SE542901C2

SE542901C2 - A method, performed by a control device in a vehicle, for controlling a vehicle position in relation to a platform

Info

Publication number: SE542901C2
Application number: SE1851523A
Authority: SE
Inventors: Claesson André; Linus Ährlig; Mikko Kallio; Morgan Colling; Sami Teppola; Sjödin Robert; Tomas Skeppström
Original assignee: Scania Cv Ab
Priority date: 2018-12-07
Filing date: 2018-12-07
Publication date: 2020-09-15
Also published as: SE1851523A1; CN113056380B; CN113056380A; DE112019005390T5; WO2020117111A1

Abstract

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

Description

A method, performed m' a control device än a vehicle, for controlling a vehicle Éﬁsäïšün ï-ëšaïiün in a ¿;..+:-5.-;:;;;.._,. I;. 5;-. __: 5.1: 5;-. : TECHNICAL FIELD The invention relates to a method, performed by a control device, for controlling a ve-hicle position in relation to a platform according to the appended claims. The inven-tion further relates to a computer program, a computer-readable medium, a control device and a vehicle according to the appended claims.

BACKGROUND Different types of vehicles are operated for loading and unloading goods, cargo andpassengers on platforms, such as loading docks. When the vehicle is stopped orparked adjacent to the platform whereby goods, cargo and passengers are transferredfrom the platform or vehicle through a door opening of the vehicle. For convenience ofloading and unloading the vehicle, it is desirable that a floor of the vehicle be alignedas closely as possible with the elevation of the platform surface.

Vehicles of today are typically manufactured for a specific purpose, e.g. a bus is man-ufactured for transporting people and a truck is manufactured for transporting goods.Such vehicles are typically manufactured and completely assembled in a factory orthey may be partly assembled in a factory and completed at a body manufacturer.Once the vehicle is assembled, the vehicle can be used for the specific purpose. Thus,a bus may be used as a bus and a truck for transporting goods will be used as a truckfor transporting goods. Different vehicles are thus needed for different purposes, whichmay require a large fleet of vehicles and which is very costly. lt may therefore be de-sired to be able to customize a vehicle depending on different missions.

There are, for example, known solutions where a truck can be rebuilt by changing aconcrete mixer to a loading platform. This increases the flexibility and two differentfunctions can be achieved by means of one single vehicle. Also, document US- 2016/0129958 A discloses a modular electric vehicle using interchangeable vehicleassembly modules. The user can thereby disassemble and reassemble the vehicle foruse in different applications. Disassembling and reassembling such a vehicle would,however, be a very cumbersome and time consuming work. Furthermore, when a fail-ure occurs in one of the known vehicle modules it may be difficult to replace the failingmodule, which may result in that the vehicle may be unusable for a considerable periodof time. lt may also be cumbersome to transport the replacing module to the site of thevehicle with the failing module.

SUMMARY Despite known solutions in the art, it is desired to facilitate and minimize the time forloading and unloading of a vehicle. lt is also desired to increase security and mini-mize damages at loading and unloading of a vehicle.

An object of the invention is to facilitate and minimize the time for loading and un-loading of a vehicle.

A further object of the invention is to increase security and minimize damages atloading and unloading of a vehicle.

The herein mentioned objects are achieved with a method, performed by a controldevice, for controlling a vehicle position in relation to a platform according to the ap-pended claims. The herein mentioned objects are also achieved with a computer pro-gram, a computer-readable medium, a control device and a vehicle, according to the appended claims.

According to an aspect of the invention a method, performed by a control device, forcontrolling a vehicle position in relation to a platform, the vehicle comprising: at leastone sensor device; at least two front wheels; at least two rear wheels; and the controldevice, the method comprising: determining a platform height above a road surfaceat the platform; determining an inclination of the platform; controlling the vehicle, sothat a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle, so that the floor surface of the vehicle has an inclinationcorresponding to the inclination of the platform.

According to a further aspect of the invention a control device for controlling a vehicleposition in relation to a platform, the vehicle comprising: at least one sensor device;at least two front wheels; at least two rear wheels; and the control device, the controldevice being configured to: determine a platform height above a road surface at theplatform; determine an inclination of the platform; control the vehicle, so that a floorsurface of the vehicle has a level corresponding to the platform height; and controlthe vehicle, so that the floor surface of the vehicle has an inclination corresponding tothe inclination of the platform.

By such a method and control device, loading and unloading of the vehicle is facili-tated. The time is minimized, the security is increased and damages minimized when loading and unloading of the vehicle.

By determining the platform height above a road surface and determining any inclina-tion of the platform, the vehicle may be controlled, so that the floor surface of the ve-hicle has a level corresponding to the platform height, and also so the floor surface ofthe vehicle has an inclination corresponding to the inclination of the platform.

Loading and unloading goods, cargo and passengers on the platform are facilitatedwhen the floor surface of the vehicle has a level and an inclination corresponding tothe platform height, and to any inclination of the platform. The time will be minimizedwhen loading and unloading goods, cargo and passengers on the platform, since thegoods and cargo may easily be moved between the surfaces of the vehicle floor andthe platform, without any lift. The security is increased and damages minimized onthe goods, cargo and passengers, since there is no step between the surfaces of thevehicle floor and the platform.

According to yet another aspect of the invention a vehicle assembled from a set ofmodules is provided. The vehicle comprises at least one drive module and at leastone functional module, wherein the at least one drive module comprises the a least two front wheels or the at least two rear wheels, and is configured to be autono-mously operated and drive the assembled vehicle. The vehicle further comprises a control device as disclosed herein.

