SE541873C2

SE541873C2 - Method and system for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area

Info

Publication number: SE541873C2
Application number: SE1651673A
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: 2020-01-02
Also published as: SE1651673A1; DE102017011247A1

Abstract

The present invention relates to method for controlling a ploughing operation of a platoon (P1) of plough vehicles (1, 2, 3) for clearing a snow covered area (A) from snow. Said platoon (P1) of plough vehicles (1, 2, 3) comprises a leading vehicle (1) and at least one trailing vehicle (2, 3). The method comprises the steps of: determining available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration; and controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability.The present invention also relates to a system for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow. The present invention also relates to a platoon. The present invention also relates to a computer program and a computer program product.

Description

METHOD AND SYSTEM FOR CONTROLLING A PLOUGHING OPERATION OF A PLATOON OF PLOUGH VEHICLES FOR CLEARING A SNOW COVERED AREA TECHNICAL FIELD The invention relates to a method for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow according to the preamble of claim 1. The invention also relates to a system for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow. The invention also relates to a platoon of plough vehicles. The invention in addition relates to a computer program and a computer readable medium.

BACKGROUND ART When clearing snow from snow covered areas a platoon of plough vehicles are normally 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. In order to keep the platoon the vehicles need to drive at the same speed.

US2010005688 discloses snow ploughing with plough vehicle driving in formations.

There may however be situations where a trailing vehicle may be subjected to a greater load than a leading vehicle due to the weight of the snow which may result in the trailing vehicle not being able to keep up with the leading vehicle resulting in loss of platoon formation and less efficient clearing of snow.

There is thus a need for improving controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow.

OBJECTS OF THE INVENTION An object of the present invention is to provide a method for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow which is efficient and adaptive to the situation.

Another object of the present invention is to provide a system for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow which is efficient and adaptive to the situation.

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 controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow. Said platoon of plough vehicles comprises a leading vehicle and at least one trailing vehicle. The method comprises the steps of: determining available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration; and controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability. The step of determining available ploughing ability comprises the step of determining possible vehicle speed for current ploughing resistance conditions.

By thus controlling the ploughing operation of said platoon of plough vehicles based on the determined available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration proper adaptions may be made in order to keep the ploughing vehicles in a platoon so that efficient clearing of snow may be maintained.

By thus determining possible vehicle speed for current ploughing resistance conditions relevant information of whether adaption is required is obtained, i.e. information of whether one or more vehicles of the platoon cannot keep the current formation at the current speed is hereby obtained so that proper adaption may be taken. Further, it could also be the case that the possible vehicle speed for current ploughing resistance conditions is actually higher, wherein the speed could be increased and thus facilitating a quicker clearing of snow from the snow covered area.

The step of determining possible vehicle speed for current ploughing resistance conditions comprises according to an embodiment determining available engine power for current ploughing resistance.

The step of determining possible vehicle speed for current ploughing resistance conditions comprises according to an embodiment the step of increasing the speed of the platoon of plough vehicles until one of the plough vehicles of the platoon of plough vehicles reaches possible vehicle speed for current ploughing resistance conditions. The step of increasing the speed of the platoon of plough vehicles until one of the plough vehicles of the platoon of plough vehicles reaches possible vehicle speed for current ploughing resistance conditions is according to an embodiment performed continuously or intermittently. The step of increasing the speed of the platoon of plough vehicles until one of the plough vehicles of the platoon of plough vehicles reaches possible vehicle speed for current ploughing resistance conditions comprises the step of continuously or intermittently determining the current ploughing resistance. The step of determining the current ploughing resistance comprises according to an embodiment determining the required engine power.

The step of determining available ploughing ability comprises according to an embodiment determining expected snow resistance of the snow to be ploughed by the respective vehicle. The step of determining expected snow resistance may comprise utilizing any suitable means for detecting the amount of snow approaching the respective vehicle of the platoon. The step of determining expected snow resistance may comprise determining the current external temperature.

The step of determining available ploughing ability comprises according to an embodiment determining expected friction of the ground of the area on which said vehicles of the platoon are travelling.

The step of determining available ploughing ability comprises according to an embodiment determining current weather conditions comprising wind speed and wind direction, precipitation and temperature. The step of determining current whether conditions may comprise utilizing any suitable weather sensor comprising any suitable wind sensor unit, temperature sensor unit, precipitation sensor unit or the like. The step of determining current whether conditions may comprise extracting external weather data from one or more external weather data units comprising any suitable external server unit.

