SE542584C2 - Method and control device for configuring a modular vehicle - Google Patents

Method and control device for configuring a modular vehicle

Info

Publication number
SE542584C2
SE542584C2 SE1851215A SE1851215A SE542584C2 SE 542584 C2 SE542584 C2 SE 542584C2 SE 1851215 A SE1851215 A SE 1851215A SE 1851215 A SE1851215 A SE 1851215A SE 542584 C2 SE542584 C2 SE 542584C2
Authority
SE
Sweden
Prior art keywords
drive module
control device
master
modules
slave
Prior art date
Application number
SE1851215A
Other languages
English (en)
Swedish (sv)
Other versions
SE1851215A1 (en
Inventor
André Claesson
Linus Ährlig
Mikko Kallio
Morgan Colling
Robert Sjödin
Sami Teppola
Tomas Skeppström
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1851215A priority Critical patent/SE542584C2/en
Priority to PCT/SE2019/050874 priority patent/WO2020076207A1/en
Priority to DE112019004377.3T priority patent/DE112019004377T5/de
Priority to CN201980064995.9A priority patent/CN112805212B/zh
Publication of SE1851215A1 publication Critical patent/SE1851215A1/en
Publication of SE542584C2 publication Critical patent/SE542584C2/en

Links

Classifications

    • G05D1/80—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/025—Modular vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/023—Avoiding failures by using redundant parts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0006—Digital architecture hierarchy
SE1851215A 2018-10-08 2018-10-08 Method and control device for configuring a modular vehicle SE542584C2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE1851215A SE542584C2 (en) 2018-10-08 2018-10-08 Method and control device for configuring a modular vehicle
PCT/SE2019/050874 WO2020076207A1 (en) 2018-10-08 2019-09-17 Method and control device for configuring a vehicle
DE112019004377.3T DE112019004377T5 (de) 2018-10-08 2019-09-17 Verfahren und Steuervorrichtung zum Konfigurieren eines Fahrzeugs
CN201980064995.9A CN112805212B (zh) 2018-10-08 2019-09-17 用于配置车辆的方法和控制装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1851215A SE542584C2 (en) 2018-10-08 2018-10-08 Method and control device for configuring a modular vehicle

Publications (2)

Publication Number Publication Date
SE1851215A1 SE1851215A1 (en) 2020-04-09
SE542584C2 true SE542584C2 (en) 2020-06-09

Family

ID=70164725

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1851215A SE542584C2 (en) 2018-10-08 2018-10-08 Method and control device for configuring a modular vehicle

Country Status (4)

Country Link
CN (1) CN112805212B (de)
DE (1) DE112019004377T5 (de)
SE (1) SE542584C2 (de)
WO (1) WO2020076207A1 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE541628C2 (en) * 2018-03-06 2019-11-19 Scania Cv Ab A drive module for a vehicle and a vehicle assembled from a set of modules
WO2020241952A1 (ko) * 2019-05-31 2020-12-03 엘지전자 주식회사 자율 주행 차량 시스템 및 차량의 자율 주행 방법
US20230032305A1 (en) * 2021-07-30 2023-02-02 Nvidia Corporation Communicating faults to an isolated safety region of a system on a chip

