SE541725C2

SE541725C2 - Method and system for clearing a snow covered area from snow by means of at least one plough vehicle

Info

Publication number: SE541725C2
Application number: SE1651674A
Authority: SE
Inventors: Kristian Lundh; Mattias Nilsson; Samuel Malinen; Zhan Wang
Original assignee: Scania Cv Ab
Priority date: 2016-12-19
Filing date: 2016-12-19
Publication date: 2019-12-03
Also published as: DE102017011246A1; SE1651674A1

Abstract

The present invention relates to a method for clearing a snow covered area (A) from snow by means of at least one plough vehicle (1, 2, 3), characterized by the steps of: determining a snow edge (E1, E2, E3) ahead of said plough vehicle; and adapting the lateral position (L1a, L2a, L3a) of said plough vehicle based on the thus determined snow edge for said snow clearing.The present invention also relates to a system for clearing a snow covered area from snow by means of at least one plough vehicle. The present invention also relates to a vehicle. The present invention also relates to a platoon of plough vehicles. The present invention also relates to a computer program and a computer readable medium.

Description

METHOD AND SYSTEM FOR CLEARING A SNOW COVERED AREA FROM SNOW BY MEANS OF AT LEAST ONE PLOUGH VEHICLE TECHNICAL FIELD The invention relates to a method for clearing a snow covered area from snow by means of at least one plough vehicle according to the preamble of claim 1. The invention also relates to a system for clearing a snow covered area from snow by means of at least one plough vehicle. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer readable medium.

BACKGROUND ART When clearing snow from snow covered areas at least one plough vehicle is used. Normally a platoon of plough vehicles are used. The platoon of plough vehicles are ploughing in a certain formation in order to efficiently remove the snow, the formation having a leading vehicle and trailing vehicles.

US2010005688 discloses snow ploughing with plough vehicle driving in formations.

There may however be situations where spots of snow are missed and ploughing is not performed in an efficient way. It may be desired to utilize autonomous vehicles for plough operation for clearing snow from snow covered areas making efficient clearing of snow even more challenging.

There is thus a need for improving clearing of a snow covered area from snow by means of at least one plough vehicle.

OBJECTS OF THE INVENTION An object of the present invention is to provide a method for clearing a snow covered area from snow by means of at least one plough vehicle which efficiently facilitates clearing of snow.

Another object of the present invention is to provide a system for clearing a snow covered area from snow by means of at least one plough vehicle which efficiently facilitates clearing of snow.

SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a system, a vehicle, a computer program and a computer readable medium, as set out in the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.

Specifically an object of the invention is achieved by a method for clearing a snow covered area from snow by means of at least one plough vehicle, characterized by the steps of: determining a snow edge ahead of said plough vehicle; and adapting the lateral position of said plough vehicle based on the thus determined snow edge for said snow clearing.

By thus determining a snow edge ahead of said plough vehicle information about where to position the vehicle in order to perform efficient ploughing is obtained in an easy and efficient manner. Thus, by adapting the lateral position of said plough vehicle based on the thus determined snow edge for said snow clearing efficient clearing of snow is facilitated minimizing the risk of missing spots of snow. By thus determining a snow edge ahead of said plough vehicle easy and efficient snow clearing by means of an autonomous plough vehicle is facilitated.

The step of determining the snow edge ahead comprises according to an embodiment determining the amount of snow in connection to the snow edge. The step of determining the snow edge ahead comprises according to an embodiment determining height of the snow edge. The step of determining the snow edge ahead comprises according to an embodiment determining the density of the snow in connection to the snow edge.

According to an embodiment the method comprises the steep of determining the external temperature so as to estimate the snow temperature and hence snow density.

According to an embodiment the method comprises the step of employing more than one plough vehicle, wherein said at least one plough vehicle is a leading vehicle for at least one trailing vehicle.

By employing a platoon of plough vehicles and having said plough vehicle determining a snow edge ahead as the leading vehicle efficient snow clearing is further improved in that the trailing vehicles by following the leading vehicle in a certain platoon configuration.

According to an embodiment the method comprises the steps of: determining a lateral position of said leading vehicle; and adapting the lateral position of said at least one trailing vehicle relative to the thus determined lateral position of said leading vehicle.