By such a vehicle, loading and unloading of the vehicle is facilitated. The time is mini-mized, the security is increased and damages minimized when loading and unload-ing of the vehicle.

Vehicles of today are typically manufactured for a specific purpose, e.g. a bus ismanufactured for transporting people and a truck is manufactured for transportinggoods. Such vehicles are typically manufactured and completely assembled in a fac-tory or they are partly assembled in a factory and completed at a body manufacturer.Once the vehicle is assembled, the vehicle will only be used for the specific purpose.Thus, a bus will only be used as a bus and a truck for transporting goods will be usedas a truck for transporting goods. Different vehicles are thus needed for different pur-poses, which may require a large fleet of vehicles and which may be very costly. As-sembling a vehicle from a set of modules according to the invention makes it possibleto dynamically assemble a modularised vehicle depending on a current mission orfunction to be performed. This way, from the same set of modules, for example atruck, a garbage truck, a bus or a snowplough can be assembled. Not only will thisresult in an increased flexibility, but the cost for a vehicle owner will decrease signifi-cantly compared to having a plurality of different vehicles for different applications.The vehicle is autonomously operated by means of the at least one drive module.Also, by using at least one autonomously operated drive module, the drive modulemay autonomously/automatically perform physical and electrical connection/discon-nection with a second module. This way, no manual work is required and the assem- bly of the vehicle is less cumbersome and much more time efficient.

Since the vehicle is configured to be autonomously operated and drive the assem-bled vehicle, the platform height above a road surface and any inclination of the plat-form are autonomously determined by the control device of the vehicle. ln addition,the vehicle is autonomously controlled, so that the floor surface of the vehicle has alevel corresponding to the platform height, and also so the floor surface of the vehiclehas an inclination corresponding to the inclination of the platform.

Additional objectives, advantages and novel features of the invention will be apparentto one skilled in the art from the following details, and through exercising the invention.While the invention is described below, it should be apparent that the invention maynot be limited to the specifically described details. One skilled in the art, having accessto the teachings herein, will recognize additional applications, modifications and incor- porations in other areas, which are within the scope of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS Below is a description of, as examples, preferred embodiments with reference to theenclosed drawings, in which: Figures 1a and 1b schematically illustrate side views of a vehicle provided with a con- trol device according to an embodiment; Figures 2a and 2b schematically illustrate side views of a vehicle provided with a con-trol device according to an embodiment; Figure 2c schematically illustrate a view of from behind of a vehicle provided with a control device according to an embodiment; Figures Sa and 3b schematically illustrate side views of a modularised vehicle providedwith a control device according to an embodiment; Figure 4 schematically illustrates a drive module provided with a control device accord- ing to an embodiment; Figure 5a illustrates a flow chart for a method, performed by a control device, for con-trolling the height of a modularised vehicle according to an embodiment; Figure 5b illustrates a flow chart for a method, performed by a control device, for con-trolling the height of a modularised vehicle according to an embodiment; and Figure 6 schematically illustrates a control device or computer according to an embod- iment.

DETAILED DESCRIPTION The method, performed by the control device, for contro||ing a vehicle position in rela-tion to a platform will facilitate loading and unloading the vehicle and minimizing thetime for loading and unloading. ln addition, security will increase and damages mini-mized when loading and unloading the vehicle. l\/lodularised vehicles are typically assembled at the customer"s premises and the cus-tomer may thus buy a set of modules from a manufacturer. The assembled vehiclemay comprise at least two modules including at least one drive module and at leastone functional module. Such a modularised vehicle is applicable on all sorts of roadvehicles and may thus relate to heavy vehicles, such as buses, trucks etc., which maybe used on public roads.

According to an aspect, the present disclosure relates to a method, performed by acontrol device, for contro||ing a vehicle position in relation to a platform, the vehiclecomprising: at least one sensor device; at least two front wheels; at least two rearwheels; and the control device, the method comprising: determining a platform heightabove a road surface at the platform; determining an inclination of the platform; con-tro||ing the vehicle, so that a floor surface of the vehicle has a level corresponding tothe platform height; and contro||ing the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.

By such a method, loading and unloading of the vehicle is facilitated. The time is min-imized, the security is increased and damages minimized when loading and unloadingof the vehicle.

By determining the platform height above a road surface and determining any inclina-tion of the platform, the vehicle is controlled, so that the floor surface of the vehiclehas a level corresponding to the platform height, and also so the floor surface of thevehicle has an inclination corresponding to the inclination of the platform.

Based on the determined platform height above a road surface and the determinedinclination of the platform, the vehicle level and inclination is controlled when the ve-hicle is moving towards the platform or when the vehicle has stopped adjacent to theplatform. The vehicle level is controlled so that a specific component of the vehicle ischanging height. The level of the platform surface above the road surface may be thesame level as the platform height above the road surface. The level of the floor sur-face above the road surface may be the same level as a floor surface height abovethe road surface.

The definition that a floor surface of the vehicle has a level corresponding to the plat-form height comprises that the level and height correspond exactly to each other orthat there is some difference between the level and height. The difference betweenthe level and height may be very small, and will not affect boarding and exit the vehi- cle or loading and unloading of the vehicle.

The vehicle can be configured with a passenger compartment for accommodatingpassengers and may thus function as a bus. According to another example, the vehi-cle can be configured with a load compartment for accommodating load, goods andcargo, and may thus function as a truck.

