SE1851098A1 - A safety method, a control device, a vehicle, a computer program and a computer-readable medium. - Google Patents

A safety method, a control device, a vehicle, a computer program and a computer-readable medium.

Info

Publication number
SE1851098A1
SE1851098A1 SE1851098A SE1851098A SE1851098A1 SE 1851098 A1 SE1851098 A1 SE 1851098A1 SE 1851098 A SE1851098 A SE 1851098A SE 1851098 A SE1851098 A SE 1851098A SE 1851098 A1 SE1851098 A1 SE 1851098A1
Authority
SE
Sweden
Prior art keywords
vehicle
drive module
control device
module
disconnected
Prior art date
Application number
SE1851098A
Other languages
Swedish (sv)
Other versions
SE542850C2 (en
Inventor
André Claesson
Linus Ährlig
Mikko Kallio
Morgan Colling
Robert Sjödin
Sami Teppola
Tomas Skeppström
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1851098A priority Critical patent/SE542850C2/en
Publication of SE1851098A1 publication Critical patent/SE1851098A1/en
Publication of SE542850C2 publication Critical patent/SE542850C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/025—Modular vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/0029—Spatial arrangement
    • B60Q1/0035—Spatial arrangement relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
    • B60Q1/5035—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q7/00—Arrangement or adaptation of portable emergency signal devices on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/2692—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic retractable lights

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method, performed by a control device associated with a vehicle (1) assembled from a set of modules (30, 40), the 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 a body (31), a pair of wheels (32) and a propulsion unit (34) , and is configured to be autonomously operated and drive the assembled vehicle (1), the method comprising: identifying (s101) a traffic situation where the vehicle (1) is standing still and poses a potential risk to other road users; physically disconnecting (s102) at least one drive module (30) from the vehicle (1); controlling (s103) the at least one disconnected drive module (30) to a position at a distance (D) from the vehicle (1); and activating (s104) a visual alert on the disconnected drive module (30).

Description

A safety method, a control device, a vehicle, a computer program and a computer-readable medium.
TECHNICAL FIELD The present invention relates to a safety method for a vehicle assembled froma set of modules. More specifically the present invention relates to a method forhandling a risky situation where a vehicle is standing still along a roadway. Thepresent invention also relates to a control device, a vehicle, a computer program and a computer-readable medium.
BACKGROUND There are situations where a vehicle, for some reason, involuntary has to stopin the traffic. For example, the vehicle may get a flat tire or a passenger mayneed to get out of the vehicle and the vehicle may therefore have to stop alongthe roadway. ln such a situation, the vehicle standing still may pose a risk for itspassengers and other road users. To warn other road users and thereby avoidcollision, the vehicle driver may place a portable warning triangle at a distancefrom the vehicle. This may, however, not always help. Such portable warningtriangles are often small and difficult for a vehicle driver to notice. Also,positioning the warning triangle next to the roadway while traffic is running maybe unpleasant and even dangerous. To further increase the safety, the vehicle driver may activate an emergency warning light to provide an additional warning. ln some situations, typically when there has been an accident, impactattenuators may be sent to the location of the accident. Such impact attenuatorsare positioned in front of the vehicles involved in the accident and are configuredto absorb any colliding vehicle"s kinetic energy. The attenuator thus protectsemergency workers and persons involved in the accident from being hit by othervehicles. The impact attenuator may be mounted on the rear portion of a truck and may then be referred to as a truck-mounted attenuator (Tl\/IA). Such Tl\/IA may also comprise signs for redirecting vehicles away from the accident. lf an autonomous vehicle has to stop along a roadway, manual positioning of awarning triangle and activation of emergency lights may not be possible. lt isthus important that the other road users are warned in some other way.Document DE 102016015008 A1 discloses an autonomous vehicle and amethod for issuing a warning in the event of a breakdown of the vehicle. Thedocument discloses a self-propelled warning triangle unit, which automaticallyactivates when the vehicle has broken down and thereby positions itself at adistance from the vehicle. This way, passengers in the vehicle do not have to leave the vehicle.
SUMMARY Despite known solutions in the field, it would be desirable to achieve a safetymethod for a vehicle standing still and posing a potential risk for other roadusers, which solves or at least alleviates at least some of the drawbacks of the prior art.
An object of the present invention is therefore to achieve a new andadvantageous method for a vehicle assembled from a set of modules, whichmethod increases the safety in the traffic. Another object of the invention is toachieve a new and advantageous control device, vehicle, computer programand computer-readable medium for increasing the safety in the traffic.
The herein mentioned objects are achieved by a safety method, a control device,a vehicle, a computer program and a computer-readable medium according tothe independent claims.
Hence, according to an aspect of the present invention a safety method,performed by a control device associated with a vehicle assembled from a setof modules, is provided. The vehicle comprises: at least one drive module; andat least one functional module, wherein the at least one drive module comprisesa body, a propulsion unit and a pair of wheels, and is configured to beautonomously operated and drive the assembled vehicle. The methodcomprises: identifying a traffic situation where the vehicle is standing still andposes a potential risk to other road users; physically disconnecting at least onedrive module from the vehicle; controlling the at least one disconnected drivemodule to a position at a distance from the vehicle; and activating a visual alerton the disconnected drive module.
According to another aspect of the invention, a control device associated with avehicle assembled from a set of modules is provided. The vehicle comprises: atleast one drive module; and at least one functional module, wherein the at leastone drive module comprises a body, a propulsion unit and a pair of wheels, andis configured to be autonomously operated and drive the assembled vehicle.The control device is configured to: identify a traffic situation where the vehicleis standing still and poses a potential risk for other road users; physicallydisconnect at least one drive module from the vehicle; control the disconnecteddrive module to a position at a distance from the vehicle; and activate a visualalert on the disconnected drive module.
According to yet another aspect of the invention a vehicle assembled from a setof modules is provided. The vehicle comprises at least one drive module and atleast one functional module, wherein the at least one drive module comprises abody, a propulsion unit and a pair of wheels, and is configured to beautonomously operated and drive the assembled vehicle. The vehicle further comprises a control device as disclosed herein.
Vehicles of today are typically manufactured for a specific purpose, e.g. a bus ismanufactured for transporting people and a truck is manufactured for transporting goods. Such vehicles are typically manufactured and completelyassembled in a factory or they may be partly assembled in a factory andcompleted at a body manufacturer. Once the vehicle is assembled, the vehiclewill only be used for the specific purpose. Thus, a bus will only be used as a busand a garbage truck will only be used as a garbage truck. Different vehicles arethus needed for different purposes, which may require a large fleet of vehiclesand which may be very costly. Assembling a vehicle from a set of modulesaccording to the invention makes it possible to dynamically assemble amodularised vehicle depending on a current mission or function to be performed.This way, from the same set of modules, for example a truck, a garbage truck,a bus or a snowplough can be assembled. Not only will this result in an increasedflexibility, but the cost for a vehicle owner will decrease significantly comparedto having a plurality of different vehicles for different applications. The vehicle isautonomously operated by means of the at least one drive module. Also, byusing at least one autonomously operated drive module, the drive module mayautonomously/automatically perform physical and electricalconnection/disconnection with a second module. This way, no manual work isrequired and the assembly of the vehicle is less cumbersome and much more time efficient.