According to an embodiment of the method the step of controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises adapting the speed of said platoon.

By thus adapting the speed of said platoon based on said determined available ploughing ability an easy and efficient way of keeping the current formation of the platoon is facilitated. Thus, the risk of one or more vehicles not being able to keep up in the current formation may hereby be efficiently avoided. Thus, efficient ploughing adapted to the current situation is hereby facilitated.

Said step of adapting the speed of said platoon may comprise utilizing any suitable means for controlling the speed of the respective vehicle. Said step of adapting the speed of said platoon may comprise controlling the engine of the respective vehicle. Said step of adapting the speed of said platoon may comprise controlling the transmission of the respective vehicle. Said step of adapting the speed of said platoon may comprise controlling brakes of the respective vehicle.

According to an embodiment of the method the step of controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises adapting angle of plough of said vehicles.

By thus adapting angle of plough of said vehicles based on said determined available ploughing ability an easy and efficient way of keeping the current formation and also keeping the current speed is facilitated. Thus, the risk of one or more vehicles not being able to keep up in the current formation may hereby be efficiently avoided. Thus, efficient ploughing adapted to the current situation is hereby facilitated.

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.

According to an embodiment of the method the step of controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises adapting the lateral position of trailing vehicle relative to leading vehicle.

By thus adapting the lateral position of trailing vehicle relative to leading vehicle based on said determined available ploughing ability an easy and efficient way of keeping the platoon and also keeping, and where applicable increasing, the current speed is facilitated. Thus, the risk of one or more vehicles not being able to keep up in the current formation may hereby be efficiently avoided. Thus, efficient ploughing adapted to the current situation is hereby facilitated.

Said step of adapting the lateral position of trailing vehicle relative to leading vehicle may comprise receiving info of current relative position. Said step of adapting the lateral position of trailing vehicle relative to leading vehicle may comprise controlling steering of said plough vehicles of the platoon.

A combination of said adaptions may be applied depending on the situation and the area to be cleared. Thus, adaption of the speed of said platoon and/or adaption of the angle of plough of said vehicles and/or the lateral position of trailing vehicle relative to leading vehicle based on said determined available ploughing ability may be applied depending on situation and area to be cleared.

According to an embodiment the method further comprises the step of communicating said determined available ploughing ability within said platoon.

By thus communicating said determined available ploughing ability within said platoon relevant information of whether adaption is required and if so, what adaption, may hereby be obtained for all vehicles. Hereby autonomous vehicles may advantageously be used.

Said step of communicating said determined available ploughing ability within said platoon comprises communicating said determined available ploughing ability between the vehicles of the platoon within a vehicle-to-vehicle communication arrangement.

The method comprises according to an embodiment the step of determining the speed of the platoon of plough vehicles. The step of determining the speed of the platoon comprises according to an embodiment utilizing one or more speedometers in one or more of said vehicles. The step of determining the speed of the platoon comprises according to an embodiment one or more Global Navigation Satellite Systems, GNSS, e.g. global positioning systems, GPS, for continuously determining the position of the platoon along the area on which it is travelling so as to determine the speed.

The method comprises according to an embodiment the step of determining the plough angle of the plough of the respective 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 lateral position of trailing vehicle relative to leading vehicle for the respective trailing vehicle of the platoon. The step of determining lateral position of trailing vehicle relative to leading 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 trailing vehicle relative to leading 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 trailing vehicle relative to 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. The means for determining available ploughing ability comprises means for determining possible vehicle speed for current ploughing resistance conditions.

Specifically an object of the invention is achieved by a system for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow, said platoon of plough vehicles comprising a leading vehicle and at least one trailing vehicle, characterized by means for determining available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration; and means for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability.

According to an embodiment of the system the means for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises means for adapting the speed of said platoon.

According to an embodiment of the system the means for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises means for adapting angle of plough of said vehicles.

According to an embodiment of the system the means for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises means for adapting the lateral position of trailing vehicle relative to leading vehicle.

According to an embodiment the system comprises means for communicating said determined available ploughing ability within said platoon.

The system for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow 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 platoon of plough vehicles comprising a system according as set out herein.

Specifically an object of the invention is achieved by a computer program for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow, 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 as set out herein.