The determined platform height above the road surface at the platform is comparedto the actual vehicle floor surface level in relation to the road surface. The vehiclefloor surface level present when the vehicle approaching the platform is a vehiclefloor surface level used when driving the vehicle during normal driving conditions.However, the vehicle floor surface level used when driving the vehicle during normaldriving conditions may vary depending on the weight of the passengers and/or theloaded goods within the vehicle. The vehicle floor surface level present when the ve-hicle approaching the platform is detected by any means of a height sensor device.The height sensor device may also be used during controlling the vehicle floor sur-face level before arriving at platform, so that a floor surface of the vehicle has a levelcorresponding to the height of the platform surface. Determining the platform heightabove a road surface at the platform, is based on detected height information fromany means of a height or position sensor device. Such sensor device may be a laser sensor, ultra sound sensor, a radar, a lidar or the like. Such sensor devices may alsobe combined on the vehicle in order to increase the accuracy of the determining ofthe platform height. Determining the inclination of the platform is based on detectedinclination information from any means of an inclination sensor device. Such sensordevice may be a laser sensor, ultra sound sensor, a radar, a lidar or the like. Suchsensor devices may also be combined on the vehicle in order to increase the accu-racy of the determining of the inclination of the platform. The sensor devices also de-tects an outer edge of the platform and transmit signals to the control unit for control-ling the vehicle to be positioned with an outer edge of the floor surface of the vehicle parallel to the outer edge of the platform.

The control device comprised in the vehicle is configured to receive commands andinstructions from a control centre or an off-board system and to execute the com-mands/instructions for controlling the vehicle level and inclination in relation to theroad surface based on data from the sensor device. The vehicle may be autono-mously operated in order to determining the platform height above a road surface atthe platform; determining the inclination of the platform; controlling the vehicle, sothat a floor surface of the vehicle has a level corresponding to the platform height;and controlling the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.

Controlling the vehicle level in relation to the road surface according to the method isperformed, by the control device comprised in the vehicle, without instructions from the control centre.

According to an aspect, controlling the vehicle, so that the floor surface of the vehiclehas an inclination corresponding to the inclination of the platform, comprises control-ling the inclination of the vehicle in a longitudinal direction of the vehicle and in a lat- eral direction of the vehicle.

Determining an inclination of the platform surface may result in that the platform sur-face has an inclination in relation to a horizontal plane. The platform surface mayhave an inclination in any direction of a horizontal plane. Controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a lateral direction of the ve-hicle may result in that the floor surface of the vehicle may achieve a correspondinginclination to the inclination of the platform. The vehicle may comprise a sensor de-vice, such as a levelling sensor, which is connected to the control device. The sensordevice may detect the inclination of the vehicle.

According to an aspect, controlling the vehicle, comprises controlling an individuallycontrollable wheel suspension of at least one wheel.

The wheel suspension of the vehicle is arranged between each wheel and a body ofthe vehicle. The wheel suspension may comprise springs and dampers for improvingthe driving characteristics of the vehicle. The wheel suspension of the vehicle maycomprise adjusting means for controlling the vehicle level when arriving at the plat-form. The control device receives information about the platform and the road surfaceat the platform. Thereafter the control device is configured to control the adjustingmeans of each wheel suspension individually to adjust the vehicle in relation to theplatform. The road surface at the platform may have a curvature and have cavities,which the individually controllable wheel suspension of at least one wheel may com-pensate for. The suspension system may also be controlled so that an outer edge ofthe platform is parallel to an outer edge of the floor surface of the vehicle.

According to an aspect, controlling the vehicle, comprises controlling an individuallycontrollable wheel suspension of at least one wheel, so that the floor surface of the vehicle coincide with a platform surface in a common plane.

The control device receives information about the platform height and the inclinationof the platform surface above the road surface at the platform from the one or moresensor device(s). Thereafter the control device controls the adjusting means of eachwheel suspension individually to adjust the vehicle level and inclination correspond-ing to the platform height and the inclination of the platform surface. The vehicle mayhave at least four wheels, each provided with an individually controlled wheel sus-pension. Controlling the inclination of the vehicle in a longitudinal direction of the ve-hicle and in a lateral direction of the vehicle is possible when arranging the wheels in the area of, for example, each corner of the vehicle. lndividually adjusting the dis-tance between each wheel and the body of the vehicle, and thus the distance be-tween the road surface and the floor surface of the vehicle, results in an adjustmentof the level and inclination of the floor surface of the vehicle to correspond to the plat-form height and the inclination of the platform surface. The adjustment of the leveland inclination of the floor surface of the vehicle to correspond to the platform heightand the inclination of the platform surface results in that the floor surface of the vehi- cle will coincide with a platform surface in a common plane.

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

At least one sensor device is arranged on the vehicle for determining the platformheight. Such sensor device may be a laser sensor, ultra sound sensor, a radar, a li-dar or the like. Such sensor devices may also be combined on the vehicle in order toincrease the accuracy of the determining of the height of the platform. The sensor de-vice is connected to the control device, and provides the control device with infor-mation about the platform height. When the vehicle approaches the platform, thesensor device detects the platform height. Signals from the sensor device is transmit-ted to the control device. Based on the information from the sensor device, the con-trol unit controls the vehicle, so that the floor surface of the vehicle has a level corre-sponding to the platform height. A plurality of sensor devices for determining the plat-form height are arranged on the vehicle. One sensor device is arranged in front of thevehicle. Another sensor device is arranged at the rear of the vehicle and two othersensor devices are arranged on each side of the vehicle.