As previously mentioned, when a vehicle is malfunctioning or for some otherreason has to stop along the roadway, the vehicle may pose a risk to other roadusers. To reduce the risk for collision with other vehicles a warning triangleshould be positioned at a distance from the vehicle. By automatically identifyingsuch a risk situation and then autonomously physically disconnect at least onedrive module from the rest of the vehicle, the at least one drive module cantransport itself to a position at a distance from the vehicle. The at least one drivemodule, which normally drives the vehicle, can quickly transport itself to aposition at a distance from the vehicle, which means that the surrounding trafficcan be warned faster. Since the at least one drive module normally is part of thevehicle and drives the vehicle, the at least one drive module is of considerablesize and weight. The provided visual alert can thus be much larger and more visible than the commonly used warning triangles. Also, in the event that anapproaching vehicle does not notice the visual alert provided by the at least onedrive module, the approaching vehicle may collide with the at least one drivemodule. This way, the at least one drive module will stop or decelerate theapproaching vehicle before it reaches the vehicle standing still. The at least onedrive module will thus function as a road block/impact attenuator and will therebyreduce the risk of the approaching vehicle colliding with the vehicle standing still.Also, the at least one drive module will protect any emergency workers arrivingat the scene. This way, safety is increased and there is no need for an external truck-mounted attenuator or similar.
Further objects, advantages and novel features of the present invention willbecome apparent to one skilled in the art from the following details, and also byputting the invention into practice. Whereas examples of the invention aredescribed below, it should be noted that it is not restricted to the specific detailsdescribed. Specialists having access to the teachings herein will recognisefurther applications, modifications and incorporations within other fields, whichare within the scope of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS For fuller understanding of the present invention and further objects andadvantages of it, the detailed description set out below should be read togetherwith the accompanying drawings, in which the same reference notations denote similar items in the various diagrams, and in which: Figure 1 schematically illustrates a vehicle according to an example;Figure 2 schematically illustrates a control device according to an example;Figure 3 schematically illustrates a scenario for a vehicle according to an example; Figure 4a-b schematically illustrate scenarios for a vehicle according to anexample; Figure 5a-c illustrate flow charts for a method for a vehicle according toexamples; and Figure 6 schematically illustrates a control device or computer according to an example.
DETAILED DESCRIPTION During operation of a vehicle assembled from a set of modules, also called amodularised vehicle, situations may occur where the vehicle for some reasonhas to stop along a roadway. ln such a situation, the vehicle, just as anyconventional vehicle, may pose a risk for other road users. To ensure safety, asafety method according to the disclosure has been developed. The presentdisclosure is applicable on all sorts of modularised road vehicles. However, thedisclosure may relate to heavy vehicles, such as buses, trucks etc. Specifically, the present disclosure may relate to vehicles for use on public roads.
According to an aspect of the present disclosure a method, performed by acontrol device associated with a vehicle assembled from a set of modules isprovided. The vehicle comprises: at least one drive module; and at least onefunctional module, wherein the at least one drive module comprises a body, apropulsion unit and a pair of wheels, and is configured to be autonomouslyoperated and drive the assembled vehicle. The method comprises: identifying atraffic situation where the vehicle is standing still and poses a potential risk toother road users; physically disconnecting at least one drive module from thevehicle; controlling the at least one disconnected drive module to a position at adistance from the vehicle; and activating a visual alert on the disconnected drivemodule. This way, the at least one drive module will warn other road users andthereby reduce the risk for collision with the vehicle standing still. Thedisconnected drive module, which normally drives the vehicle, will also by itsconfiguration function as a road block/impact attenuator. The drive module may have a weight around 1,5-2 tonnes. As an example, the dimensions of the drivemodule may be around 2,5*1,5*1,5 metres. Thus, in the event that anapproaching vehicle does not notice the disconnected drive module, theapproaching vehicle may collide with the drive module, which will further reducethe risk for collision with the vehicle standing still. The disconnected drive module will thus function both as a warning and as an impact attenuator.
A vehicle may have to stop along a roadway, for example, when a passenger issick/ill, when the vehicle has a flat tire, when the vehicle is malfunctioning orwhen the vehicle has collided with another object. ldentifying a traffic situationwhere the vehicle is standing still and poses a potential risk to other road usersmay comprise determining that the vehicle is standing still and intend to standstill for a certain amount of time, for example longer than 5 minutes. ldentifyinga traffic situation where the vehicle is standing still and poses a potential risk toother road users may comprise identifying that the vehicle is standing still alonga road with a speed limit of 50 km/h or higher. Alternatively, identifying a trafficsituation where the vehicle is standing still and poses a potential risk to otherroad users may comprise identifying that the vehicle is standing still in a tunnel.Furthermore, identifying a traffic situation where the vehicle is standing still andposes a potential risk to other road users may comprise that the vehicle isstanding still on/along a road at a location with restricted view for other roadusers. The control device may identify a traffic situation where the vehicle isstanding still and poses a potential risk based on collected data from sensordevices on the vehicle and/or a navigation system of the vehicle. As an example,the control device may comprise a list of predetermined data indicating a trafficsituation posing a potential risk, saved in a database. The control device maythus compare the collected data with the list to detect a traffic situation wherethe vehicle is standing still and poses a potential risk to other road users.
The disconnected drive module may be controlled to a position preceding theposition of the vehicle, in the travel direction of the vehicle. That is, thedisconnected drive module may be controlled to a position behind the vehicle.
The set of modules from which the vehicle is assembled may comprise a pluralityof drive modules and a plurality of functional modules. The different drivemodules of the set of modules may be identical or the drive modules may forexample have different types/sizes of wheels, different suspension, differentpower capacity and/or different charge capacity. ln one example, the at leastone pair of wheels are arranged on opposite sides of the drive module. ln anexample, the drive module has only one pair of wheels. The propulsion unit ofthe drive module may be an electric machine, connected to the wheels. The pairof wheels of the drive module may thus be referred to as drive wheels. ln oneexample, the drive module(s) comprises two electrical machines, one connectedto each wheel. The electric machines may be arranged in the rim of the wheels.The wheels of the drive module can thus be driven independently of each other.The electric machines may also work as generators and generate electric powerwhen braking the wheels. The drive module may also comprise a steeringsystem connected to the wheels. This way, the drive module is steerable. Thedrive module may also comprise a brake system for braking the wheels.Suitably, the brake system comprises a wheel brake for each wheel of the drivemodule. Fïedundancy is achieved in that the drive module can be steered bymeans of the electrical machines and/or the wheel brakes in the event that thesteering system malfunctions. ln one example, the drive module furthercomprises at least one energy storage unit for providing the propulsion unit withenergy. The energy storage unit may be an electric battery. The electric batterymay be rechargeable. The drive module being configured to be autonomouslyoperated means that the drive module comprises a plurality of sensors andsystems for steering and driving the drive module automatically as anindependent unit according to conventional methods. According to an example,the drive module comprises a navigation system and sensors for detectingobjects in the surrounding of the drive module. The drive module may be referredto as an autonomously operated vehicle in the sense that it is allowed to operate on public roads.