By thus determining a lateral position of said leading vehicle and then adapting the lateral position of said at least one trailing vehicle relative to the thus determined lateral position of said leading vehicle efficient clearing of snow is facilitated in that the trailing vehicle can optimize its position relative to the leading vehicle based on the position of the leading vehicle relative to the snow edge ahead of the leading vehicle. By thus determining a lateral position of said leading vehicle easy adaption of the lateral positon for an autonomous trailing plough vehicle relative to the thus determined lateral position of said leading vehicle is facilitated.

The step of determining the lateral position of said leading vehicle comprises determining the lateral position of said leading vehicle relative to the trailing vehicle. The step of determining lateral position of leading vehicle relative to trailing vehicle may comprise utilizing any suitable detector arranged in connection to the respective plough vehicle for detecting a leading vehicle and/or a trailing vehicle in the platoon of plough vehicles. The step of determining lateral position of leading vehicle relative to trailing vehicle may comprise utilizing one or more detectors arranged in connection to one or more of said plough vehicles of the platoon. The step of determining lateral position of leading vehicle relative to trailing vehicle may comprise utilizing one or more camera units and/or one or more laser scanner units and/or one or more radar units.

The step of determining the lateral position of said leading vehicle comprises determining the lateral position of said leading vehicle relative to the snow edge.

According to an embodiment the method comprises the steps of: determining a snow edge created by said leading vehicle; adapting the lateral position of said at least one trailing vehicle relative to the thus determined snow edge created by said leading vehicle.

By thus determining a snow edge created by said leading vehicle information about where to position the trailing vehicle in order to perform efficient ploughing is obtained in an easy and efficient manner. Thus, by adapting the lateral position of said trailing plough vehicle based on the thus determined snow edge created by said leading vehicle for said snow clearing efficient clearing of snow is facilitated minimizing the risk of missing spots of snow. By thus determining a snow edge created by said leading vehicle easy and efficient snow clearing by means of an autonomous plough vehicle is facilitated.

The step of determining the snow edge created by said leading vehicle may comprise utilizing one or more camera units and/or one or more laser scanner units and/or one or more radar units.

According to an embodiment of the method the step of adapting the lateral position of said plough vehicle based on the thus determined snow edge comprises considering the plough angle of the plough of a plough vehicle.

By thus considering the plough angle of the plough of a plough vehicle when adapting the lateral position of said plough vehicle based on the thus determined snow edge efficient snow clearing is facilitated taking the amount of snow into consideration. Thus, according to an embodiment the angle of plough is adapted based on the thus determined snow edge.

Said step of adapting the plough angle may comprise utilizing any suitable means such as hydraulic arrangement, pneumatic arrangement or the like for said plough angle adaption.

The method comprises according to an embodiment the step of determining the plough angle of a plough vehicle. When more than one plough vehicle is used comprising a leading plough vehicle and one or more trailing plough vehicles of a platoon of plough vehicles said step of determining the plough angle comprises determining the plough angle of the respective plough vehicle of the platoon. The step of determining the plough angle of the plough of the respective vehicle of the platoon may comprise utilizing any suitable detector arranged in connection to the respective plough of the respective plough vehicle of the platoon of plough vehicles.

The method comprises according to an embodiment the step of determining the surface of the ground on which said at least one plough vehicle is travelling. The step of determining the surface of the ground on which said at least one plough vehicle is travelling comprises according to an embodiment determining the shape of the ground. The step of determining the surface of the ground on which said at least one plough vehicle is travelling may comprise utilizing one or more camera units and/or one or more laser scanner units and/or one or more radar units.

Specifically an object of the invention is achieved by a system for clearing a snow covered area from snow by means of at least one plough vehicle, characterized by means for determining a snow edge ahead of said plough vehicle; and means for adapting the lateral position of said plough vehicle based on the thus determined snow edge for said snow clearing.

According to an embodiment of the system more than one plough vehicle is arranged to be employed, wherein said at least one plough vehicle is a leading vehicle for at least one trailing vehicle.

According to an embodiment the system comprises means for determining the lateral position of said leading vehicle; and means for adapting the lateral position of said at least one trailing vehicle relative to the thus determined lateral position of said leading vehicle.

According to an embodiment the system comprises means for determining the snow edge created by said leading vehicle; and means for adapting the lateral position of said at least one trailing vehicle relative to the thus determined snow edge created by said leading vehicle.