Signals from the sensor comprising the information about the platform height abovethe road surface at the target destination is received by the control device in the vehi-cle. The control device is configured to control the vehicle height when approachingthe platform, so that the floor surface of the vehicle has a level corresponding to theheight of the platform surface. The control device is configured to verify that the levelof the floor surface of the vehicle corresponds to the height of the platform surfacewhen the vehicle is close to or adjacent to the platform. Controlling of the floor sur-face level by means of the control device may set a number of software marks (flags) 11 of the control device. lf the control device determines that the floor surface level ishigher than the platform height, a first flag is set by the control device in a software ofthe control device. lf the control device determines that the floor surface level is lowerthan the platform height, a second flag is set by the control device in the software ofthe control device. lf the control device determines that the floor surface level alreadycorrespond to the platform height a third flag is set by the control device in the soft-ware of the control device. Depending on the flag set, the control device controls thevehicle to a floor surface level that correspond to the platform height at the targetdestination, so that a floor surface of the vehicle has a level corresponding to theheight of the platform surface. The definition of the expression that the floor surfaceof the vehicle corresponds to the height of the platform surface is that there is a smallmargin of error between the level of the floor surface and the height of the platform surface.

According to an aspect, controlling the vehicle, so that the floor surface of the vehiclehas an inclination corresponding to the inclination of the platform, comprises deter-mining the inclination of the floor surface by means of a level sensor and determining the inclination of the platform by means of the at least one sensor device.

The vehicle may comprise a sensor device, such as a level sensor, which is con-nected to the control device. The sensor device may detect the inclination of the vehi-cle and transmit the information to the control device. At least one sensor device isarranged on the vehicle for determining the inclination of the platform. Such sensordevice may be a laser sensor, ultra sound sensor, a radar, a lidar or the like. Suchsensor devices may also be combined on the vehicle in order to increase the accu-racy of the determining of the inclination of the platform. The sensor device is con-nected to the control device, and provides the control device with information aboutthe inclination of the platform. Determining an inclination of the platform surface mayresult in that the platform surface has an inclination in relation to a horizontal plane.The platform surface may have an inclination in any direction of a horizontal plane.When the vehicle approaches the platform, the sensor device detects the inclinationof the platform. Signals from the sensor device is transmitted to the control device. Aplurality of sensor devices for determining the inclination of the platform are arrangedon the vehicle. One sensor device is arranged in front of the vehicle. Another sensor 12 device is arranged at the rear of the vehicle and two other sensor devices are ar-ranged on each side of the vehicle. Based on the information from the sensor device,the control unit is configured to control the vehicle, so that the floor surface of the ve-hicle has an inclination corresponding to the inclination of the platform.

According to an aspect, the method comprises the further step of determining the dis-tance between the vehicle and the platform by means of the at least one sensor de- vice.

When the vehicle approaches the platform, the at least one sensor device detects theplatform. The at least one sensor device transfers the detected signals of the plat-form to the control device. Based on these signals, the control device determines thedistance between the vehicle and the platform. Based on the determined distancebetween the vehicle and the platform, the control device controls the vehicle to move to a position adjacent to the platform.

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

The road surface at the platform may have a curvature, cavities and elevations,which may influence on the position of the vehicle in relation to the platform. At leastone sensor device is arranged on the vehicle for determining the shape of the roadsurface. The sensor device may detect the curvature and any cavities in the road sur-face at the platform. The sensor device may also detect any elevation or bump in theroad surface at the platform. Such sensor device may be a laser sensor, ultra soundsensor, a radar, a lidar or the like. Such sensor devices may also be combined on thevehicle in order to increase the accuracy of the determining of the shape of the roadsurface. The sensor device is connected to the control device, and provides the con-trol device with information about the shape of the road surface. When the vehicleapproaches the platform, the sensor device detects the shape of the road surface atthe platform. Signals from the sensor device is transmitted to the control device.Based on the information from the sensor device, the control unit may controlling thevehicle, so that the floor surface of the vehicle has a level and inclination correspond-ing to the platform height and inclination. A plurality of sensor devices for determining 13 the shape of the road surface may be arranged on the vehicle. One sensor device isarranged in front of the vehicle. Another sensor device is arranged at the rear of thevehicle and two other sensor devices are arranged on each side of the vehicle. A fur-ther sensor device for determining the shape of the road surface is arranged on the underside of the vehicle.

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

When approaching the platform, the vehicle may interfere with obstacles above orbeside the road surface in front of the platform. Such obstacles may be a ceilingabove and in front of the platform. Such obstacles may also be another vehicleparked at the platform. At least one sensor device is arranged on the vehicle for de-termining any obstacles above or beside the road surface in front of the platform. Thesensor device may detect the any obstacles above or beside the road surface in frontof the platform. Such sensor device may be a laser sensor, ultra sound sensor, a ra-dar, a lidar or the like. Such sensor devices may also be combined on the vehicle inorder to increase the accuracy of the determining of any obstacles above or besidethe road surface in front of the platform. The sensor device is connected to the con-trol device, and provides the control device with information about any obstaclesabove or beside the road surface in front of the platform. When the vehicle ap-proaches the platform, the sensor device detects any obstacles above or beside theroad surface in front of the platform. Signals from the sensor device is transmitted tothe control device. Based on the information from the sensor device, the control de-vice is configured to control the vehicle, so that the vehicle avoids the detected ob-stacles. A plurality of sensor devices for determining any obstacles above or besidethe road surface in front of the platform may be arranged on the vehicle. One sensordevice is arranged in front of the vehicle. Another sensor device is arranged at therear of the vehicle and two other sensor devices are arranged on each side of the ve- hicle. 14 According to an aspect, the method comprises the further step of receiving infor-mation about the platform height and the inclination of the platform from another vehi- cle.