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. 1 schematically illustrates a platoon of plough vehicles performing a ploughing operation for clearing a snow covered area from snow; Fig. 2 schematically illustrates a block diagram of a system for controlling a ploughing operation of a platoon of plough vehicles 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 method for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow according to an embodiment of the present invention; and Fig. 4 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 “available ploughing ability for a vehicle” refers to the speed at which a vehicle can plough with a certain platoon configuration.

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 “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. The term “platoon configuration” may in addition refer to the speed of the platoon.

Fig. 1 schematically illustrates a 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 1 a 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 ploughing operation of the platoon P1 of plough vehicles 1,2, 3 for clearing the snow covered area A from snow is controlled in accordance with the method and system 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. 2 below. The system I comprises an electronic control unit 100 which may comprise one or more electronic control units, said ploughing vehicles 1,2, 3 being operably connected to said electronic control unit 100 via links.

Available ploughing ability for at least said third ploughing vehicle 3 being the last trailing vehicle 3 and preferably also for the second ploughing vehicle 2 and most preferably also for the first vehicle 1 being the leading vehicle based on ploughing resistance for the respective ploughing vehicle 1, 2, 3 for maintaining said certain platoon configuration is hereby determined.

Determining available ploughing ability comprises determining possible vehicle speed for the respective ploughing vehicle 1,2, 3 for current ploughing resistance conditions.

Said system I comprises means for communicating said determined available ploughing ability between the vehicles of the platoon P1 within a vehicle-tovehicle communication arrangement.

The ploughing operation of said platoon P1 of plough vehicles 1, 2, 3 is controlled based on said determined available ploughing ability.

The control of the ploughing operation of said platoon P1 of plough vehicles 1, 2, 3 based on said determined available ploughing ability comprises according to an embodiment adapting the speed of said platoon. For example if the trailing ploughing vehicle 3 is not able to keep up the current speed of the platoon P1 in the certain platoon configuration the speed of the platoon P1 may be reduced to a speed which the trailing ploughing vehicle 3 can keep for the current ploughing resistance conditions.

The control of the ploughing operation of said platoon P1 of plough vehicles 1, 2, 3 based on said determined available ploughing ability comprises according to an embodiment adapting angle ?1, ?2, ?3 of plough 1 a, 2a, 3a of said plough vehicles 1, 2, 3. For example if the trailing ploughing vehicle 3 is not able to keep up the current speed of the platoon P1 in the certain platoon configuration, the angle ?3 of plough 3a of the third vehicle 3 may be adapted so that the ploughing resistance for the third ploughing vehicle 3 is reduced and/or the angle ?1 of plough 1a of the leading vehicle 1 and/or angle ?2 of plough of the second ploughing vehicle 2 may be adapted so that the ploughing resistance for the leading vehicle 1 and if applicable the second vehicle is increased so that the platoon P1 can be maintained.

The control of the ploughing operation of said platoon P1 of plough vehicles 1, 2, 3 based on said determined available ploughing ability comprises according to an embodiment adapting the lateral position of trailing vehicle relative to leading vehicle. For example if the trailing ploughing vehicle 3 is not able to keep up the current speed of the platoon P1 in the certain platoon configuration, the lateral position L2 of trailing third ploughing vehicle 3 relative to ploughing vehicle 2 and maybe also the lateral position L1 of the trailing second ploughing vehicle 2 relative to the leading vehicle 1 may be adapted so that the ploughing resistance for the third ploughing vehicle 3 is reduced and if applicable also the ploughing resistance for the second vehicle 2 is reduced so that the platoon P1 can be maintained.

Adaption of speed of the platoon, angle of plough of ploughing vehicles and adaption of lateral position of trailing vehicle relative to leading vehicle may be combined.

Fig. 2 schematically illustrates a block diagram of a system I for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow according to an embodiment of the present invention. Said platoon of plough vehicles comprises a leading vehicle and at least one trailing vehicle.

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 of the platoon.

The system I comprises means 110 for determining available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration.

According to an embodiment of the system I the means 110 for determining available ploughing ability comprises means 112 for determining possible vehicle speed for current ploughing resistance conditions for at least said at least one trailing vehicle.

The means 112 for determining possible vehicle speed for current ploughing resistance conditions comprises means for determining available engine power for current ploughing resistance.