Each functional module of the set of modules is configured to perform apredetermined function while being part of an assembled vehicle. ln oneexample, the functional module is configured to accommodate or support a load.The functional module may be configured for accommodating passengers andmay thus form a bus when being assembled with at least one drive module. Thefunctional module may alternatively be configured for transporting goods andmay thus form a truck when being assembled with at least one drive module.The functional module may be any of a garbage truck body, a loading platform,a fork arrangement for a forklift, and a snowplough. The functional module maycomprise trailing wheels, which are not driven or steerable. A functional modulecannot move on its own but needs to be connected to at least one drive moduleto be able to move, the functional module and the drive module thereby togetherforming a vehicle. The functional module may comprise an energy storage unit, such as a battery. lt is to be understood that the control device performing the disclosed methodmay be implemented as a separate entity or distributed in two or more physicalentities. The control device may comprise one or more control units and/orcomputers. The control device may thus be implemented or realised by thecontrol device comprising a processor and a memory, the memory comprisinginstructions, which when executed by the processor causes the control deviceto perform the herein disclosed method steps. According to one example, eachmodule of the vehicle may comprise a control unit. The control device may thuscomprise control units of each module of the vehicle. The control device may beconfigured to control the operation of the disconnected drive module. The controldevice may thus be configured to transmit control signals to the various systemsand components of the drive module for controlling for example the steering andthe propulsion of the drive module. The control device may thereby be adaptedto operate the drive module autonomously based on received commands, e.g.from a control centre, and based on sensor input regarding its surroundings andpositioning. The control device is in that case adapted to receive commandsfrom a remotely located control centre and to convert the command into control signals for controlling the various systems and components of the drive module.The control device may be configured to receive data about the surroundingsfrom various sensor devices, and based on this data control the drive module.The control device may additionally or alternatively be comprised in such anexternal control centre. The control centre may be referred to as an off-boardsystem. The control centre may be geographically on a distance from thevehicle. Suitably, all modules of the vehicle are configured to communicate withthe control centre. The control centre may be implemented as a separate entityor distributed in two or more physical entities. The control centre may compriseone or more computers. The control centre may be adapted to receiveinformation about missions or functions to be performed and based on thismission/function initiate assembly/disassembly of a vehicle. The control centremay also be adapted to assign the assembled vehicles different missions. Whena traffic situation where the vehicle is standing still and poses a potential risk toother road users has been identified, the control centre may instruct the vehicleto temporarily disregard the primary mission of the vehicle and initiate the safetymethod according to the disclosure. The control centre may instruct/commandat least one drive module to disconnect from the vehicle, to go to a position at adistance from the vehicle and to activate a visual alarm.
The method may comprise determining that at least one drive module isdriveable and can be operated to another position. ln the event that the vehiclecomprises two drive modules and suddenly has to stop along a roadway, themethod may comprise determining which drive module to disconnect. ln theevent that one drive module is malfunctioning, the other drive module will bedisconnected. lf both drive modules are driveable, as an example, the drivemodule arranged at the rear of the vehicle may be disconnected.
Physically disconnecting at least one drive module from the vehicle maycomprise controlling a physical interface. The modules of an assembled vehiclemay be physically connected to each other through corresponding physicalinterfaces. Such physical interfaces may be configured in different ways, and 11 may for example comprise coupling units adapted to engage, quick couplings,hooks, cooperating protrusions and recesses or similar. Physicallydisconnecting at least one drive module from the vehicle may thus comprisecontrolling a coupling unit, a quick coupling, a hook or similar. Each drive modulemay comprise a physical interface for connection with another module on atleast two different sides of the drive module. This way, the drive module can beconnected to another module in various ways and the flexibility is increased. Thedifferent physical interfaces for connection with another module may be identicalon all sides of the drive module. By using a standard interface, which can beused for connection with another drive module as well as a functional module,the flexibility of the drive module increases and the assembly of a vehicle arefacilitated. The physical connection may be autonomously performed duringassembly of the vehicle. Physically disconnecting the at least one drive modulemay also comprise controlling the modules of the vehicle, such that the at leastone drive module does not support the load of the at least one functional module.As an example, the functional modules may be controlled to extend at least onesupport leg, such that the load of the at least one functional module is supportedby the at least one support leg. Additionally or alternatively, the at least one drivemodule may be controlled, such that the vehicle is lowered and the at least onefunctional module is resting on the ground. This way, the at least one drivemodule will not carry any load of the at least one functional module. Typically,the suspension of the at least one drive module is controlled, such that the vehicle is lowered towards the ground on which it is standing.
The modules of an assembled vehicle may also be electrically connected witheach other via corresponding electrical interfaces. Physically disconnecting theat least one drive module may thus also comprise electrically disconnecting theat least one drive module from the vehicle. Electrically disconnecting the at leastone drive module from the vehicle may comprise inactivating communicationmeans in the at least one drive module. The communication means of the atleast one drive module may be comprised in the electrical interface of the atleast one drive module. The electrical interface may be configured to transfer 12 electric energy and/or to transmit and/or receive electric signals. The electricalinterface may be a wireless interface and/or a conductive interface. Thecommunication means in the at least one drive module is thus means fortransferring electric energy and/or transmitting/receiving electric signals to/fromother modules of the vehicle. The communication means may comprise aninternal communication network, such as CAN J1939, Flexray, Ethernet, fiber orsimilar. The communication means may alternatively or additionally comprise atransmitter and/or a receiver for wireless communication. The communicationmeans may be inactivated by means of controlling a switch, a contactor orsimilar. ln addition to the communication means for communicating with anothermodule, the at least one drive module also comprises wireless communication means for communicating with the control centre.
According to an example, the visual alert activated on the disconnected drivemodule comprises at least one of: flashing lights; a warning triangle; a trafficdirecting arrow; and informative text. The method may thus comprise activatingat least one of: flashing lights; a warning triangle; a traffic directing arrow; andinformative text on the disconnected drive module. The visual alert maycomprise information about what has happened and may direct other road usersto avoid the vehicle standing still. The visual alert may be provided by means ofan electrical display unit of the drive module. The display unit may comprise atleast one digital screen, such as a plasma or an LCD screen. The display unitmay be referred to as a flat panel display. The display unit may be configured tocover at least part of the drive module. The display unit may comprise a flexibledigital screen. The display unit may be controlled by the control device to showdifferent types of lights depending on the situation. By using a controllabledisplay unit, flashing lights, a warning triangle and a traffic-directing arrow maybe shown at the same time. This way, flexibility is increased and the visual alert is adapted to best suit the situation and/or the surroundings. ln one example, activating a visual alert comprises unfolding/extending a display unit showing the visual alert. Thus, the drive module may comprise a display 13 unit, which can be unfolded or extended upwards in relation to the ground onwhich the drive module is standing. This way, the display unit may be higherthan the height of the drive module. The display unit may additionally oralternatively be extended to the right and/or left of the drive module body. Thisway, the display unit may be wider than the width of the drive module. This way,the digital screen will be more visible to the other road users, which will increase safety.