Other vehicles may have visited the site of the platform and thus registered andstored information about the platform height above the road surface and the inclina-tion of the platform. The information about the platform height above the road surfaceand the inclination of the platform are received from such other vehicle before the ve-hicle is arriving at the target destination. The information may be received close tothe moment when the vehicle is arriving at the target destination. As soon as there isa change in platform height above the road surface or the inclination of the platformis changed, the vehicle may receive updated information about the platform heightand the inclination of the platform. A change in platform height above the road sur-face and a change of the inclination of the platform may take place due to reconstruc- tion of the road and/or the platform.

The vehicle height and inclination is controlled before arriving at the target destina-tion. The vehicle height and inclination are controlled so that a specific component ofthe vehicle is changing height. The vehicle height and inclination may be controlledbefore arriving at the target destination, so that the floor surface of the vehicle mayhave a level above the road surface and an inclination corresponding to the level ofthe platform surface above the road surface and the inclination of the platform at thetarget destination. The level of the platform surface above the road surface may bethe same level as the platform height above the road surface. The level of the floorsurface above the road surface may be the same level as a floor surface heightabove the road surface.

Alternatively, or in addition, the information about the platform height and the inclina-tion of the platform is received from an external control centre. The control devicecomprised in the vehicle is configured to receive information, commands and instruc-tions from the control centre or an off-board system and to execute the commands/in-structions for controlling the vehicle height and inclination corresponding to the plat-form height and platform inclination at the target destination. ln addition, a door actuator is controlled for opening at least one door of the vehicle.The door is opened after verifying that the floor surface of the vehicle has a level andinclination that correspond to the height and inclination of the platform surface. Thedoor actuator is controlled by the control device in the vehicle. lf the doors of the ve-hicle are opened when there is a difference between the floor surface level and theplatform surface height, the doors may be obstructed by the platform, which may leadto a technical malfunction of the doors and/or the door actuators. Opening of thedoors after verifying that the floor surface of the vehicle has a level corresponding tothe height of the platform surface may result in a secure and convenient boardingand exit of passengers to and from the vehicle. Also, load and goods may safely beloaded and unloaded to and from the vehicle if the doors are opened after verifyingthat the floor surface of the vehicle has a level and inclination corresponding to theheight and inclination of the platform surface.

The present disclosure also relates to a computer program comprising instructionswhich, when the program is executed by a computer, causes the computer to carry outthe method disclosed above. The invention further relates to a computer-readable me-dium comprising instructions, which when executed by a computer causes the com- puter to carry out the method disclosed above.

Furthermore, the present disclosure relates to a control device for controlling a vehicleposition in relation to a platform, the vehicle comprising: at least one sensor device; atleast two front wheels; at least two rear wheels; and the control device, the controldevice being configured to: determine a platform height above a road surface at theplatform; determine an inclination of the platform; control the vehicle, so that a floorsurface of the vehicle has a level corresponding to the platform height; and control thevehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.

By such control device, loading and unloading of the vehicle is facilitated. The time isminimized, the security is increased and damages minimized when loading and un- loading of the vehicle. 16 The control device is configured to determine the platform height above a road sur-face and determining any inclination of the platform. Based on this determination, thecontrol device is configured to control the vehicle, so that the floor surface of the ve-hicle may have a level corresponding to the platform height, and also so the floor sur-face of the vehicle has an inclination corresponding to the inclination of the platform.

Based on the determined platform height above a road surface and the determinedinclination of the platform, the control device is configured to control the vehicle, sothe level of the floor surface of the vehicle and inclination of the floor surface of thevehicle is controlled when the vehicle is moving towards the platform or when the ve-hicle has stopped adjacent to the platform. The control device is configured to controlthe level of the floor surface of the vehicle and inclination of the floor surface the ve-hicle, so that a specific component of the vehicle is changing height. The level of theplatform surface above the road surface may be the same level as the platformheight above the road surface. The level of the floor surface above the road surfacemay be the same level as a floor surface height above the road surface.

The vehicle may be configured with a passenger compartment for accommodatingpassengers and may thus function as a bus. According to another example, the vehi-cle may be configured with a load compartment for accommodating load, goods andcargo, and may thus function as a truck.

The control device comprised in the vehicle is configured to receive commands andinstructions from a control centre or an off-board system and to execute the com-mands/instructions for controlling the vehicle level and inclination in relation to theroad surface based on data from the sensor device. The vehicle may be autono-mously operated by the control device in order to determine the platform heightabove a road surface at the platform; determine the inclination of the platform; controlthe vehicle, so that a floor surface of the vehicle has a level corresponding to theplatform height; and control the vehicle, so that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform. 17 The control device comprised in the vehicle is configured to control the floor surfacelevel in relation to the height of the platform surface, without instructions from thecontrol centre.

According to an aspect, the control device, configured to control the vehicle, so thatthe floor surface of the vehicle has an inclination corresponding to the inclination ofthe platform, comprising controlling the inclination of the vehicle in a longitudinal di-rection of the vehicle and in a lateral direction of the vehicle.

The control device is configured to determine any inclination of the platform surface.This may result in the determination that the platform surface has an inclination in re-lation to a horizontal plane. The platform surface may have an inclination in any di-rection of a horizontal plane. The control device is configured to control the inclinationof the vehicle in a longitudinal direction of the vehicle and in a lateral direction of thevehicle so that the floor surface of the vehicle achieves a corresponding inclination tothe inclination of the platform. The vehicle may comprise a sensor device, such as alevelling member, which is connected to the control device. The level sensor may de-tect the inclination of the vehicle and transmit signals about the detection to the con-trol unit.