According to an embodiment of the system said means for adapting the lateral position of said plough vehicle based on the thus determined snow edge comprises considering the plough angle of the plough of a plough vehicle.

The system for clearing a snow covered area from snow by means of at least one plough vehicle is adapted to perform the methods as set out herein.

The system according to the invention has the advantages according to the corresponding method claims.

Specifically an object of the invention is achieved by a vehicle comprising a system as set out herein.

According to an embodiment the vehicle is an autonomous vehicle.

Specifically an object of the invention is achieved by a platoon of vehicles comprising the vehicle as set out herein.

Specifically an object of the invention is achieved by a computer program for clearing a snow covered area from snow by means of at least one plough vehicle, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.

Specifically an object of the invention is achieved by a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to anyone of claim.

BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1a schematically illustrates a plan view of a plough vehicle performing a ploughing operation for clearing a snow covered area from snow according to an embodiment of the present invention; Fig. 1 b schematically illustrates a rear view of the plough vehicle in fig. 1 a; Fig. 2 schematically illustrates a platoon of plough vehicles performing a ploughing operation for clearing a snow covered area from snow according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a system for clearing a snow covered area from snow by means of at least one plough vehicle according to an embodiment of the present invention; Fig. 4 schematically illustrates a block diagram of a method for clearing a snow covered area from snow by means of at least one plough vehicle according to an embodiment of the present invention; and Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a nonphysical connector such as a wireless connection, for example a radio or microwave link.

Hereinafter the term “snow covered area” refers to any area which may be snow covered which requires clearing of snow. The snow covered area may be e.g. a runway for aeroplanes, other areas in connection to an airport, any road having one or more lanes, e.g. a highway or the like, parking lots, etc.

Hereinafter the term “leading vehicle” or “leading plough vehicle” refers to a plough vehicle configured to, during a ploughing operation, plough ahead of at least one plough vehicle constituting a trailing vehicle to said leading vehicle. A plough vehicle in a platoon of plough vehicles comprising at least three plough vehicles may be both a leading vehicle and a trailing vehicle, i.e. a leading vehicle to vehicles ploughing behind that vehicle and a trailing vehicle to vehicles ploughing ahead of that vehicle.

Hereinafter the term “platoon configuration” refers to the relative position of plough vehicles of a platoon of plough vehicles comprising the distance between the vehicles and the lateral position of trailing vehicles relative to leading vehicle. The term “platoon configuration” thus refers to the formation of the platoon of plough vehicles. The term “platoon configuration” may in addition refer to the angle of plough of the vehicles of the platoon.

Fig. 1a schematically illustrates a plan view of a plough vehicle performing a ploughing operation for clearing a snow covered area from snow according to an embodiment of the present invention, and fig. 1b schematically illustrates a rear view of the plough vehicle in fig. 1 a.

The plough vehicle 1 has a plough 1a arranged in the front of the vehicle with an angle ?1. The snow covered area A is as shown in fig. 1 b covered with snow S which is being cleared from the ground G of the area A.

The clearing of the snow covered area A from snow by means of the plough vehicle 1 is performed in accordance with the method and system according to the present invention as set out herein. According to an embodiment said plough vehicle 1 comprises the system I or parts of the system I according to the present invention as described with reference to fig. 3 below. The system I comprises an electronic control unit 100 which may comprise one or more electronic control units, said plough vehicle 1 being operably connected to said electronic control unit 100 via links.

A snow edge E1 ahead of said plough vehicle 1 is determined. The amount of snow and/or the height of the snow edge E1 is determined.

The lateral position L1a of said plough vehicle 1 is adapted based on the thus determined snow edge E1 for said snow clearing. The lateral position L1a of said plough vehicle 1 is the lateral position L1a relative to said snow edge E1.

Adapting the lateral position of said plough vehicle 1 based on the thus determined snow edge E1 comprises according to an embodiment considering the plough angle ?1 of the plough 1 a of the first plough vehicle 1.

According to an embodiment the surface including the shape of the ground G on which said plough vehicle is travelling is determined. Determining the surface of the ground G on which said plough vehicle is travelling may comprise utilizing one or more camera units and/or one or more laser scanner units and/or one or more radar units.

Fig. 2 schematically illustrates a plan view platoon P1 of plough vehicles 1, 2, 3 performing a ploughing operation for clearing a snow covered area A from snow.