The method may also comprise activating visual alerts on the other modules ofthe vehicle. As an example, a visual alert on the functional module may beactivated. The visual alert may be provided on an electrical display unit of thefunctional module. The display unit may comprise at least one digital screen, such as a plasma or an LCD screen.
According to an example, the disconnected drive module is controlled to aposition in line with the vehicle. When the disconnected drive module is in linewith the vehicle, the disconnected drive module will be a good protection for thevehicle. The drive module may be controlled to a position in line with the vehiclebased on data from the sensors on the drive module. Data from sensors on thevehicle may also be used when making sure that the drive module is positionedin line with the vehicle. The control device may collect data from the differentsensors and control the drive module based on this data. Based on the collecteddata, the control device will be able to determine when the drive module is inline with the vehicle. The disconnected drive module may be controlled to aposition in line with the vehicle, when the vehicle is standing still along anessentially straight road section. ln the event that the vehicle is standing stillalong a curved road section, controlling the drive module to a position in linewith the vehicle may not be possible.
The disconnected drive module may be controlled to a position at a safetydistance from the vehicle. The disconnected drive module may be controlled toa position at a distance within the range of 100-250 metres from the vehicle. The 14 control device may control the disconnected drive module to a position at adistance within the range of 100-250 metres from the vehicle based on datacollected from the various sensors as discussed above. Such sensors maycomprise cameras, proximity sensors, radar, Lidar or similar. By positioning thedrive module at this distance from the vehicle, other vehicles will be warned intime to brake or change lane before reaching the vehicle standing still. The riskfor collision with the vehicle standing still is thereby reduced.
According to an example, the method further comprises, after having controlledthe disconnected drive module to the position at a distance from the vehicle,controlling the disconnected drive module to impede movement of thedisconnected drive module. This way, the function as an impact attenuator willbe improved in that the drive module will be more efficient in stopping a collidingvehicle. Controlling the disconnected drive module to impede movement of thedisconnected drive module may comprise activating a wheel brake of the drivemodule. Controlling the disconnected drive module to impede movement of thedrive module may additionally or alternatively comprise activating/unfoldingbrake means configured to engage with the ground and thereby impedemovement of the drive module. Such brake means may comprise elementsconfigured to increase the friction between the drive module and the ground.Alternatively, controlling the disconnected drive module to impede movement ofthe disconnected drive module may comprise controlling a wheel suspension ofthe drive module to lower the drive module, so that the body rests on the ground.This way, the whole weight of the drive module rests on the ground and the drivemodule will act as a roadblock or impact attenuator in an improved way. Tofurther impede movement of the drive module, the drive module may comprisea rubber lining or rim at a bottom side of the body, to increase the frictionbetween the body and the ground. As an example, controlling the disconnecteddrive module to impede movement of the disconnected drive module maycomprise securing the drive module to the ground by means of an unfoldablesupport arm. Such support arm may be unfolded on a rear side of the drivemodule facing the vehicle. The arm may comprise a pointed end engaging with the ground and thereby impeding movement of the drive module in directiontowards the vehicle. The support arm may also ensure that the drive moduledoes not tilt fon/vards.
The method may further comprise activating an airbag device. The airbag devicemay be arranged on the disconnected drive module or it may be arranged onthe functional module. An airbag device on the disconnected drive module maybe arranged on the side of the drive module body facing away from the vehicleand thus facing the approaching vehicles on the roadway. This way, the airbagdevice may dampen the impact of a vehicle colliding with the drive module. Anairbag device on the functional module may be arranged in association withwhere a drive module normally is physically connected to the functional module.Thus, if the disconnected drive module is pushed towards and against thevehicle by a colliding vehicle, the inflated airbag device may dampen the impacton the functional module. A combination of activating airbag devices on bothdrive module and functional module is of course also possible.
When the reason for stopping the vehicle along the roadway has been rectified,the disconnected drive module may be controlled back to the vehicle and isphysically connected with the vehicle. The drive module may also be electricallyconnected with the vehicle. After that, the vehicle can continue its primary mission.
The present disclosure also relates to a control device associated with a vehicleassembled from a set of modules, the vehicle comprising: at least one drivemodule; and at least one functional module, wherein the at least one drivemodule comprises a body, a propulsion unit, and pair of wheels and is configuredto be autonomously operated and drive the assembled vehicle, the controldevice being configured to: identify a traffic situation where the vehicle isstanding still and poses a potential risk for other road users; physicallydisconnect at least one drive module from the vehicle; control the disconnected 16 drive module to a position at a distance from the vehicle; and activate a visualalert on the disconnected drive module. lt will be appreciated that all the embodiments described for the method aspectof the invention performed by the control device are also applicable to the controldevice aspect of the invention. That is, the control device may be configured toperform any one of the steps of the method according to the variousembodiments described above.
The present disclosure also relates to a computer program comprisinginstructions which, when the program is executed by a computer, causes thecomputer to carry out the method disclosed above. The present disclosurefurther relates to a computer-readable medium comprising instructions, whichwhen executed by a computer causes the computer to carry out the methoddisclosed above.
According to an aspect of the present disclosure, a vehicle assembled from aset of modules is provided. The vehicle comprising at least one drive moduleand at least one functional module, wherein the at least one drive modulecomprises a body, a propulsion unit and a pair of wheels, and is configured tobe autonomously operated and drive the assembled vehicle. The vehicle furthercomprises a control device as disclosed herein.
According to an aspect of the present disclosure, a method, performed by acontrol device associated with a vehicle assembled from a set of modules, isprovided. The vehicle comprises: at least one drive module; and at least onefunctional module, wherein the at least one drive module comprises a body, apropulsion unit, and pair of wheels and is configured to be autonomouslyoperated and drive the assembled vehicle. The method comprises: receiving,from a control centre, instructions to act as an impact attenuator at a certaingeographical location; operating the vehicle to said location; physicallydisconnecting at least one drive module from the vehicle; and controlling the at 17 least one disconnected drive module to a position at a distance from the vehicle.The method may also comprise activating a visual alert on the disconnecteddrive module. lt is to be understood that the features relating to the method aspreviously disclosed herein also are applicable on this method. ln the event ofan accident or road work or similar, there may be a need for an impact attenuatorto increase safety. A control centre may identify such traffic situation and maycommand a modular vehicle as disclosed herein to go and act as an impactattenuator. The vehicle will autonomously drive to the location in need of animpact attenuator and will then physically disconnect at least one drive moduleand position the drive module at a distance from the vehicle. This way, the drivemodule will act as a first impact attenuator in the event that another vehiclecollides with the drive module, and the rest of the vehicle will act as a secondimpact attenuator if needed. The visual alert activated on the drive module maycomprise signs for warning and redirecting the traffic away from the accident orroadwork. A visual alert may also be activated on the vehicle to increase safety.Using an autonomously operated vehicle as impact attenuator may be veryadvantageous specifically in traffic situations where it is not safe for persons tooperate. For example, if a bridge is damaged, the modular vehicle may becommanded to act as an impact attenuator to prevent vehicles from driving offthe bridge. Also, since the drive module can be disconnected and positioned at a distance from the vehicle a double protection is achieved.