According to an aspect, the control device, configured to control the vehicle, compris-ing controlling an individually controllable wheel suspension of at least one wheel.

The control device receives transmitted information from a sensor device about theplatform and the road surface at the platform. Thereafter the control device controlsadjusting means of each wheel suspension individually to adjust the vehicle in rela-tion to the platform. The road surface at the platform may have curvatures, cavitiesand elevations, which the individually controllable wheel suspension of at least one wheel may compensate for.

According to an aspect, the control device, configured to control the vehicle, compris-ing controlling an individually controllable wheel suspension of at least one wheel, sothat the floor surface of the vehicle coincide with a platform surface in a commonplane. 18 The control device receives information about the platform height and the inclinationof the platform surface above the road surface at the platform from the sensor de-vice. Thereafter the control device controls the adjusting means of each wheel sus-pension individually to adjust the vehicle level and inclination corresponding to theplatform height and the inclination of the platform surface. The vehicle may have atleast four wheels, each provided with an individually controlled wheel suspension.Controlling the inclination of the vehicle in a longitudinal direction of the vehicle andin a lateral direction of the vehicle is possible when arranging the wheels in the areaof, for example, each corner of the vehicle. lndividually adjusting the distance be-tween each wheel and the body of the vehicle, and thus the distance between theroad surface and the floor surface of the vehicle, results in an adjustment of the leveland inclination of the floor surface of the vehicle to correspond to the platform heightand the inclination of the platform surface. The adjustment of the level and inclinationof the floor surface of the vehicle to correspond to the platform height and the inclina-tion of the platform surface results in that the floor surface of the vehicle will coincide with a platform surface in a common plane.

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

At least one sensor device is arranged on the vehicle for determining the platformheight. Such sensor device may be a laser sensor, ultra sound sensor, a radar, a li-dar or the like. Such sensor devices may also be combined on the vehicle in order toincrease the accuracy of the determining of the height of the platform. The sensor de-vice is connected to the control device, and provides the control device with infor-mation about the platform height. When the vehicle approaches the platform, thesensor device detects the platform height. Signals from the sensor device is transmit-ted to the control device. Based on the information from the sensor device, the con-trol device may control the vehicle, so that the floor surface of the vehicle has a levelcorresponding to the platform height. A plurality of sensor devices for determining theplatform height is arranged on the vehicle. One sensor device is arranged in front ofthe vehicle. Another sensor device is arranged at the rear of the vehicle and twoother sensor devices are arranged on each side of the vehicle. 19 The signal comprising the information about the platform height above the road sur-face at the target destination is received by the control device in the vehicle. The con-trol device is configured to control the vehicle height when approaching the platform,so that the floor surface of the vehicle has a level corresponding to the height of theplatform surface. The control device is configured to verify that the level of the floorsurface of the vehicle corresponds to the height of the platform surface when the ve-hicle is close to or adjacent to the platform. The definition of the expression that thefloor surface of the vehicle corresponds to the height of the platform surface is thatthere is a small margin of error between the level of the floor surface and the height of the platform surface.

According to an aspect, the control device, configured to control the vehicle, so thatthe floor surface of the vehicle has an inclination corresponding to the inclination ofthe platform, comprising determine the inclination of the floor surface by means of alevel sensor and determine the inclination of the platform by means of the at least one sensor device.

The vehicle may comprise a sensor device, such as a level sensor, which is con-nected to the control device. The sensor device may detect the inclination of the vehi-cle and transmit the information to the control device. At least one sensor device isarranged on the vehicle for determining the inclination of the platform. Such sensordevice may be a laser sensor, ultra sound sensor, a radar, a lidar or the like. Suchsensor devices may also be combined on the vehicle in order to increase the accu-racy of the determining of the inclination of the platform. The sensor device is con-nected to the control device, and provides the control device with information aboutthe inclination of the platform. Determining an inclination of the platform surface mayresult in that the platform surface has an inclination in relation to a horizontal plane.The platform surface may have an inclination in any direction of a horizontal plane.When the vehicle approaches the platform, the sensor device detects the inclinationof the platform. Signals from the sensor device is transmitted to the control device. Aplurality of sensor devices for determining the inclination of the platform are arrangedon the vehicle. One sensor device is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two other sensor devices are ar-ranged on each side of the vehicle. Based on the information from the sensor device,the control unit is configured to control the vehicle, so that the floor surface of the ve-hicle has an inclination that correspond to the inclination of the platform.

According to an aspect, the control device further is configured to determine the dis-tance between the vehicle and the platform by means of the at least one sensor de- vice.

When the vehicle approaches the platform, the at least one sensor device detects theplatform. The at least one sensor device transfers the detected signals of the plat-form to the control device. Based on these signals, the control device is configured todetermine the distance between the vehicle and the platform. Based on the deter-mined distance between the vehicle and the platform, the control device is configured to control the vehicle to move to a position adjacent to the platform.

According to an aspect, the control device further is configured to determine theshape of the road surface by means of the at least one sensor device.