Said platoon P1 of plough vehicles 1, 2, 3 comprises a leading vehicle 1 and two trailing vehicles 2, 3. Said platoon P1 of plough vehicles 1, 2, 3 thus comprises a first plough vehicle 1 constituting the leading vehicle 1, a second plough vehicle 2 constituting a trailing vehicle 2 to the first vehicle, and a third plough vehicle 3 constituting a trailing vehicle to the first plough vehicle 1 and second plough vehicle 2. The second plough vehicle 2 constitutes a leading vehicle to the third plough vehicle 3.

The first plough vehicle 1 has a plough 1a arranged in the front of the vehicle with an angle ?1. The second plough vehicle 2 has a plough 2a arranged in the front of the vehicle with an angle ?2. The third plough vehicle 3 has a plough 3a arranged in the front of the vehicle with an angle ?3.

Said platoon P1 of plough vehicles 1, 2, 3 are driving in a certain platoon configuration. The certain platoon configuration comprises the second plough vehicle 2 driving at a distance D1 behind the first plough vehicle 1 and at a lateral position L1 relative to the first plough vehicle 1. The certain platoon configuration further comprises the third plough vehicle 3 driving at a distance D2 behind the second plough vehicle 2 and at a lateral position L2 relative to the second plough vehicle 2. The certain platoon configuration further comprises the angle ?1 of the plough 1a of the first plough vehicle 1, the angle ?2 of the plough 2a of the second plough vehicle 2, and angle ?3 of the plough 3a of the third plough vehicle 3.

The clearing of the snow covered area A from snow by means of the platoon P1 of plough vehicles 1, 2, 3 is performed in accordance with the method and system according to the present invention as set out herein. According to an embodiment said platoon P1 of plough vehicles 1, 2, 3 comprises the system I or parts of the system I according to the present invention as described with reference to fig. 3 below. The system I comprises an electronic control unit 100 which may comprise one or more electronic control units, said plough vehicles 1, 2, 3 being operably connected to said electronic control unit 100 via links.

A snow edge E1 ahead of said leading plough vehicle 1 is determined. The amount of snow and/or the height of the snow edge E1 is determined.

The lateral position L1a of said leading plough vehicle 1 is adapted based on the thus determined snow edge E1 for said snow clearing. The lateral position L1a of said leading plough vehicle 1 is the lateral position L1a relative to said snow edge E1.

A lateral position L1a of said leading first plough vehicle 1 is determined. A lateral position L1a of said leading first plough vehicle 1 relative to said snow edge E1 ahead of the first vehicle 1 is determined.

A lateral position L1 of said second plough vehicle 2 is determined. Thus, the lateral position L1 of said first plough vehicle 1 relative to said trailing second vehicle 2 is determined.

A lateral position L2 of said third plough vehicle 3 is determined. Thus, the lateral position L2 of said second plough vehicle 2 relative to said trailing third vehicle 3 is determined.

The lateral position L1 of said trailing second vehicle 2 is adapted relative to the thus determined lateral position L1a of said leading first vehicle 1. The lateral position L2 of said at trailing third vehicle 3 is adapted relative to the thus determined lateral position of said second vehicle 2.

A snow edge E2 created by said leading first vehicle 1 is determined. The amount of snow and/or the height of the snow edge E2 is determined.

The lateral position L2a of said trailing second vehicle 2 is adapted relative to the thus determined snow edge E2 created by said leading first vehicle 1.

A snow edge E3 created by said second vehicle 2 is determined. The amount of snow and/or the height of the snow edge E3 is determined.

The lateral position L3a of said trailing third vehicle 3 is adapted relative to the thus determined snow edge E3 created by said second vehicle 2.

Adapting the lateral position of said first plough vehicle 1 based on the thus determined snow edge E1 comprises according to an embodiment considering the plough angle ?1 of the plough 1 a of the first plough vehicle 1.

Adapting the lateral position of said second plough vehicle 2 based on the thus determined snow edge E2 comprises according to an embodiment considering the plough angle ?2 of the plough 2a of the second plough vehicle 2.

Adapting the lateral position of said third plough vehicle 3 based on the thus determined snow edge E3 comprises according to an embodiment considering the plough angle ?3 of the plough 3a of the third plough vehicle 3.