The means 112 for determining possible vehicle speed for current ploughing resistance conditions comprises according to an embodiment means for increasing the speed of the platoon of plough vehicles until one of the plough vehicles of the platoon of plough vehicles reaches possible vehicle speed for current ploughing resistance conditions. The means for increasing the speed of the platoon of plough vehicles until one of the plough vehicles of the platoon of plough vehicles reaches possible vehicle speed for current ploughing resistance conditions is according to an embodiment arranged to be performed continuously or intermittently. The means for increasing the speed of the platoon of plough vehicles until one of the plough vehicles of the platoon of plough vehicles reaches possible vehicle speed for current ploughing resistance conditions comprises means for continuously or intermittently determining the current ploughing resistance. The means for determining the current ploughing resistance comprises according to an embodiment means for determining the required engine power.

The means 110 for determining available ploughing ability comprises means 114 for determining expected snow resistance of the snow to be ploughed by the respective vehicle. The means 114 for determining expected snow resistance comprises means for detecting the amount of snow approaching the respective vehicle of the platoon. The means 114 for determining expected snow resistance comprises means for determining the current external temperature.

The means 110 for determining available ploughing ability comprises means 116 for determining expected friction of the ground of the area on which said vehicles of the platoon are travelling. Said means 116 for determining expected friction of the ground of the area on which said vehicles of the platoon are travelling may comprise any suitable means for detecting the ground.

The means 110 for determining available ploughing ability comprises means 118 for determining current weather conditions comprising wind speed and wind direction, precipitation and temperature. The means 118 for determining current whether conditions may comprise any suitable weather sensor comprising any suitable wind sensor unit, temperature sensor unit, precipitation sensor unit or the like. The means 118 for determining current whether conditions may comprise means for extracting external weather data from one or more external weather data units comprising any suitable external server unit.

The system I comprises means 120 for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability.

According to an embodiment of the system I the means 120 for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises means 122 for adapting the speed of said platoon. Said means 122 for adapting the speed of said platoon may comprise any suitable means for controlling the speed of the respective vehicle. Said means 122 for adapting the speed of said platoon may comprise means for controlling the engine of the respective vehicle. Said means 122 for adapting the speed of said platoon may comprise means for controlling the transmission of the respective vehicle. Said means 122 for adapting the speed of said platoon may comprise means for controlling brakes of the respective vehicle.

According to an embodiment of the system I the means 120 for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises means 124 for adapting angle of plough of said vehicles. Said means 124 for adapting the plough angle may comprise any suitable means such as hydraulic arrangement, pneumatic arrangement or the like.

According to an embodiment of the system I the means 120 for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises means 126 for adapting the lateral position of trailing vehicle relative to leading vehicle. Said means 126 for adapting the lateral position of trailing vehicle relative to leading vehicle may comprise means for receiving info of current relative position. Said means 126 for adapting the lateral position of trailing vehicle relative to leading vehicle may comprise means for controlling steering of said plough vehicles of the platoon.

According to an embodiment the system I comprises means 130 for communicating said determined available ploughing ability within said platoon. Said means 130 for communicating said determined available ploughing ability within said platoon is arranged to communicate said determined available ploughing ability between the vehicles of the platoon within a vehicle-to-vehicle communication arrangement V2V.

The system I comprises means 140 for determining the speed of the platoon of plough vehicles. The means 140 for determining the speed of the platoon comprises according to an embodiment one or more speedometers in one or more of said vehicles. The means 140 for determining the speed of the platoon comprises according to an embodiment one or more Global Navigation Satellite Systems, GNSS, e.g. global positioning systems, GPS, for continuously determining the position of the platoon along the area on which it is travelling so as to determine the speed.

The system I comprises means 150 for determining the plough angle of the plough of the respective 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 means 160 for determining lateral position of trailing vehicle relative to leading vehicle for the respective trailing vehicle of the platoon. The means 160 for determining lateral position of trailing vehicle relative to leading 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 160 for determining lateral position of trailing vehicle relative to leading vehicle may comprise one or more detectors arranged in connection to one or more of said plough vehicles of the platoon. The means 160 for determining lateral position of trailing vehicle relative to 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 electronic control unit 100 is operably connected to the means 110 for determining available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration 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 available ploughing ability for at least said at least one trailing vehicle.

The electronic control unit 100 is operably connected to the means 112 for determining possible vehicle speed for current ploughing resistance conditions for at least said at least one trailing vehicle 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 possible vehicle speed for current ploughing resistance conditions for at least said at least one trailing vehicle.