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10331873B4 (de) * 2003-07-14 2022-09-01 Robert Bosch Gmbh Verfahren zur Überwachung verteilter Software
FR2901233B1 (fr) * 2006-05-17 2009-02-27 Eurolum Soc Par Actions Simpli Vehicule sur roue, procede d'attelage, procede de desattelage, procede de gestion de ces vehicules et train de vehicules resultant
EP2223363B1 (de) * 2007-12-11 2019-02-20 Antonio Trigiani Batteriemanagementsystem
DE102008041463A1 (de) * 2008-08-22 2010-02-25 Robert Bosch Gmbh Steuersystem und Steuerverfahren zum Steuern einer Mehrzahl von Antriebsquellen eines Hybridantriebs
CN101549707B (zh) * 2009-05-15 2010-09-08 奇瑞汽车股份有限公司 一种汽车线控转向的冗余及容错系统及控制方法
GB201009523D0 (en) * 2010-06-07 2010-07-21 Capoco Design Ltd An autonomous vehicle
SE537058C2 (sv) * 2013-04-02 2014-12-23 Scania Cv Ab System för styrning av en stödaxel hos ett fordon
DE102013213171A1 (de) * 2013-07-04 2015-01-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs in einem automatisierten Fahrbetrieb
DE102014210147A1 (de) * 2014-05-27 2015-12-03 Continental Teves Ag & Co. Ohg Fahrzeugsteuersystem für eine autonome Führung eines Fahrzeugs
US10286891B2 (en) * 2014-07-11 2019-05-14 Ford Global Technologies, Llc Vehicle parking system failure management
DE102015205032A1 (de) * 2015-03-19 2016-09-22 Kuka Roboter Gmbh Fahrzeugverbund und Verfahren zum Bilden und Betreiben eines Fahrzeugverbundes
SG11201708005YA (en) * 2015-03-31 2017-10-30 Next Future Transp Inc Selectively combineable independent driving vehicles
DE102015008587A1 (de) * 2015-07-02 2017-01-05 Audi Ag Kraftfahrzeug für ein pilotiertes Fahren mit einem Vorderachslenksystem und einem Hinterachslenksystem
DE102015214521A1 (de) * 2015-07-30 2017-02-02 Robert Bosch Gmbh Aktuatorsystem für selbstfahrende Fahrzeuge
US10061313B2 (en) * 2015-09-28 2018-08-28 Uber Technologies, Inc. Autonomous vehicle with independent auxiliary control units
GB2545261A (en) * 2015-12-11 2017-06-14 Jaguar Land Rover Ltd Control system and method of controlling a driveline
DE102016203019A1 (de) * 2016-02-25 2017-08-31 Volkswagen Aktiengesellschaft Fahrzeug-Verbund und Verfahren zum Betreiben eines Fahrzeugs des besagten Fahrzeug-Verbundes
JP2017165296A (ja) * 2016-03-17 2017-09-21 株式会社日立製作所 自動運転制御システム
DE102016209099A1 (de) * 2016-05-25 2017-07-27 Bayerische Motoren Werke Aktiengesellschaft Personenkraftfahrzeug sowie Verfahren für dessen Montage, Betrieb und Demontage
CN106218329A (zh) * 2016-07-26 2016-12-14 成都之达科技有限公司 基于无线传感器的车辆参数采集方法
WO2018032046A1 (en) * 2016-08-16 2018-02-22 Transcom R&D Pty.Ltd. A modular electric wheel assembly for an electric vehicle
CN106648997A (zh) * 2016-12-23 2017-05-10 北京航天测控技术有限公司 一种基于非实时操作系统的主从双机切换方法
CN107264285B (zh) * 2017-06-16 2020-06-19 北京新能源汽车股份有限公司 驱动电机检测方法及装置
CN207773222U (zh) * 2018-01-02 2018-08-28 中国第一汽车股份有限公司 双冗余电动转向装置
CN207931714U (zh) * 2018-03-13 2018-10-02 重庆长安汽车股份有限公司 车辆冗余人机交互系统

Also Published As

Publication number Publication date
CN112805212B (zh) 2024-01-02
DE112019004377T5 (de) 2021-07-01
SE1851215A1 (en) 2020-04-09
WO2020076207A1 (en) 2020-04-16
CN112805212A (zh) 2021-05-14

Similar Documents

Publication Publication Date Title
CN109733461B (zh) 自动驾驶车辆的冗余电子转向系统及控制方法
SE542584C2 (en) Method and control device for configuring a modular vehicle
CN103660999B (zh) 两轮倒立摆车辆及其控制方法
US7421302B2 (en) Automotive electronic control system including communicably connected commanding unit and driving unit
JP2679803B2 (ja) 車両の後輪操舵装置
JP2022541715A (ja) 自律車両制御システム
KR102423715B1 (ko) 차량의 2개의 모듈을 전기적으로 연결하는 방법, 제어 장치, 차량, 시스템, 컴퓨터 프로그램 및 컴퓨터-판독 가능 매체
CN216069959U (zh) 一种车辆控制系统
JP2024505097A (ja) 車両コーナーモジュール用の制御システム及び操作方法
US20220026922A1 (en) A safety method, a control device, a vehicle, a computer program and a computer-readable medium
CN113147740B (zh) 车辆的底盘线控系统及其模式切换方法、车辆
JP6898807B2 (ja) 車両の制御装置
JP4382345B2 (ja) 車両用操舵装置
WO2023114396A1 (en) Method and system for addressing failure in an autonomous agent
CN113169954B (zh) 用于远程机器控制的方法与系统
CN113442849B (zh) 车辆控制系统、数据发送方法及记录程序的记录介质
JP7194092B2 (ja) 車両制御システム、及び車両制御方法
KR20140026763A (ko) 전동식 파워 스티어링 시스템을 이용한 차량의 직진성 확보 방법
CN112074452B (zh) 用于模块化自主车辆的安全方法及控制装置
SE542972C2 (en) Methods for use in a modular vehicle for determining information about external disturbances, and a vehicle usinging such information
CN114454956B (zh) 一种车辆的转向动力系统的控制方法及车辆
US20230121931A1 (en) Vehicle occupant emergency monitoring
JP2018020678A (ja) 電子制御装置
KR20240021346A (ko) 차량 제어 장치 및 그 방법
JP2017169382A (ja) 電子制御装置