The present disclosure will now be further illustrated with reference to the appended figures.
Figure 1 schematically illustrates a vehicle 1 according to an example. Thevehicle 1 is assembled from a set of modules 20. The vehicle 1 comprises atleast one control unit 100 configured to communicate with a control centre 200.The control unit(s) 100 and/or the control centre 200 may be comprised in acontrol device 300 as disclosed in Figure 2. The set of modules 20 comprises aplurality of drive modules 30 and a plurality of functional modules 40. The vehicle1 comprises at least one drive module 30 and at least one functional module 40, 18 wherein each drive module 30 comprises a body 31, a pair of wheels 32 and apropulsion unit 34, and is configured to be autonomously operated and drive thevehicle 1. Each module 30, 40 in the set of modules 20 comprise at least oneinterface releasably connectable to a corresponding interface on anothermodule 30, 40. The modules 30, 40 suitably comprise at least one physicalinterface and at least one electrical interface. By combining drive modules 30and functional modules 40, different types of vehicles 1 can be achieved. Somevehicles 1 require two drive modules 30 and some vehicles 1 only require onedrive module 30, depending on the structural configuration of the functionalmodule 40. Each drive module 30 may comprise a plurality of interfaces forreleasable connection with other modules 30, 40. The interface(s) of the drivemodules 30 may be arranged on different sides of the drive module 30 and thusenable connection with other modules 30, 40 on multiple sides of the drivemodule 30. The interfaces on the drive modules 30 and the functional modules40 respectively, are suitably arranged on corresponding positions to enableconnection between the modules 30, 40. Each module 30, 40 comprisecommunication means 50 for communication with another module 30, 40. Thecommunication means 50 may form part of the at least one interface of eachmodule 30, 40. The communication means 50 of each module 30, 40 arecontrolled by the control units 100 of the module 30, 40. The communicationmeans 50 may comprise an internal communication network, such as CANJ1939, Flexray, Ethernet, fiber or similar. The communication means 50 mayadditionally or alternatively comprise a transmitter and a receiver for wirelesscommunication between the modules 30, 40. The communication means 50may be activated by means of controlling a switch, a contactor or similar. Eachmodule 30, 40 may also comprise at least one sensor device 60 configured tosense when physical connection or disconnection between two modules 30, 40has been performed.
Figure 2 schematically illustrates a control device 300 associated with a vehicle1 assembled from a set of modules 20 according to an example. The controldevice 300 is associated with a vehicle 1 as disclosed in Figure 1. The control 19 device 300 may be implemented as a separate entity or may comprise a pluralityof entities, such as control units or computers, as illustrated by the dashed boxesin the figure. The entities may be distributed in different modules 30, 40 of thevehicle 1 or the whole control device 300 may be comprised in one module 30,40 of the vehicle 1. As mentioned above, the control device 300 may comprisecontrol units 100 of the vehicle 1 and/or a control centre 200 arranged incommunication with the vehicle 1 and the modules 30, 40. The control device300 is configured to: identify a traffic situation where the vehicle 1 is standingstill and poses a potential risk for other road users; physically disconnect at leastone drive module 30 from the vehicle 1; control the disconnected drive module30 to a position at a distance from the vehicle 1; and activate a visual alert onthe disconnected drive module 30.
The control device 300 may be configured to identify a traffic situation where thevehicle 1 is standing still and poses a potential risk to other road users bydetermining that the vehicle 1 is standing still and intend to stand still for a certainamount of time, for example longer than 5 minutes. The control device 300 maybe configured to identify a traffic situation where the vehicle 1 is standing stilland poses a potential risk to other road users by identifying that the vehicle 1 isstanding still along a road with a speed limit of 50 km/h or higher. Alternatively,the control device 300 is configured to identify a traffic situation where thevehicle 1 is standing still and poses a potential risk to other road users byidentifying that the vehicle 1 is standing still in a tunnel. Furthermore, the controldevice 300 may be configured to identify a traffic situation where the vehicle 1is standing still and poses a potential risk to other road users by identifying thatthe vehicle 1 is standing still on/along a road at a location with restricted view forother road users. The control device may be configured to identify a trafficsituation where the vehicle 1 is standing still and poses a potential risk based oncollected data from sensor devices on the vehicle 1 and/or a navigation systemof the vehicle 1. As an example, the control device 300 may comprise a list ofpredetermined data indicating a traffic situation posing a potential risk, saved ina database. The control device 300 may thus be configured to compare the collected data with the list to detect a traffic situation where the vehicle 1 isstanding still and poses a potential risk to other road users.
The control device 300 may be configured to physically disconnect the at leastone drive module 30 from the vehicle 1 by controlling a physical interface of thedrive module 30 or by commanding a control unit 100 of the drive module 30 tocontrol a physical interface of the drive module 30. The control device 300 mayalso be configured to control the modules 30, 40 of the vehicle 1, such that theat least one drive module 30 does not support the load of the at least onefunctional module 40. The control device 300 may be configured to control thefunctional module 40 to extend at least one support leg 42, such that the load ofthe at least one functional module 40 is supported by the at least one supportleg 42. Additionally or alternatively, the control device 300 may be configured tocontrol the at least one drive module 30, such that the vehicle 1 is lowered andthe at least one functional module 40 is resting on the ground.
The control device 300 may further be configured to electrically disconnect theat least one drive module 30 from the vehicle 1. The control device 100 may beconfigured to electrically disconnect the drive module 30 from the vehicle 1 byinactivating communication means 50 in the drive module 30. The control device300 may alternatively be configured to electrically disconnect the drive module30 from the vehicle 1 by commanding a control unit 100 of the drive module 30 to inactivate communication means 50 in the drive module 30.
The control device 300 may be configured to control the disconnected drivemodule 30 to a position preceding the position of the vehicle 1, in the traveldirection of the vehicle 1. The control device 300 may be configured to controlthe disconnected drive module 30 to a position at a distance within the range of100-250 metres from the vehicle 1. The control device 300 may also beconfigured to control the disconnected drive module to a position in line with thevehicle 1. The control device 300 may be configured to control the drive module 21 to a position in line with the vehicle 1 based on data from the sensors on the disconnected drive module 30 and/or on the vehicle 1. ln one example, the control device 300 is configured to determine that at leastone drive module 30 is driveable and can be controlled to another position. Thecontrol device 300 may further be configured to determine which drive module30 to disconnect, in the event that the vehicle 1 comprises more than one drive module 30.
The control device 300 may further be configured to unfold/extend a display unit70 showing the visual alert. Also, the control device 300 may be configured toactivate visual alerts on the other modules 30, 40 of the vehicle 1.
The control device 300 may also be configured to, after having controlled thedisconnected drive module 30 to the position at a distance from the vehicle 1,control the disconnected drive module 30 to impede movement of thedisconnected drive module 30. ln one example, the control device 300 isconfigured to activate a wheel brake of the disconnected drive module 30. Thecontrol device 300 may be configured to control a wheel suspension of the drivemodule 30 to lower the drive module 30, so that the body 31 rests on the ground.Alternatively, the control device 300 is configured to secure the drive module 30 to the ground by means of an unfoldable support arm 38.