The electronic control unit 100 is operably connected to the means 114 for determining expected snow resistance of the snow to be ploughed by the respective 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 expected snow resistance of the snow to be ploughed by the respective vehicle.

The electronic control unit 100 is operably connected to the means 116 for determining expected friction of the ground of the area on which said vehicles of the platoon are travelling via a link 16. The electronic control unit 100 is via the link 16 arranged to receive a signal from said means 116 representing data about expected friction of the ground of the area on which said vehicles of the platoon are travelling.

The electronic control unit 100 is operably connected to the means 118 for determining current whether conditions comprising wind speed and wind direction, precipitation and temperature via a link 18. The electronic control unit 100 is via the link 18 arranged to receive a signal from said means 118 representing data about current whether conditions.

The electronic control unit 100 is operably connected to the means 120 for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability via a link 20. The electronic control unit 100 is via the link 20 arranged to send a signal to said means 120 representing data for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability.

The electronic control unit 100 is operably connected to the means 122 for adapting the speed of said platoon via a link 22. The electronic control unit 100 is via the link 22 arranged to send a signal to said means 122 representing data for adapting the speed of said platoon.

The electronic control unit 100 is operably connected to the means 124 for adapting angle of plough of said vehicles via a link 24. The electronic control unit 100 is via the link 24 arranged to send a signal to said means 124 representing data for adapting angle of plough of said vehicles.

The electronic control unit 100 is operably connected to the means 126 for adapting the lateral position of trailing vehicle relative to leading vehicle via a link 26. The electronic control unit 100 is via the link 26 arranged to send a signal to said means 126 representing data for adapting the lateral position of trailing vehicle relative to leading vehicle.

The electronic control unit 100 is operably connected to the means 140 for determining the speed of the platoon of plough vehicles via a link 40. The electronic control unit 100 is via the link 40 arranged to receive a signal from said means 140 representing data about speed of the platoon comprising data about speed of the respective vehicle of the platoon.

The electronic control unit 100 is operably connected to the means 150 for determining the plough angle of the plough of the respective vehicle of the platoon 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 about plough angle of the plough of the respective vehicle of the platoon.

The electronic control unit 100 is operably connected to the means 160 for determining lateral position of trailing vehicle relative to leading vehicle for the respective trailing vehicle of the platoon via a link 60. The electronic control unit 100 is via the link 60 arranged to receive a signal from said means 160 representing data about lateral position of trailing vehicle relative to leading vehicle.

The electronic control unit 100 is operably connected to the means 130 for communicating said determined available ploughing ability within said platoon via a link 30a. The electronic control unit 100 is via the link 30a arranged to send a signal to said means 130 representing data for available ploughing ability within said platoon.

The electronic control unit 100 is operably connected to the means 130 for communicating said determined available ploughing ability within said platoon via a link 30b. The electronic control unit 100 is via the link 30b arranged to receive a signal from said means 130 representing data for determined available ploughing ability within said platoon.

Fig. 3 schematically illustrates a block diagram of a method for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow according to an embodiment of the present invention. Said platoon of plough vehicles comprises a leading vehicle and at least one trailing vehicle.

According to the embodiment the method for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow comprises a step S1. In this step the available ploughing ability for at least said at least one trailing vehicle is determined based on ploughing resistance for maintaining a certain platoon configuration.

According to the embodiment the method for controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow comprises a step S2. In this step the ploughing operation of said platoon of plough vehicles is controlled based on said determined available ploughing ability.

According to an embodiment of the method the step of determining available ploughing ability comprises the step of determining possible vehicle speed for current ploughing resistance conditions.

The method comprises according to an embodiment the step of determining lateral position of trailing vehicle relative to leading vehicle for the respective trailing vehicle of the platoon. The step of determining lateral position of trailing vehicle relative to leading 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 trailing vehicle relative to leading 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 trailing vehicle relative to 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.