Fig. 3 schematically illustrates a block diagram of a system for clearing a snow covered area from snow by means of at least one plough vehicle according to an embodiment of the present invention; The system I comprises an electronic control unit 100. The electronic control unit 100 may comprise one or more electronic control units. The electronic control unit 100 may comprise one or more electronic control units in the respective vehicle when there are more than one plough vehicle, e.g. when there is a platoon of plough vehicles.

The system I comprises means 110 for determining a snow edge ahead of a plough vehicle. The means 110 for determining a snow edge ahead of a plough vehicle may comprise one or more camera units and/or one or more laser scanner units and/or one or more radar units.

The means 110 for determining the snow edge ahead comprises according to an embodiment means for determining the amount of snow in connection to the snow edge. The means 110 for determining the snow edge ahead comprises according to an embodiment means for determining height of the snow edge. The means 110 for determining the snow edge ahead comprises according to an embodiment means for determining the density of the snow in connection to the snow edge.

According to an embodiment of the system I more than one plough vehicle is arranged to be employed, wherein said at least one plough vehicle is a leading vehicle for at least one trailing vehicle.

The means 110 for determining a snow edge ahead of a plough vehicle comprises means 112 for determining a snow edge ahead of leading plough vehicle of a platoon of plough vehicles. The means 112 for determining a snow edge ahead of leading plough vehicle of a platoon of plough vehicles may comprise one or more camera units and/or one or more laser scanner units and/or one or more radar units. The means 112 for determining a snow edge ahead of leading plough vehicle of a platoon of plough vehicles is according to an embodiment arranged on said leading vehicle.

The means 110 for determining a snow edge ahead of a plough vehicle comprises means 114 for determining the snow edge created by said leading vehicle. The means 114 for determining the snow edge created by said leading vehicle may comprise one or more camera units and/or one or more laser scanner units and/or one or more radar units. The means 114 for determining the snow edge created by said leading vehicle is according to an embodiment arranged on a trailing vehicle to said leading vehicle, preferably the trailing vehicle of the platoon closest to said leading vehicle.

Thus, according to an embodiment the system comprises means 114 for determining the snow edge created by a leading vehicle. The snow edge created by a leading vehicle may be the snow edge created to any vehicle in the platoon of vehicles being a leading vehicle to a trailing vehicle of the platoon.

The system I comprises means 120 for adapting the lateral position of a plough vehicle based on the determined snow edge for said snow clearing.

As mentioned above, according to an embodiment of the system I more than one plough vehicle is arranged to be employed, and wherein said plough vehicle is a leading vehicle for at least one trailing vehicle.

Said means 120 for adapting the lateral position of a plough vehicle based on the determined snow edge for said snow clearing comprises means 122 for adapting the lateral position of the leading plough vehicle based on the determined snow edge ahead of said leading vehicle.

Said means 120 for adapting the lateral position of a plough vehicle based on the determined snow edge for said snow clearing comprises means 124 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined snow edge created by said leading vehicle.

Thus, according to an embodiment the system I comprises means 124 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined snow edge created by said leading vehicle.

According to an embodiment the system comprises means 130 for determining the lateral position of said leading vehicle.

The means 130 for determining the lateral position of said leading vehicle comprises means 132 for determining the lateral position of said leading vehicle relative to the trailing vehicle. The means 132 for determining lateral position of leading vehicle relative to trailing vehicle may comprise any suitable detector arranged in connection to the respective plough vehicle for detecting a leading vehicle and/or a trailing vehicle in the platoon of plough vehicles. The means 132 for determining lateral position of leading vehicle relative to trailing vehicle may comprise one or more detectors arranged in connection to one or more of said plough vehicles of the platoon. The means 132 for determining lateral position of leading vehicle relative to trailing vehicle may comprise one or more camera units and/or one or more laser scanner units and/or one or more radar units.

The means 130 for determining the lateral position of said leading vehicle comprises means 134 for determining the lateral position of said leading vehicle relative to the snow edge. The means 134 for determining the lateral position of said leading vehicle relative to the snow edge may be comprised in the means 120 for determining a snow edge.

According to an embodiment the system comprises means 140 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined lateral position of said leading vehicle. The means 140 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined lateral position of said leading vehicle may comprise means for receiving information of current position of said trailing vehicle relative to said leading vehicle.

According to an embodiment of the system I said means 140 for adapting the lateral position of said plough vehicle based on the thus determined snow edge comprises considering the plough angle of the plough of a plough vehicle.

