherein the vehicle comprises the control device mentioned herein.

The vehicle is suitable for all types of road vehicles and may therefore be associated with heavy vehicles such as buses, trucks and the like which may be used on public roads. The vehicle may also be a boat or a ship, or an airplane. A control unit comprised in the vehicle is configured to perform the herein mentioned method steps and actions. The control unit may be configured to autonomously operate the vehicle.

According to one aspect, 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 at least two front wheels or at least two rear wheels and is configured to operate autonomously and drive the assembled vehicle.

The modular vehicle is suitable for all types of road vehicles and may therefore be associated with heavy vehicles such as buses, trucks and the like which may be used on public roads. The control unit comprised in the modular vehicle is configured to perform the method steps and actions mentioned herein. The control unit may be configured to autonomously operate the modular vehicle.

The loading and unloading of such modular vehicles is facilitated. When loading and unloading such modular vehicles, time is minimized, safety is increased and damage is minimized.

At least one driver module is used with different functional modules. The functional modules are designed for specific purposes. Thus, by combining the drive module with a suitable functional module, the vehicle can be customized for different tasks. The functional module is ready to perform a specific function, and an autonomously operating drive module can be connected with the functional module to achieve an assembled vehicle tailored to the specific task. For example, at least one functional module is configured with a passenger compartment for accommodating passengers and can thus be used as a bus when assembled with at least one drive module. According to another example, at least one functional module is configured with a load compartment for accommodating loads and items and may thus be used as a truck when assembled with at least one drive module.

At least one drive module, and thus the assembled vehicle, may be configured to operate autonomously. The control means included in the functional module are configured to receive commands and instructions from a control centre or an off-board system and to execute commands/instructions for driving the vehicle and also for controlling the height of the vehicle relative to the road surface. In this way, the assembled vehicle may drive itself based on the received commands and instructions. The control device included in any one of the modules may also control the assembled vehicle to drive or operate autonomously based on data from the at least one sensor device, taking into account what may occur during transport. Thus, autonomous operation of the modular vehicle may include: determining a platform height above a road surface at the platform; determining an inclination of the platform; controlling the modular vehicle such that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the modular vehicle such that a floor surface of the modular vehicle has an inclination corresponding to an inclination of the platform. Controlling the modular vehicle such that the floor surface of the vehicle has a level corresponding to the height of the platform, and controlling the modular vehicle such that the floor surface of the modular vehicle has an inclination corresponding to the inclination of the platform may be performed by a control device comprised in any one of the modules without an instruction from a control center.

The functional module is adapted to be releasably connected to the drive module for forming an assembled vehicle. The drive module includes a pair of wheels and is configured to operate autonomously and drive the assembled vehicle when the drive module and the functional module are connected. The functional module comprises at least one connecting means adapted to physically connect the functional module to the drive module. The functional module may also include a wheel.

The connection means may comprise a physical interface for the purpose of physically connecting and disconnecting the module. The driver module and the functional module suitably each comprise at least one physical interface for the purpose of physically connecting and disconnecting the module. The physical interface on the drive module is connected to a control device configured to control the physical interface on the drive module to physically connect and disconnect the module. The functional module is provided with a recess. The recess is adapted for a drive module. Due to the recess, the length of the assembled vehicle will coincide with the length of the functional module. However, the functional module may be configured without a recess, and the driving module may be directly connected to a front side or a rear side of the functional module.

The drive module may include a suspension system disposed between each wheel and the body of the drive module. The suspension system may include springs and dampers for improving the drive characteristics of the drive module and also of the assembled vehicle. The suspension system of the drive module may include an adjustment device for controlling the vehicle level as the platform is approached. The control device is connected to an adjustment device of the suspension system. The control device may receive information about a height of a platform above a road surface at the target destination. The control device is configured to control the adjustment device of the suspension system based on information about a height of a platform above a road surface at a target destination so as to adjust a vehicle level before reaching the target destination. The control means is configured to individually control the adjustment means of each wheel suspension to adjust the vehicle relative to the platform.

The disclosure will now be further explained with reference to the attached figures.