The road surface at the platform may have a curvature, cavities and elevations,which may influence on the position of the vehicle in relation to the platform. At leastone sensor device is arranged on the vehicle for determining the shape of the roadsurface. The sensor device may detect the curvature and any cavities in the road sur-face at the platform. The sensor device may also detect any elevation or bump in theroad surface at the platform. Such sensor device may be a laser sensor, ultra soundsensor, a radar, a lidar or the like. Such sensor devices may also be combined on thevehicle in order to increase the accuracy of the determining of the shape of the roadsurface. The sensor device is connected to the control device, and provides the con-trol device with information about the shape of the road surface. When the vehicleapproaches the platform, the sensor device detects the shape of the road surface atthe platform. Signals from the sensor device is transmitted to the control device.Based on the information from the sensor device, the control device is configured tocontrol the vehicle, so that the floor surface of the vehicle has a level and inclinationcorresponding to the platform height and inclination. A plurality of sensor devices for 21 determining the shape of the road surface is arranged on the vehicle. One sensor de-vice is arranged in front of the vehicle. Another sensor device is arranged at the rearof the vehicle and two other sensor devices are arranged on each side of the vehicle.A further sensor device for determining the shape of the road surface is arranged onthe underside of the vehicle.

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

When approaching the platform, the vehicle may interfere with obstacles above orbeside the road surface in front of the platform. Such obstacles may be a ceilingabove and in front of the platform. Such obstacles may also be another vehicleparked at the platform. At least one sensor device is arranged on the vehicle for de-termining any obstacles above or beside the road surface in front of the platform. Thesensor device may detect the any obstacles above or beside the road surface in frontof the platform. Such sensor device may be a laser sensor, ultra sound sensor, a ra-dar, a lidar or the like. Such sensor devices may also be combined on the vehicle inorder to increase the accuracy of the determining of any obstacles above or besidethe road surface in front of the platform. The sensor device is connected to the con-trol device, and provides the control device with information about any obstaclesabove or beside the road surface in front of the platform. When the vehicle ap-proaches the platform, the sensor device detects any obstacles above or beside theroad surface in front of the platform. Signals from the sensor device is transmitted tothe control device. Based on the information from the sensor device, the control de-vice is configured to control the vehicle, so that the vehicle avoids the detected ob-stacles. A plurality of sensor devices for determining any obstacles above or besidethe road surface in front of the platform are arranged on the vehicle. One sensor de-vice is arranged in front of the vehicle. Another sensor device is arranged at the rearof the vehicle and two other sensor devices are arranged on each side of the vehicle.

According to an aspect, the control device further is configured to receive informationabout the platform height and the inclination of the platform from another vehicle. 22 The information about the platform height above the road surface and the inclinationof the platform may be received from another vehicle before the vehicle is arriving atthe target destination. The information may be received close to the moment whenthe vehicle is arriving at the target destination. As soon as there is a change in plat-form height above the road surface or the inclination of the platform is changed, thevehicle may receive updated information about the platform height and the inclinationof the platform. A change in platform height above the road surface and a change ofthe inclination of the platform may take place due to reconstruction of the road and/orthe platform.

The control device is configured to control the vehicle height and inclination beforearriving at the target destination. The vehicle height and inclination are controlled sothat a specific component of the vehicle is changing height. The control device maybe configured to control the vehicle height and inclination before arriving at the targetdestination, so that the floor surface of the vehicle may have a level above the roadsurface and an inclination corresponding to the level of the platform surface abovethe road surface and the inclination of the platform at the target destination. The levelof the platform surface above the road surface is the same level as the platformheight above the road surface. The level of the floor surface above the road surfaceis the same level as a floor surface height above the road surface.

Alternatively, or in addition, the information about the platform height and the inclina-tion of the platform from may be received by the control device in the vehicle from anexternal control centre. The control device comprised in the vehicle is configured toreceive information, commands and instructions from the control centre or an off-board system and to execute the commands/instructions for controlling the vehicleheight and inclination corresponding to the platform height and platform inclination at the target destination. ln addition, the control device is configured to control a door actuator for opening atleast one door of the vehicle. The door is opened after verifying that the floor surfaceof the vehicle has a level and inclination that correspond to the height and inclinationof the platform surface. lf the doors of the vehicle are opened when there is a differ-ence between the floor surface level and the platform surface height, the doors may 23 be obstructed by the platform, which may lead to a technical malfunction of the doorsand/or the door actuators. Opening of the doors after verifying that the floor surfaceof the vehicle has a level corresponding to the height of the platform surface may re-sult in a secure and convenient boarding and exit of passengers to and from the vehi-cle. Also, load and goods may safely be loaded and unloaded to and from the vehicleif the doors are opened after verifying that the floor surface of the vehicle has a level and inclination corresponding to the height and inclination of the platform surface.

Furthermore, the present disclosure relates to a vehicle, comprising at least one sen-sor device, at least two front wheels; and at least two rear wheels, wherein the vehi- cle comprising the herein mentioned control device.

The vehicle is applicable on all sorts of road vehicles and may thus relate to heavyvehicles, such as buses, trucks etc., which may be used on public roads. The vehiclemay also be a boat or ship, and also an aircraft. The control unit, comprised in thevehicle, is configured to perform the herein mentioned method steps and activities.

The control unit may be configured to autonomously operate the vehicle.

According to an aspect, the vehicle is a modular vehicle comprising at least one drivemodule and at least one functional module, wherein the at least one drive modulecomprises the at least two front wheels or the at least two rear wheels, and is config-ured to be autonomously operated and drive the assembled vehicle.

The modularised vehicle is applicable on all sorts of road vehicles and may thus re-late to heavy vehicles, such as buses, trucks etc., which may be used on publicroads. The control unit, comprised in the modularised vehicle, is configured to per-form the herein mentioned method steps and activities. The control unit may be con- figured to autonomously operate the modularised vehicle.