The system I comprises according to an embodiment means 150 for determining the plough angle of a plough vehicle. When more than one plough vehicle is used comprising a leading plough vehicle and one or more trailing plough vehicles of a platoon of plough vehicles said means for determining the plough angle comprises means for determining the plough angle of the respective plough vehicle of the platoon. The means 150 for determining the plough angle of the plough of the respective vehicle of the platoon may comprise any suitable detector arranged in connection to the respective plough of the respective plough vehicle of the platoon of plough vehicles.

The system I comprises according to an embodiment means 160 for adapting angle of plough of said at least one plough vehicle based on the thus determined snow edge in connection to adaption of lateral position of plough vehicle. Said means 160 for adapting the plough angle may comprise any suitable means such as hydraulic arrangement, pneumatic arrangement or the like.

The system I comprises according to an embodiment means 170 for determining the surface of the ground on which said at least one plough vehicle is travelling. The means 170 for determining the surface of the ground on which said at least one plough vehicle is travelling comprises according to an embodiment means for determining the shape of the ground. The means 170 for determining the surface of the ground on which said at least one plough vehicle is travelling may comprise one or more camera units and/or one or more laser scanner units and/or one or more radar units. The means 170 for determining the surface of the ground on which said at least one plough vehicle is travelling is according to an embodiment arranged on said at least one plough vehicle.

The electronic control unit 100 is operably connected to the means 110 for determining a snow edge ahead of a plough vehicle via a link 10. The electronic control unit 100 is via the link 10 arranged to receive a signal from said means 110 representing data about a snow edge ahead of the plough vehicle.

The electronic control unit 100 is operably connected to the means 112 for determining a snow edge ahead of leading plough vehicle of a platoon of plough vehicles via a link 12. The electronic control unit 100 is via the link 12 arranged to receive a signal from said means 112 representing data about a snow edge ahead of leading plough vehicle of a platoon of plough vehicles.

The electronic control unit 100 is operably connected to the means 114 for determining the snow edge created by said leading vehicle via a link 14. The electronic control unit 100 is via the link 14 arranged to receive a signal from said means 114 representing data about the snow edge created by said leading vehicle.

The electronic control unit 100 is operably connected to the means 120 for adapting the lateral position of a plough vehicle based on the determined snow edge for said snow clearing via a link 20a. The electronic control unit 100 is via the link 20a arranged to send a signal to said means 120 representing data about the determined snow edge.

The electronic control unit 100 is operably connected to the means 120 for adapting the lateral position of a plough vehicle based on the determined snow edge for said snow clearing via a link 20b. The electronic control unit 100 is via the link 20b arranged to receive a signal from said means 120 representing data about lateral position to which said plough vehicle is to be adapted.

The electronic control unit 100 is operably connected to the means 122 for adapting the lateral position of the leading plough vehicle based on the determined snow edge ahead of said leading vehicle via a link 22a. The electronic control unit 100 is via the link 22a arranged to send a signal to said means 122 representing data about the determined snow edge ahead of said leading vehicle.

The electronic control unit 100 is operably connected to the means 122 for adapting the lateral position of the leading plough vehicle based on the determined snow edge ahead of said leading vehicle via a link 22b. The electronic control unit 100 is via the link 22b arranged to receive a signal from said means 122 representing data about lateral position to which said leading plough vehicle is to be adapted.

The electronic control unit 100 is operably connected to the means 124 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined snow edge created by said leading vehicle via a link 24a. The electronic control unit 100 is via the link 24a arranged to send a signal to said means 124 representing data about the determined snow edge created by said leading vehicle.

The electronic control unit 100 is operably connected to the means 124 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined snow edge created by said leading vehicle via a link 24b. The electronic control unit 100 is via the link 24b arranged to receive a signal from said means 124 representing data about lateral position to which said at least one trailing plough vehicle is to be adapted.

The electronic control unit 100 is operably connected to the means 130 for determining the lateral position of said leading vehicle via a link 30. The electronic control unit 100 is via the link 30 arranged to receive a signal from said means 130 representing data about lateral position of said leading vehicle.

The electronic control unit 100 is operably connected to the means 132 for determining the lateral position of said leading vehicle relative to the trailing vehicle via a link 32. The electronic control unit 100 is via the link 32 arranged to receive a signal from said means 132 representing data about lateral position of said leading vehicle relative to the trailing vehicle.