Fig. 1a schematically shows a side view of a vehicle 1 equipped with a control device 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 located beside or in front of the platform 8 in fig. 1. The door opening 10 is disposed in a vehicle body 11 of the vehicle 1. Items, cargo and passengers are transferred from the platform 8 or vehicle 1 through the door opening 10 of the vehicle 1. The vehicle 1 includes a floor 12 having a floor surface 14. The control device 100 is configured to control the position of the vehicle relative to the platform 8. The control device 100 is configured to determine a platform height above the road surface 16 at the platform 8, and also determine the inclination of the platform 8. The control device 100 receives information from the sensor device 2 about the position of the vehicle relative to the platform 8. Based on the signals from the sensor device 2, the control device 100 is configured to determine a platform height above the road surface 16 at the platform 8, and also to determine an inclination of the platform 8. The vehicle 1 includes a sensor device 2. However, the control device 100 may alternatively receive the information from a sensor device disposed 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 transmits a signal relating to the position of the object in the surroundings to the control device 100. 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 vehicle 1 and the platform 8. By means of input from the sensor device 2, the control device 100 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 platform 8. The sensor device 2 together with the control device 100 is configured to determine the shape of the road surface 16. The sensor device 2 may detect any obstacle 18 above or beside the road surface 16 in front of the platform 8. The sensor device 2 together with the control device 100 is configured to determine whether there are any obstacles 18 above or beside the road surface 16 in front of the platform 8. In fig. 1, the platform 8 has an inclination a with respect to the road surface 16 at the platform 8.

The floor surface 14 of the vehicle 1 has different levels and different inclinations with respect to the height and inclination a of the platform 8.

Fig. 1b schematically shows a side view of a vehicle 1 equipped with a control device 100 according to an embodiment. In fig. 1b, the vehicle 1 has been controlled such that the floor surface 14 of the vehicle 1 has a level corresponding to the platform height. In addition, the vehicle 1 has been controlled such that the floor surface 14 of the vehicle 1 has an inclination α in the longitudinal direction of the vehicle 1 which corresponds to the inclination α of the platform 8. The inclination α of the vehicle 1 is controlled in the longitudinal direction of the vehicle 1 and in the lateral direction of the vehicle 1. The control device 100 is configured to control individually controllable wheel suspensions 20 of the wheels of the vehicle 1. Each wheel of the vehicle 1 is equipped with such an individually controllable wheel suspension 20.

The vehicle 1 includes a level sensor 22 that detects the inclination of the floor surface 14 in the vehicle 1. The level sensor 22 is connected to the control device 100. By means of input from the level sensor 22, the control device 100 is configured to determine the inclination of the floor surface 14 in the vehicle 1. When there is information about the inclination of the platform 8 and the inclination of the floor surface 14, the vehicle 1 is controlled by the control device 100, so that 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 suspension 20 of at least one wheel. The position of the body 11 of the vehicle 1 relative to the wheels is adjusted by means of the wheel suspension 20 of each wheel. By adjusting the position of the vehicle body 11 of the vehicle 1, the position of the floor surface 14 of the vehicle 1 can also be adjusted. The control device 100 is configured to control the individually controllable wheel suspensions 20 of the wheels such that the floor surface 14 of the vehicle 1 coincides with the platform surface 9 in a common plane. The control device 100 is also configured to receive information from the other vehicle 21 about the platform height and the inclination of the platform 8. The information about the platform height and the inclination of the platform 8 may be received directly from another vehicle or wirelessly via the control center 24. The control device 100 is also configured to receive information from the control centre 24 about the platform height and the inclination of the platform 8.

Fig. 2a and 2b schematically show side views of a vehicle 1 equipped with a control device 100 according to an embodiment. In fig. 2a, 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 are determined by the sensor device 2. In addition, the shape of the road surface 16 is determined by at least one sensor device 2. The platform 8 in fig. 2a has an inclination beta with respect to the horizontal.

In fig. 2b, the vehicle 1 has arrived at the platform 8 and has parked near the platform 8. Based on the information from the sensor device 2, the control unit has controlled the vehicle 1 such that the floor surface 14 of the vehicle 1 has a level corresponding to the platform height and such that the floor surface 14 of the vehicle 1 has an inclination β corresponding to the inclination β of the platform 8. In this position, the door 26 of the door opening 10 is opened. However, the inclination of the floor surface 14 of the vehicle 1 may be less than the inclination β of the platform 8 in order to facilitate handling of the pallet loader within the vehicle 1.