The control device 300 may furthermore be configured to activate an airbagdevice arranged on the disconnected drive module 30 and/or on the functionalmodule 40 of the vehicle 1.
Figure 3 schematically illustrates a vehicle 1 assembled from a set of modules20 in a scenario according to an example. The vehicle 1 is configured asdisclosed in Figure 1. ln this example, a control device 300 as disclosed in Figure2 has identified a traffic situation where the vehicle 1 is standing still and posesa potential risk to other road users. A drive module 30 of the vehicle 1 has been 22 disconnected and controlled to a position at a distance D from the vehicle 1. Avisual alarm has also been activated on the drive module 30. The visual alarmmay be provided by means of an electrical display unit 70 of the drive module30. The display unit 70 may comprise at least one digital screen, such as aplasma or an LCD screen. ln this example, the functional module 40 has beencontrolled to extend a support leg 42, such that the load of the functional module40 is supported by the at least one support leg 42. This way, the drive module30 could be physically disconnected without the functional module 40 tilting.
Figure 4a and 4b schematically illustrate different examples of scenarios relatingto a vehicle 1 assembled from a set of module 20 as disclosed in Figure 1. lt isto be understood that the features illustrated in these examples may becombined with each other and with features disclosed in Figure 3. ln Figure 4a,a control device 300 as disclosed in Figure 2 has identified a traffic situationwhere the vehicle 1 is standing still and poses a potential risk to other road users.A drive module 30 of the vehicle 1 has been disconnected and controlled to aposition at a distance D from the vehicle 1. A visual alarm has also beenactivated on the drive module 30. The visual alarm may be provided by meansof an electrical display unit 70 of the drive module 30. ln this example, the displayunit 70 has been unfolded/extended upwards from the drive module 30, suchthat the display unit 70 covers both a front side of the body 31 and extendsbeyond the body 31 in direction upwards. The visual alarm is thereby morevisible. ln another example, the display unit may be extended/unfolded from atop side of the body 31. The wheel suspension of the drive module 30 has alsobeen controlled to lower the drive module 30, so that the body 31 rests on theground. ln Figure 4b, a control device 300 as disclosed in Figure 2 has identified a trafficsituation where the vehicle 1 is standing still and poses a potential risk to otherroad users. A drive module 30 of the vehicle 1 has been disconnected andcontrolled to a position at a distance D from the vehicle 1. A visual alarm hasalso been activated on the drive module 30. The visual alarm may be provided 23 by means of an electrical display unit 70 of the drive module 30. ln this example,the drive module 30 is secured to the ground by means of an unfoldable supportarm 38. The support arm is unfolded from a rear side of the drive module 30facing the vehicle 1. The support arm 38 may comprise a pointed end, which willbe pushed into the ground (road surface) if a vehicle collides with the drivemodule 30.
Figure 5a illustrates a flow chart for a method, performed by a control deviceassociated with a vehicle assembled from a set of modules. The method thusrelates to the vehicle 1 as disclosed in Figure 1 and the control device 300 asdisclosed in Figure 2. The vehicle 1 comprises at least one drive module 30 andat least one functional module 40, wherein the at least one drive module 30comprises a body 31, a pair of wheels 32 and a propulsion unit 34, and isconfigured to be autonomously operated and drive the assembled vehicle 1. Themethod comprises: identifying s101 a traffic situation where the vehicle 1 isstanding still and poses a potential risk to other road users; physicallydisconnecting s102 at least one drive module 30 from the vehicle 1; controllings103 the at least one disconnected drive module 30 to a position at a distanceD from the vehicle 1 ; and activating s104 a visual alert on the disconnected drivemodule 30. This way, the at least one drive module 30 will warn other road usersand act as an impact attenuator, and thereby reduce the risk for collision withthe vehicle 1 standing still.
The step of identifying s101 a traffic situation where the vehicle 1 is standing stilland poses a potential risk to other road users may comprise determining thatthe vehicle 1 is standing still along a road with a speed limit of 50 km/h or higher.ldentifying s101 a traffic situation where the vehicle 1 is standing still and posesa potential risk to other road users may comprise identifying that the vehicle 1 isstanding still in a tunnel. Furthermore, identifying s101 a traffic situation wherethe vehicle 1 is standing still and poses a potential risk to other road users maycomprise identifying that the vehicle 1 is standing still on/along a road at alocation with restricted view for other road users. As an example, the control 24 device 300 may comprise a list of predetermined data indicating a trafficsituation posing a potential risk, saved in a database. The control device 300may thus compare the collected data with the list to identify s101 a trafficsituation where the vehicle 1 is standing still and poses a potential risk to other road users.
Physically disconnecting s102 at least one drive module 30 from the vehicle 1may comprise controlling a physical interface of the drive module 30. Physicallydisconnecting s102 at least one drive module 30 from the vehicle 1 may as anexample comprise controlling a coupling unit, a quick coupling, a hook or similar.Physically disconnecting s102 the at least one drive module 30 may alsocomprise controlling the modules 30, 40 of the vehicle 1, such that the at leastone drive module 30 does not support the load of the at least one functionalmodule 40.
Physically disconnecting s102 the at least one drive module 30 may alsocomprise electrically disconnecting the at least one drive module 30 from thevehicle 1. Electrically disconnecting the at least one drive module 30 from thevehicle 1 may comprise inactivating communication means 50 in the at least one drive module 30.
The disconnected drive module 30 may be controlled s103 to a positionpreceding the position of the vehicle 1, in the travel direction of the vehicle 1.Controlling s103 the disconnected drive module 30 to a position at a distance Dfrom the vehicle 1 may comprise controlling the drive module 30 to a position inline with the vehicle 1. The drive module may be controlled s103 to a position inline with the vehicle 1 based on data from the sensors on the drive module 30and/or the vehicle 1. The control device 300 may collect data from the differentsensors and control the drive module 30 based on this data. Controlling s103the disconnected drive module 30 to a position at a distance D from the vehicle1 may also comprise controlling s103 the drive module 30 to a position at asafety distance from the vehicle 1. The disconnected drive module may be controlled s103 to a position at a distance D within the range of 100-250 metresfrom the vehicle 1. The control device 300 may control s103 the disconnecteddrive module 30 to a position at a distance D within the range of 100-250 metresfrom the vehicle 1 based on data collected from the various sensors as discussed above.
The visual alert may be provided on an electrical display unit 70 of the drivemodule 30. The display unit 70 may comprise at least one digital screen, suchas a plasma or an LCD screen. The display unit 70 may be controlled by thecontrol device 300 to show different types of lights depending on the situation.
The step of activating s104 a visual alert may comprise unfolding/extending adisplay unit 70 showing the visual alert. The display unit may be unfolded orextended upwards in relation to the ground on which the drive module 30 isstanding. The control device 300 may control the display unit to increase in size and thereby increase the visibility of the visual alert.