The electronic control unit 100 is operably connected to the means 134 for determining the lateral position of said leading vehicle relative to the snow edge via a link 34. The electronic control unit 100 is via the link 34 arranged to receive a signal from said means 134 representing data about lateral position of said leading vehicle relative to the snow edge.

The electronic control unit 100 is operably connected to the means 140 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined lateral position of said leading vehicle via a link 40a. The electronic control unit 100 is via the link 40a arranged to send a signal to said means 140 representing data about lateral position of said leading vehicle relative to the trailing vehicle.

The electronic control unit 100 is operably connected to the means 140 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined lateral position of said leading vehicle via a link 40b. The electronic control unit 100 is via the link 40b arranged to receive a signal from said means 140 representing data for adapting the lateral position of said at least one trailing vehicle.

The electronic control unit 100 is operably connected to the means 150 for determining the plough angle of a plough vehicle via a link 50. The electronic control unit 100 is via the link 50 arranged to receive a signal from said means 150 representing data for angle of plough of a plough vehicle.

The electronic control unit 100 is operably connected to the means 160 for adapting angle of plough of said at least one plough vehicle based on the thus determined snow edge in connection to adaption of lateral position of plough vehicle via a link 60a. The electronic control unit 100 is via the link 60a arranged to send a signal to said means 160 representing data about determined snow edge and data about plough angle of plough vehicle.

The electronic control unit 100 is operably connected to the means 160 for adapting angle of plough of said at least one plough vehicle based on the thus determined snow edge in connection to adaption of lateral position of plough vehicle via a link 60b. The electronic control unit 100 is via the link 60b arranged to receive a signal from said means 160 representing data for adapting angle of plough of said at least one plough vehicle.

The electronic control unit 100 is operably connected to the means 170 for determining the surface of the ground on which said at least one plough vehicle is travelling via a link 70. The electronic control unit 100 is via the link 70 arranged to receive a signal from said means 170 representing data about surface of the ground on which said at least one plough vehicle is travelling.

Fig. 4 schematically illustrates a block diagram of a method for clearing a snow covered area from snow by means of at least one plough vehicle according to an embodiment of the present invention According to the embodiment the method for clearing a snow covered area from snow by means of at least one plough vehicle comprises a step S1. In this step a snow edge ahead of said plough vehicle is determined.

According to the embodiment the method for clearing a snow covered area from snow by means of at least one plough vehicle comprises a step S2. In this step the lateral position of said plough vehicle is adapted based on the thus determined snow edge for said snow clearing.

With reference to figure 5, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 3 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a nonvolatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.

A computer program P is provided comprising routines for clearing a snow covered area from snow by means of at least one plough vehicle. The program P comprises routines for determining a snow edge ahead of said plough vehicle. The program P comprises routines for adapting the lateral position of said plough vehicle based on the thus determined snow edge for said snow clearing. The program P comprises routines for employing more than one plough vehicle, wherein said at least one plough vehicle is a leading vehicle for at least one trailing vehicle. The program P comprises routines for determining a lateral position of said leading vehicle. The program P comprises routines for adapting the lateral position of said at least one trailing vehicle relative to the thus determined lateral position of said leading vehicle. The program P comprises routines for determining a snow edge created by said leading vehicle. The program P comprises routines for adapting the lateral position of said at least one trailing vehicle relative to the thus determined snow edge created by said leading vehicle. The routines for adapting the lateral position of said plough vehicle based on the thus determined snow edge comprises routines for considering the plough angle of the plough of a plough vehicle. The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.

When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.

Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512.

Separate memory 560 is adapted for communication with data processing device 510 via a data bus 511. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control units 100 may be connected.

When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 can be used by apparatus 500 for determining a snow edge ahead of said plough vehicle. The signals received on data port 599 can be used by apparatus 500 for adapting the lateral position of said plough vehicle based on the thus determined snow edge for said snow clearing. The signals received on data port 599 can be used by apparatus 500 for employing more than one plough vehicle, wherein said at least one plough vehicle is a leading vehicle for at least one trailing vehicle. The signals received on data port 599 can be used by apparatus 500 for determining a lateral position of said leading vehicle. The signals received on data port 599 can be used by apparatus 500 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined lateral position of said leading vehicle. The signals received on data port 599 can be used by apparatus 500 for determining a snow edge created by said leading vehicle. The signals received on data port 599 can be used by apparatus 500 for adapting the lateral position of said at least one trailing vehicle relative to the thus determined snow edge created by said leading vehicle. The signals used by apparatus 500 for adapting the lateral position of said plough vehicle based on the thus determined snow edge are used for considering the plough angle of the plough of a plough vehicle.

Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, 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 of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims

1. A method for clearing a snow covered area (A) from snow by means of at least one plough vehicle (1, 2, 3), the method comprising the steps of: determining (S1), by snow edge determining means (110), a snow edge (E1, E2, E3) ahead of said plough vehicle (1, 2, 3); and adapting (S2), by lateral position adapting means (120), the lateral position (L1a, L2a, L3a) of said plough vehicle based on the thus determined snow edge for said snow clearing, characterized in that the step of adapting the lateral position (L1a, L2a, L3a) of said plough vehicle (1, 2, 3) based on the thus determined snow edge comprises considering the plough angle (?1, ?2, ?3) of a plough (1 a, 2a, 3a) of the plough vehicle (1, 2, 3), the method further comprising the steps of: determining, by plough angle determining means (150), the plough angle (?1, ?2, ?3) of the plough (1 a, 2a, 3a) of the plough vehicle (1, 2, 3); and, adapting, by plough angle adapting means (160), the plough angle (?1, ?2, ?3) of the plough (1 a, 2a, 3a) of the plough vehicle (1, 2, 3) based on the thus determined snow edge (E1, E2, E3).

2. A method according to claim 1, comprising the step of employing more than one plough vehicle (1, 2, 3), wherein said at least one plough vehicle (1, 2, 3) is a leading vehicle (1, 2) for at least one trailing vehicle (2, 3).

3. A method according to claim 2, comprising the steps of: determining, by determining means (130), a lateral position of said leading vehicle (1); and adapting, by adapting means (140), the lateral position of said at least one trailing vehicle (2,3) relative to the thus determined lateral position of said leading vehicle.

4. A method according to claim 2, comprising the steps of: determining, by determining means (114), a snow edge (E2, E3) created by said leading vehicle (1, 2); adapting, by adapting means (124), the lateral position of said at least one trailing vehicle (2, 3) relative to the thus determined snow edge created by said leading vehicle.

5. A system (I) for clearing a snow covered area (A) from snow by means of at least one plough vehicle (1, 2, 3), characterized by means (110) for determining a snow edge (E1, E2, E3) ahead of said plough vehicle; and means (120) for adapting the lateral position (L1a, L2a, L3a) of said plough vehicle (1, 2, 3) based on the thus determined snow edge for said snow clearing, wherein said means (140) for adapting the lateral position of said plough vehicle (1, 2, 3) based on the thus determined snow edge comprises considering the plough angle (?1, ?2, ?3) of the plough (1a, 2a, 3a) of the plough vehicle (1, 2, 3), said system further comprising: means (150) for determining the plough angle (?1, ?2, ?3) of the plough (1a, 2a, 3a) of the plough vehicle (1, 2, 3); and, means (160) for adapting the plough angle (?1, ?2, ?3) of the plough (1a, 2a, 3a) of the plough vehicle (1, 2, 3) based on the thus determined snow edge (E1, E2, E3).

6. A system according to claim 5, wherein more than one plough vehicle (1, 2, 3) is arranged to be employed, wherein said at least one plough vehicle is a leading vehicle (1, 2) for at least one trailing vehicle (2, 3).

7. A system according to claim 6, comprising means (130) for determining the lateral position of said leading vehicle (1, 2); and means (140) for adapting the lateral position of said at least one trailing vehicle (2, 3) relative to the thus determined lateral position of said leading vehicle (1, 2).

8. A system according to claim 6 or 7, comprising means (114) for determining the snow edge (E2, E3) created by said leading vehicle (1, 2); and means for adapting the lateral position of said at least one trailing vehicle (2, 3) relative to the thus determined snow edge created by said leading vehicle.

9. A vehicle comprising a system (I) according to any of claims 5-8.

10. A vehicle according to claim 9, wherein said vehicle is an autonomous vehicle.

11. A platoon (P1) of plough vehicles (1, 2, 3) comprising the vehicle according to claims 9 or 10.

12. A computer program (P) for clearing a snow covered area from snow d, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-4.

13. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to anyone of claim 1-4.