Fig. 2c schematically shows a view from the rear of the vehicle 1 equipped with the control device 100 according to an embodiment. The platform 8 in fig. 2c has, in addition to the inclination β in fig. 2a and 2b, an inclination α relative to the horizontal. The vehicle 1 has been controlled such that the floor surface 14 of the vehicle 1 has an inclination α in the lateral direction in addition to an inclination β in the longitudinal direction of the vehicle 1.

Fig. 3a schematically shows a side view of a modular vehicle 1 equipped with a control device 100 according to an embodiment, comprising two drive modules 30 and a functional module 40.

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. Depending on the driving direction, the drive module 30 comprises two front wheels 4 or two rear wheels 6. However, the modular vehicle 1 may comprise two drive modules 30, wherein one drive module 30 comprises two front wheels 4 and the other drive module 30 comprises two rear wheels 6. The modular vehicle 1 is configured to operate autonomously and drive the assembled vehicle 1.

The drive module 30 is adapted to be releasably connected to the functional module 40 to form an assembled vehicle 1. In fig. 3a, the driver module 30 and the functional module 40 are disconnected from each other. Each drive module 30 comprises a pair of wheels 48 and is configured to operate autonomously and drive the assembled vehicle 1 when the drive module 30 and the functional module 40 are connected. The pair of wheels 48 of the drive module 30 corresponds to at least two front wheels 4 or at least two rear wheels 6 of the vehicle 1. The functional module 40 comprises at least one connecting means 42 adapted to physically connect the functional module 40 to the drive module 30. The control device 100 is included in either of the

modules

30, 40. Accordingly, the control device 100 may be included in each of the driving modules 30. The control device 100 may alternatively be included in the functional module 40.

The connection means 42 may comprise a physical interface 42 for the purpose of physically connecting and disconnecting the

modules

30, 40. The driver module 30 and the functional module 40 suitably each comprise at least one physical interface 42 for the purpose of physically connecting and disconnecting the

modules

30, 40. The physical interface 42 on the drive module 40 is connected to a control device 100 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 provided with a recess 46 for each drive module 30. Due to the recess 46, the length of the assembled vehicle 1 will coincide with the length of the functional module 40. However, the functional module 40 may be configured without the recess 46, and the driving module 30 may be directly connected to the front or rear side of the functional module 40. The functional module is equipped with at least one door opening 10.

The functional module 40 is equipped with a floor 12. The floor 12 is equipped with a floor surface 14. At least one sensor device 2 is arranged on the functional module 40. The sensor device 2 may provide information of the level of the floor surface 14 of the functional module 40 to the control device 100. The sensor device 2 may also provide information on the height and inclination of the platform surface 9 to the control device 100 (fig. 1 a). The sensor device 2 can also be arranged on the drive module 30.

Fig. 3b schematically shows a side view of two drive modules 30 and a functional module 40 equipped with a control device 100 according to an embodiment. In fig. 1b, the driver module 30 and the functional module 40 are connected to each other. The connected drive module 30 and functional module 40 together form the assembled vehicle 1. The drive module 30 and the functional module 40 are connected by a connecting device 42.

Fig. 4 schematically shows a drive module 30 equipped with a control device 100 according to an embodiment. The drive module 30 may include a pair of wheels 48. The steering unit 39 is connected to the wheels 48. The steering unit 39 may steer the drive module 30. A pair of wheels 48 may be arranged at the drive module 30 such that the central axis 43 of each wheel 48 coincides with each other. Each wheel 48 has a central axis 43 and is arranged at the drive module 30 such that each wheel 48 can rotate about its central axis 43. The drive module 30 has good handling capability when the central axes 43 of each wheel 48 coincide with each other.