Figure 5b illustrates a flow chart for a method, performed by a control deviceassociated with a vehicle assembled from a set of modules. The method thusrelates to the vehicle 1 as disclosed in Figure 1 and the control device 300 asdisclosed in Figure 2. The vehicle 1 comprises at least one drive module 30 andat least one functional module 40, wherein the at least one drive module 30comprises a body 31, a pair of wheels 32 and a propulsion unit 34, and isconfigured to be autonomously operated and drive the assembled vehicle 1. Themethod comprises the steps as disclosed in Figure 5a. The method thuscomprises: identifying s101 a traffic situation where the vehicle 1 is standing stilland poses a potential risk to other road users; physically disconnecting s102 atleast one drive module 30 from the vehicle 1; controlling s103 the at least onedisconnected drive module 30 to a position at a distance D from the vehicle 1;and activating s104 a visual alert on the disconnected drive module 30. 26 The method further comprises, after having identified s101 a traffic situationwhere the vehicle 1 is standing still and poses a potential risk to other road users,determining s105 that at least one drive module 30 of the vehicle 1 is driveableand can be operated to another position. ln the event that the vehicle 1comprises two driveable drive modules 30, this step may comprise determiningwhich drive module 30 to disconnect. After this, the determined drive module 30is disconnected s102.
The method may further comprise, after having controlled s103 thedisconnected drive module 30 to the position at a distance D from the vehicle 1,controlling s106 the disconnected drive module 30 to impede movement of thedisconnected drive module 30. Controlling s106 the disconnected drive module30 to impede movement of the disconnected drive module 30 may compriseactivating a wheel brake 36 of the drive module 30. Controlling s106 thedisconnected drive module 30 to impede movement of the drive module 30 mayadditionally or alternatively comprise activating/unfolding brake meansconfigured to engage with the ground and thereby impede movement of thedrive module 30. Such brake means may comprise elements configured toincrease the friction between the drive module 30 and the ground. Alternatively,controlling s106 the disconnected drive module 30 to impede movement of thedisconnected drive module 30 may comprise controlling a wheel suspension ofthe drive module to lower the drive module 30, so that the body 31 rests on theground. Controlling s106 the disconnected drive module 30 to impedemovement of the disconnected drive module 30 may comprise securing the drive module 30 to the ground by means of an unfoldable support arm 38.
Figure 5c illustrates a flow chart for a method, performed by a control deviceassociated with a vehicle assembled from a set of modules. The method thusrelates to the vehicle 1 as disclosed in Figure 1, Figure 3 and Figure 4a-4b andthe control device 300 as disclosed in Figure 2. The vehicle 1 comprises at leastone drive module 30 and at least one functional module 40, wherein the at leastone drive module 30 comprises a body 31, a pair of wheels 32 and a propulsion 27 unit 34, and is configured to be autonomously operated and drive the assembledvehicle 1. The method comprises: receiving s201, from a control centre 200,instructions to act as an impact attenuator at a certain geographical location;operating s202 the vehicle 1 to said location; physically disconnecting s203 atleast one drive module 30 from the vehicle 1; and controlling s204 the at leastone disconnected drive module 30 to a position at a distance D from the vehicle1.
Operating s202 the vehicle 1 to the relevant location may comprise positioningthe vehicle 1 at a predetermined position relative to an object posing a potentialrisk to other road users or an object in need of protection. Such an object maybe another vehicle, a damaged road section, a road work or similar. The predetermined positon may be determined by the control centre 200.
Physically disconnecting s203 at least one drive module 30 from the vehicle 1may comprise controlling a physical interface of the drive module 30. Physicallydisconnecting s203 at least one drive module 30 from the vehicle 1 may as anexample comprise controlling a coupling unit, a quick coupling, a hook or similar.Physically disconnecting s203 the at least one drive module 30 may alsocomprise controlling the modules 30, 40 of the vehicle 1, such that the at leastone drive module 30 does not support the load of the at least one functionalmodule 40. Physically disconnecting s203 the at least one drive module 30 mayalso comprise electrically disconnecting the at least one drive module 30 fromthe vehicle 1. Electrically disconnecting the at least one drive module 30 fromthe vehicle 1 may comprise inactivating communication means 50 in the at least one drive module 30.
The disconnected drive module 30 may be controlled s204 to a positionpreceding the position of the vehicle 1, in the travel direction of the vehicle 1.Controlling s204 the disconnected drive module 30 to a position at a distance Dfrom the vehicle 1 may comprise controlling the drive module 30 to a position inline with the vehicle 1. The drive module may be controlled s204 to a position in 28 line with the vehicle 1 based on data from the sensors on the drive module 30and/or the vehicle 1. The control device 300 may collect data from the differentsensors and control the drive module 30 based on this data. The disconnecteddrive module 30 may be controlled s204 to a position at a distance D within therange of 100-250 metres from the vehicle 1. The control device 300 may controls204 the disconnected drive module 30 to a position at a distance D within therange of 100-250 metres from the vehicle 1 based on data collected from the various sensors as discussed above.
The method may also optionally comprise activating s205 a visual alert on thedisconnected drive module 30. The visual alert may be provided on an electricaldisplay unit 70 of the drive module 30. The display unit 70 may comprise at leastone digital screen, such as a plasma or an LCD screen. The display unit 70 maybe controlled by the control device 300 to show different types of lightsdepending on the situation. The step of activating s205 a visual alert maycomprise unfolding/extending a display unit 70 showing the visual alert. Thedisplay unit may be unfolded or extended upwards in relation to the ground onwhich the drive module 30 is standing. The control device 300 may control thedisplay unit to increase in size and thereby increase the visibility of the visualalert.
The method may further optionally comprise, after having controlled s204 thedisconnected drive module 30 to the position at a distance D from the vehicle 1,controlling s206 the disconnected drive module 30 to impede movement of thedisconnected drive module 30. Controlling s206 the disconnected drive module30 to impede movement of the disconnected drive module 30 may compriseactivating a wheel brake 36 of the drive module 30. Controlling s206 thedisconnected drive module 30 to impede movement of the drive module 30 mayadditionally or alternatively comprise activating/unfolding brake meansconfigured to engage with the ground and thereby impede movement of thedrive module 30. Such brake means may comprise elements configured to increase the friction between the drive module 30 and the ground. Alternatively, 29 controlling s206 the disconnected drive module 30 to impede movement of thedisconnected drive module 30 may comprise controlling a wheel suspension ofthe drive module to lower the drive module 30, so that the body 31 rests on theground. Controlling s206 the disconnected drive module 30 to impedemovement of the disconnected drive module 30 may comprise securing the drivemodule 30 to the ground by means of an unfoldable support arm 38.
Figure 6 is a diagram of a version of a device 500. The control device 300described with reference to Figure 1 and Figure 2 may in a version comprise thedevice 500. The device 500 comprises a non-volatile memory 520, a dataprocessing unit 510 and a read/write memory 550. The non-volatile memory 520has a first memory element 530 in which a computer programme, e.g. anoperating system, is stored for controlling the function of the device 500. Thedevice 500 further comprises a bus controller, a serial communication port, I/Omeans, an A/D converter, a time and date input and transfer unit, an eventcounter and an interruption controller (not depicted). The non-volatile memory 520 has also a second memory element 540.