With reference to figure 4, a diagram of an apparatus 500 is shown. The control unit 100 described with reference to fig. 2 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile 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 controlling a ploughing operation of a platoon of plough vehicles for clearing a snow covered area from snow. Said platoon of plough vehicles comprises a leading vehicle and at least one trailing vehicle. The program P comprises routines for determining available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration. The program P comprises routines for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability. The routines for determining available ploughing ability comprises routines for determining possible vehicle speed for current ploughing resistance conditions. The routines for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises routines for adapting the speed of said platoon. The routines for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises routines for adapting angle of plough of said vehicles. The routines for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises routines for adapting the lateral position of trailing vehicle relative to leading vehicle. The program P comprises routines for communicating said determined available ploughing ability within said platoon. 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 available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration. The signals received on data port 599 can be used by apparatus 500 for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability. The signals used for determining available ploughing ability comprises signals used for determining possible vehicle speed for current ploughing resistance conditions. The signals used for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises signals used for adapting the speed of said platoon. The signals used for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises signals used for adapting angle of plough of said vehicles. The signals used for controlling the ploughing operation of said platoon of plough vehicles based on said determined available ploughing ability comprises signals used for adapting the lateral position of trailing vehicle relative to leading vehicle. The signals received on data port 599 can be used by apparatus 500 for communicating said determined available ploughing ability within said platoon.

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 controlling a ploughing operation of a platoon (P1) of plough vehicles (1, 2, 3) for clearing a snow covered area (A) from snow, said platoon (P1) of plough vehicles (1, 2, 3) comprising a leading vehicle (1) and at least one trailing vehicle (2, 3), characterized by the steps of: - determining available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration; and - controlling the ploughing operation of said platoon (P1) of plough vehicles (1,2, 3) based on said determined available ploughing ability wherein the step of determining available ploughing ability comprises the step of determining possible vehicle speed for current ploughing resistance conditions.

2. A method according to claim 1, wherein the step of controlling the ploughing operation of said platoon (P1) of plough vehicles (1, 2, 3) based on said determined available ploughing ability comprises adapting the speed of said platoon (P1).

3. A method according to any of claims 1-2, wherein the step of controlling the ploughing operation of said platoon (P1) of plough vehicles (1, 2, 3) based on said determined available ploughing ability comprises adapting angle (?1, ?2, ?3) of plough (1 a, 2a, 3a) of said vehicles (1, 2, 3).

4. A method according to any of claims 1-3, wherein the step of controlling the ploughing operation of said platoon (P1) of plough vehicles (1, 2, 3) based on said determined available ploughing ability comprises adapting the lateral position (L1, L2) of trailing vehicle (2, 3) relative to leading vehicle (1, 2).

5. A method according to any of claims 1-4, comprising the step of communicating said determined available ploughing ability within said platoon (P1).

6. A system (I) for controlling a ploughing operation of a platoon (P1) of plough vehicles (1, 2, 3) for clearing a snow covered area (A) from snow, said platoon (P1) of plough vehicles (1, 2, 3) comprising a leading vehicle and at least one trailing vehicle, characterized by means (110) for determining available ploughing ability for at least said at least one trailing vehicle based on ploughing resistance for maintaining a certain platoon configuration; and means (120) for controlling the ploughing operation of said platoon (P1) of plough vehicles (1, 2, 3) based on said determined available ploughing ability wherein the means (110) for determining available ploughing ability comprises means (112) for determining possible vehicle speed for current ploughing resistance conditions.

7. A system according to claim 6, wherein the means (120) for controlling the ploughing operation of said platoon (P1) of plough vehicles (1, 2, 3) based on said determined available ploughing ability comprises means (122) for adapting the speed of said platoon.

8. A system according to any of claims 6-7, wherein the means (120) for controlling the ploughing operation of said platoon (P1) of plough vehicles (1, 2, 3) based on said determined available ploughing ability comprises means (124) for adapting angle (?1, ?2, ?3) of plough (1 a, 2a, 3a) of said vehicles (1, 2, 3).

9. A system according to any of claims 6-8, wherein the means (120) for controlling the ploughing operation of said platoon (P1) of plough vehicles (1, 2, 3) based on said determined available ploughing ability comprises means (126) for adapting the lateral position (L1, L2) of trailing vehicle (2, 3) relative to leading vehicle (1, 2).

10. A system according to any of claims 6-9, comprising means (130) for communicating said determined available ploughing ability within said platoon (P1).

11. A platoon (P1) of plough vehicles (1, 2, 3) comprising a system (I) according to any of claims 6-10.

12. A computer program (P) for controlling a ploughing operation of a platoon (P1) of plough vehicles (1, 2, 3) for clearing a snow covered area from snow, 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 1-5.

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 1-5.