The drive module 30 is equipped with a suspension system 52 for the wheels 48. The height of the body 54 of the drive module 30 relative to the wheels 48 is adjusted by the suspension system 52. Control device 100 is configured to control vehicle leveling via suspension system 52. The suspension system 52 of the drive module 30 is disposed between the wheels 48 and the main body 54 of the drive module 30. The suspension system 52 may include springs 54 and dampers 56 for improving the drive characteristics of the drive module 30 and also the assembled vehicle 1. The suspension system 52 of the drive module may include an adjustment device for controlling the level of the vehicle. The control device 100 is connected to the adjustment device of the suspension system 52.

The drive module 30 may comprise at least two connection means 42. The connection device 42 is configured as an interface for transmitting electrical energy and/or transmitting electrical signals and for physical connection.

The drive module 30 may include at least one propulsion unit 50 connected to a pair of wheels 48. The propulsion unit 50 may be a motor connected to the wheel 48. Two motors are arranged as propulsion units 50 in the drive module 30. One motor 50 is connected to one wheel 48 and the other motor 50 is connected to the other wheel 48. The motor 50 is arranged in the rim 44 of the wheel 48. The wheels 48 can thus be driven independently of each other. The motor 50 may also function as a generator and generate electrical energy when braking the wheels 48. Instead of an electric machine 50 as propulsion unit 50, at least one propulsion unit 50 may be an internal combustion engine, for example an otto engine or a diesel engine connected to wheels 48.

The drive module 30 may comprise at least one energy storage unit 52 for providing energy to the propulsion unit 50.

As mentioned above, the drive module 30 may comprise the control device 100. The control device 100 is configured to operate the drive module 30 as an independent drive unit. The control device 100 may be configured to transmit and receive information and control signals to and from an external control center 24. The control device 100 may be configured to transmit and receive information and control signals to and from another vehicle 21.

Fig. 5a shows a flow chart of a method performed by the control device 100 for controlling the position of the vehicle relative to the platform 8. The method thus involves controlling the vehicle position relative to the vehicle 1 and the platform 8 of the modular vehicle 1 disclosed in fig. 1 a-4. The vehicle 1 includes: at least one sensor device 2; at least two front wheels 4; at least two rear wheels 6; and a control device 100. The method comprises the following steps: determining s101 a platform height above the road surface 16 at the platform 8; determining s102 the inclination of the platform 8; controlling s103 the vehicle 1 such that the floor surface 14 of the vehicle 1 has a level corresponding to the platform height; and controlling s104 the vehicle 1 such that the floor surface 14 of the vehicle 1 has an inclination corresponding to the inclination of the platform 8.

According to one aspect, controlling s104 the vehicle 1 such that the floor surface 14 of the vehicle 1 has an inclination corresponding to the inclination of the platform 8 comprises: the inclination of the vehicle 1 is controlled in the longitudinal direction of the vehicle 1 and in the lateral direction of the vehicle 1. According to one aspect, controlling s103, s104 the vehicle 1 comprises an individually controllable wheel suspension 20 controlling at least one wheel 4, 6. According to one aspect, controlling s103, s104 the vehicle 1 comprises controlling the individually controllable wheel suspension 20 of at least one wheel 4, 6 such that the floor surface 14 of the vehicle 1 coincides with the platform surface 9 in a common plane. According to one aspect, determining s101 the platform height comprises determining the platform height by means of at least one sensor device 2. According to one aspect, controlling s104 the vehicle 1 such that the floor surface 14 of the vehicle 1 has an inclination corresponding to the inclination of the platform 8 comprises: the inclination of the floor surface 14 is determined by means of the level sensor 22 and the inclination of the platform 8 is determined by means of the at least one sensor device 2. According to one aspect, the method comprises the further step of determining s105 the distance between the vehicle 1 and the platform 8 by means of at least one sensor device 2. According to one aspect, the method comprises the further step of determining s106 the shape of the road surface 16 by means of at least one sensor device 2. According to one aspect, the method comprises the further step of determining s107 by means of the at least one sensor device 2 any obstacle 18 above or beside the road surface 16 in front of the platform 8. According to one aspect, the method comprises the further step of receiving s108 information about the platform height and the inclination of the platform 8 from another vehicle 21.