There is provided a computer programme P which comprises routines foridentifying a traffic situation where the vehicle is standing still and poses apotential risk to other road users. The computer programme P further comprisesroutines for physically disconnecting at least one drive module from the vehicle;controlling the disconnected drive module to a position at a distance from thevehicle and activating a visual alert on the disconnected drive module. Theprogramme P may be stored in an executable form or in a compressed form in a memory 560 and/or in a read/write memory 550.
Where the data processing unit 510 is described as performing a certain function,it means that the data processing unit 510 effects a certain part of theprogramme stored in the memory 560 or a certain part of the programme storedin the read/write memory 550.
The data processing device 510 can communicate with a data port 599 via adata bus 515. The non-volatile memory 520 is intended for communication withthe data processing unit 510 via a data bus 512. The separate memory 560 isintended to communicate with the data processing unit 510 via a data bus 511.The read/write memory 550 is adapted to communicating with the dataprocessing unit 510 via a data bus 514.
When data are received on the data port 599, they are stored temporarily in thesecond memory element 540. When input data received have been temporarilystored, the data processing unit 510 is prepared to effect code execution asdescribed above.
Parts of the methods herein described may be effected by the device 500 bymeans of the data processing unit 510, which runs the programme stored in thememory 560 or the read/write memory 550. When the device 500 runs theprogramme, methods herein described are executed.
The foregoing description of the preferred embodiments of the present inventionis provided for i||ustrative and descriptive purposes. lt is not intended to beexhaustive or to restrict the invention to the variants described. l\/lanymodifications and variations will obviously be apparent to one ski||ed in the art.The embodiments have been chosen and described in order best to explain theprinciples of the invention and its practical applications and hence make itpossible for specialists to understand the invention for various embodiments and with the various modifications appropriate to the intended use.

Claims (23)

31 Claims
1. A safety method, performed by a control device associated with a vehicle (1)assembled from a set of modules (30, 40), the vehicle (1) comprising:at least one drive module (30); andat least one functional module (40),wherein the at least one drive module (30) comprises a body (31), a pair ofwheels (32) and a propulsion unit (34), and is configured to be autonomouslyoperated and drive the assembled vehicle (1 ), the method comprising:identifying (s101) a traffic situation where the vehicle (1) isstanding still and poses a potential risk to other road users;physically disconnecting (s102) at least one drive module (30)from the vehicle (1);controlling (s103) the at least one disconnected drive module (30)to a position at a distance (D) from the vehicle (1 ); andactivating (s104) a visual alert on the disconnected drive module(30).
2. The method according to claim 1, wherein the disconnected drive module (30)is controlled to a position preceding the position of the vehicle (1), in the traveldirection of the vehicle (10).
3. The method according to claim 1 or 2, wherein physically disconnecting (s102)the at least one drive module (30) also comprises electrically disconnecting theat least one drive module (30) from the vehicle (1 ).
4. The method according to any one of the preceding claims, wherein the visualalert comprises at least one of: flashing lights; a warning triangle; a trafficdirecting arrow; and informative text.
5. The method according to any one of the preceding claims, wherein thedisconnected drive module (30) is controlled (s103) to a position in line with thevehicle (1). 32
6. The method according to any one of the preceding claims, wherein thedisconnected drive module (30) is controlled (s103) to a position at a distance(D) within the range of 100-250 metres from the vehicle (1).
7. The method according to any one of the preceding claims, furthercomprising, after having controlled (s103) the disconnected drive module (30)to the position at a distance (D) from the vehicle (1): Controlling (s105) the disconnected drive module (30) to impedemovement of the disconnected drive module (30).
8. The method according to claim 7, wherein controlling (s105) thedisconnected drive module (30) to impede movement of the disconnecteddrive module (30) comprises activating a wheel brake (36) of the drive module(30).
9. The method according to claim 7, wherein controlling (s105) thedisconnected drive module (30) to impede movement of the disconnecteddrive module (30) comprises controlling a wheel suspension of the drivemodule (30) to lower the drive module (30), so that the body (31) rests on the ground.
10. The method according to claim 7, wherein controlling (s105) thedisconnected drive module (30) to impede movement of the disconnecteddrive module (30) comprises securing the drive module (30) to the ground bymeans of an unfoldable support arm (38).
11. A computer program (P) comprising instructions which, when the programis executed by a computer (300; 500), cause the computer (300; 500) to carryout the method according to any one of the preceding claims. 33
12. A computer-readable medium comprising instructions, which whenexecuted by a computer (300; 500), cause the computer (300; 500) to carry out the method according to any one of c|aims 1-10.
13. A control device (300) associated with a vehicle (1) assembled from a set ofmodules (20), the vehicle (1) comprising: at least one drive module (30); and atleast one functional module (40), wherein the at least one drive module (30)comprises a body (31), and pair of wheels (32) and a propulsion unit (34), andis configured to be autonomously operated and drive the assembled vehicle (1 ),the control device (300) being configured to: identify a traffic situation where the vehicle (1) is standing still and poses a potential risk for other road users; physically disconnect at least one drive module (30) from the vehicle (1); control the disconnected drive module (30) to a position at adistance (D) from the vehicle (1); and activate a visual alert on the disconnected drive module (30).
14. The control device (300) according to claim 13, wherein the control device(300) is configured to control the disconnected drive module (30) to a position preceding the position of the vehicle (1 ), in the travel direction of the vehicle (1 ).
15. The control device (300) according to claim 13 or 14, wherein the controldevice (300) is configured to electrically disconnect the at least one drive module(30) from the vehicle (1).
16. The control device (300) according to any one of c|aims 13-15, wherein thecontrol device (300) is configured to control the disconnected drive module (30)to a position at a distance (D) within the range of 100-250 metres from thevehicle (1 ). 34
17. The control device (300) according to any one of claims 13-16, wherein thecontrol device (300) is configured to, after having controlled the disconnecteddrive module (30) to the position at a distance (D) from the vehicle (1), controlthe disconnected drive module (30) to impede movement of the disconnected drive module (30).
18. The control device (300) according to claim 17, wherein the control device(300) is configured to activate a wheel brake (36) of the drive module (30).
19. The control device (300) according to claim 17, wherein the control device(300) is configured to control a wheel suspension of the drive module (30) tolower the drive module (30), so that the body (31) rests on the ground.
20. The control device (300) according to claim 17, wherein the control device(300) is configured to secure the drive module (30) to the ground by means of an unfoldable support arm (38).
21. The control device (300) according to any one of claims 13-20, wherein the control device (300) is comprised in the vehicle (1 ).
22. The control device (300) according to any one of claims 13-21, wherein thecontrol device (300) is comprised in a control centre (200) arranged in communication with the vehicle (1).
23. A vehicle (1) assembled from a set of modules (20), the 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 a body (31), a pair ofwheels (32) and a propulsion unit (34), and is configured to be autonomouslyoperated and drive the assembled vehicle (1), wherein the vehicle (1) further comprises a control device (300) according to any one of claim 13-22.
SE1851098A 2018-09-17 2018-09-17 A safety method, a control device, a vehicle, a computer program and a computer-readable medium. SE542850C2 (en)

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