Fig. 5b shows a flow chart of a method performed by the control device 100 for controlling the position of the vehicle relative to the platform 8. The method thus involves controlling the vehicle position relative to the vehicle 1 and the platform 8 of the modular vehicle 1 disclosed in fig. 1 a-4. The method comprises the following steps: determining s101 a platform height above the road surface 16 at the platform 8; determining s102 the inclination of the platform 8; controlling the vehicle 1 such that the floor surface 14 of the vehicle 1 has a level corresponding to the platform height; controlling s103 the vehicle 1 such that the floor surface 14 of the vehicle 1 has an inclination corresponding to the inclination of the platform 8; controlling s104 the inclination of the vehicle 1 in the longitudinal direction of the vehicle 1 and in the lateral direction of the vehicle 1; an individually controllable wheel suspension 20 controlling at least one wheel 4, 6; controlling an individually controllable wheel suspension 20 of at least one wheel 4, 6 such that a floor surface 14 of the vehicle 1 coincides with the platform surface 9 in a common plane; determining the platform height by means of at least one sensor device 2; determining the inclination of the floor surface 14 by means of the level sensor 22 and the inclination of the platform 8 by means of the at least one sensor device 2; determining s105 a distance between the vehicle 1 and the platform 8 by means of the at least one sensor device 2; determining s106 the shape of the road surface 16 by means of at least one sensor device 2; determining s107 by means of at least one sensor device 2 any obstacle 18 above or beside the road surface 16 in front of the platform 8; and receiving s108 information about the platform height and inclination of the platform 8 from the other vehicle 21.

Fig. 6 is a schematic diagram of one form of apparatus 500. The control device 100 of the vehicle 1 may be in the form of a device 500. The apparatus 500 comprises a non-volatile memory 520, a data processing unit 510 and a read/write memory 550. The non-volatile memory 520 has a first memory element 530 in which a computer program, such as an operating system, is stored to control the functions of the apparatus 500. The device 500 also includes a bus controller, a serial communication port, an I/O device, an A/D converter, a time and date input and transmission unit, an event counter, and an interrupt controller (not depicted). The non-volatile memory 520 also has a second memory element 540.

A computer program P is provided comprising routines for performing the security method. The program P may be stored in the memory 560 and/or the read/write memory 550 in an executable form or in a compressed form.

When the data processing unit 510 is described as performing a specific function, this means that the data processing unit 510 affects a specific part of the program stored in the memory 560 or a specific part of the program stored in the read/write memory 550.

The data processing device 510 may communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended to communicate with the data-processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data-processing unit 510 via a data bus 511. The read/write memory 550 is adapted for communication with the data-processing unit 510 via a data bus 542.

When data is received on the data port 599, the data is temporarily stored in the second memory element 540. When the received input data has been temporarily stored, the data processing unit 510 is ready to implement code execution as described above.

Parts of the methods described herein may be implemented by the apparatus 500 by means of a data processing unit 510 running a program stored in a memory 560 or a read/write memory 550. The methods described herein are performed when the apparatus 500 runs a program.

The foregoing description of the embodiments has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the embodiments to the precise form described. Many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles and the practical application, to thereby enable others skilled in the art to understand the embodiments for various embodiments with various modifications as are suited to the particular use contemplated. The components and features specified above may be combined within the framework of the embodiments between the different embodiments specified.

Claims

1. A method performed by a control device (100) for controlling a position of a vehicle (1) relative to a platform (8), 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) is provided,

the method comprises the following steps:

determining (s101) a platform height above a road surface (16) at the platform (8);

determining (s102) an inclination of the platform (8);

controlling (s103) the vehicle (1) such that a floor surface (14) of the vehicle (1) has a level corresponding to the platform height; and

controlling (s104) the vehicle (1) such that a floor surface (14) of the vehicle (1) has an inclination corresponding to an inclination of the platform (8).

2. The method according to claim 1, wherein controlling (s103) the vehicle (1) such that a floor surface (14) of the vehicle (1) has an inclination corresponding to an 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).

3. Method according to any of claims 1 and 2, wherein controlling (s 103; s104) the vehicle (1) comprises controlling an individually controllable wheel suspension (20) of at least one wheel (4, 6).

4. A method according to claim 3, wherein controlling (s 103; s104) the vehicle (1) comprises controlling an individually controllable wheel suspension (20) of at least one wheel (4, 6) such that a floor surface (14) of the vehicle (1) coincides with a platform surface (9) in a common plane.

5. The method according to any of the preceding claims, wherein determining (s 101; 102) a platform height comprises determining the platform height by means of the at least one sensor device (2).

6. Method according to claim 1 or 2, wherein controlling (s103) the vehicle (1) such that a floor surface (14) of the vehicle (1) has an inclination corresponding to an 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).

7. The method according to any of the preceding claims, wherein the method comprises the further step of:

determining (s105) a distance between the vehicle (1) and the platform (8) by means of the at least one sensor device (2).

8. The method according to any of the preceding claims, wherein 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).

9. The method according to any of the preceding claims, wherein the method comprises the further step of:

determining (s107) by means of the at least one sensor device (2) any obstacle (18) above or beside the road surface (16) in front of the platform (8).

10. The method according to any of the preceding claims, wherein the method comprises the further step of:

-receiving (s108) information about the platform height and inclination of the platform (8) from another vehicle (21).

11. A computer program (P) comprising instructions which, when the program is executed by a computer (100; 500), cause the computer (100; 500) to carry out the method according to any one of the preceding claims.

12. A computer-readable medium comprising instructions that, when executed by a computer (100; 500), cause the computer (100; 500) to perform the method according to any one of claims 1-10.

13. A control device (100) for controlling the position of a vehicle relative to a platform (8),

the vehicle (1) includes:

at least one sensor device (2);

at least two front wheels (4);

at least two rear wheels (6); and

the control device (100) is provided,

the control device (100) is configured to:

determining a platform height above a road surface (16) at the platform (8);

-determining the inclination of the platform (8);

controlling the vehicle (1) such that a floor surface (14) of the vehicle (1) has a level corresponding to the platform height; and

controlling the vehicle (1) such that a floor surface (14) of the vehicle (1) has an inclination corresponding to an inclination of the platform (8).

14. The control device (100) according to claim 13, wherein the control device (100) being configured to control the vehicle (1) such that a floor surface (14) of the vehicle (1) has an inclination corresponding to an 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).

15. The control device (100) according to any one of claims 13 and 14, wherein the control device (100) is configured to control the vehicle (1) comprising an individually controllable wheel suspension (20) controlling at least one wheel (4, 6).

16. The control device (100) according to claim 15, wherein the control device (100) is configured to control the vehicle (1) comprising an individually controllable wheel suspension (20) controlling at least one wheel (4, 6) such that a floor surface (14) of the vehicle (1) coincides with a platform surface (9) in a common plane.

17. The control device (100) according to any one of claims 13-16, wherein the control device (100) is configured to determine a platform height comprises determining the platform height by means of the at least one sensor device (2).

18. The control device (100) according to any one of claims 13-17, wherein the control device (100) being configured to control the vehicle (1) such that a floor surface (14) of the vehicle (1) has an inclination corresponding to an 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).

19. The control device (100) according to any one of claims 13-18, wherein the control device (100) is further configured to:

determining the distance between the vehicle (1) and the platform (8) by means of the at least one sensor device (2).

20. The control device (100) according to any one of claims 13-19, wherein the control device (100) is further configured to:

determining the shape of the road surface (16) by means of the at least one sensor device (2).

21. The control device (100) according to any one of claims 13-20, wherein the control device (100) is further configured to:

-determining any obstacle (18) above or beside the road surface (16) in front of the platform (8) by means of the at least one sensor device (2).

22. The control device (100) according to any one of claims 13-21, wherein the control device (100) is further configured to:

-receiving information about the platform height and inclination of the platform (8) from another vehicle (21).

23. A vehicle (1) comprising:

at least one sensor device (2);

at least two front wheels (4); and

at least two rear wheels (6);

wherein the vehicle (1) comprises a control device (100) according to any one of claims 13-22.

24. Vehicle (1) according to claim 23, wherein the vehicle (1) is a modular vehicle (1) comprising:

at least one drive module (30); and

at least one functional module (40),

wherein the at least one drive module (30) comprises the at least two front wheels (4) or the at least two rear wheels (6) and is configured to operate autonomously and drive the assembled vehicle (1).