Loading and unloading such a modularised vehicle is facilitated. The time is minimized,the security is increased and damages minimized when loading and unloading such a modularised vehicle. 24 At least one drive module is used together with different functional modules. Thefunctional modules are designed for specific purposes. Therefore, by combining adrive module with a suitable functional module, it is possible to customize a vehicledepending on different missions. A functional module is prepared to perform a spe-cific function and the autonomously operated drive module may connect with thefunctional module to achieve an assembled vehicle customized for a certain mission.For example, the at least one functional module is configured with a passenger com-partment for accommodating passengers and may thus function as a bus when beingassembled with the at least one drive module. According to another example, the atleast one functional module is configured with a load compartment for accommodat-ing load and goods and may thus function as a truck when being assembled with theat least one drive module.

The at least one drive module and thus the assembled vehicle may be configured tobe autonomously operated. The control device comprised in the functional module isconfigured to receive commands and instructions from a control centre or an off-board system and to execute the commands/instructions for driving the vehicle andalso for controlling the vehicle height in relation to the road surface. This way, the as-sembled vehicle can drive itself based on the received commands and instructions.The control device comprised in any one of the modules may control the assembledvehicle to be autonomously driven or operated also based on data from the at leastone sensor device, taking situations that may happen during transportation into ac-count. The autonomously operation of the modularised vehicle may thus comprisedetermining a platform height above a road surface at the platform; determining aninclination of the platform; controlling the modularised vehicle, so that a floor surfaceof the vehicle has a level corresponding to the platform height; and controlling themodularised vehicle, so that the floor surface of the modularised vehicle has an incli-nation corresponding to the inclination of the platform. controlling the modularised ve-hicle, so that a floor surface of the vehicle has a level corresponding to the platformheight; and controlling the modularised vehicle, so that the floor surface of the modu-larised vehicle has an inclination corresponding to the inclination of the platform maybe performed, by the control device comprised in any one of the modules, without in-structions from the control centre.

The functional module is adapted to be releasably connected to the drive module forforming the assembled vehicle. The drive module comprises a pair of wheels and isconfigured to be autonomously operated and drive the assembled vehicle when thedrive module and a functional module are connected. The functional module compris-ing at least one connecting means adapted for physically connecting the functionalmodule to the drive module. The functional module may also comprise wheels.

The connecting means may comprise a physical interface for the purpose of physicallyconnecting and disconnecting the modules. The drive module and the functional mod-ule each suitably comprises at least one physical interface for the purpose of physicallyconnecting and disconnecting the modules. The physical interface on the drive moduleis connected to the control device, which is configured to control the physical interfaceon the drive module to physically connect and disconnect the modules. The functionalmodule is provided with an indentation. The indentation is adapted for the drive mod-ule. Due to the indentation the length of the assembled vehicle will coincide with thelength of the functional module. However, the functional module may be configuredwithout an indentation and the drive module may be connected directly to the front sideor the rear side of the functional module.

The driving module may comprise a suspension system, which is arranged betweeneach of the wheels and a body of the driving module. The suspension system maycomprise springs and dampers for improving the driving characteristics of the drivingmodule and also of the assembled vehicle. The suspension system of the drivingmodule may comprise adjusting means for controlling the vehicle level when ap-proaching the platform. The control device is connected to the adjusting means of thesuspension system. The control device may receive information about the platformheight above the road surface at a target destination. The control device is config-ured to control the adjusting means of the suspension system based on the infor-mation about the platform height above the road surface at a target destination in or-der to adjust the vehicle level before arriving at the target destination. The control de-vice is configured to control the adjusting means of each wheel suspension individu- ally to adjust the vehicle in relation to the platform. 26 The present disclosure will now be further illustrated with reference to the appended figures.

Fig. 1a schematically illustrates a side view of a vehicle 1 provided with a control de-vice 100 according to an embodiment. The vehicle 1 comprises at least one sensordevice 2, at least two front wheels 4 and at least two rear wheels 6. The vehicle 1 isin fig. 1a positioned beside of or in front of a platform 8. A door opening 10 is ar-ranged in a body 11 of the vehicle 1. Goods, cargo and passengers are transferredfrom the platform 8 or vehicle 1 through the door opening 10 of the vehicle 1. The ve-hicle 1 comprises a floor 12 with a floor surface 14. The control device 100 is config-ured for controlling the vehicle position in relation to the platform 8. The control de-vice 100 is configured to determine a platform height above a road surface 16 at theplatform 8 and also determine an inclination of the platform 8. The control device 100receives information from a sensor device 2 about the vehicle position in relation tothe platform 8. Based in the signals from the sensor device 2 the control device 100is configured to determine a platform height above a road surface 16 at the platform8 and also determine an inclination of the platform 8. The vehicle 1 comprises thesensor device 2. However, the control device 100 may alternatively receive said in-formation from a sensor device arranged on another vehicle. The sensor device2may be configured to detect objects in the surroundings of the vehicle 1. The sensordevice 2 is connected to the control device 100 and transfer signals to the control de-vice 100 about the position of objects in the surrounding. The sensor device 2 maydetect the shape of the platform 8, such as the height, inclination and any curvatureof the platform 8. The sensor device 2 may also detect the distance between the ve-hicle 1 and the platform 8. The control device 100, with input from the sensor device2 is configured to determine the platform height and the inclination of the platform 8.The sensor device 2 may detect the shape of the road surface 16 in front of the plat-form 8. Together with the control device 100, the sensor device 2 is configured to de-termine the shape of the road surface 16. The sensor device 2 may detect any obsta-cles 18 above or beside the road surface 16 in front of the platform 8. Together withthe control device 100, the sensor device 2 is configured to determine if there are anyobstacles 18 above or beside the road surface 16 in front of the platform 8. ln fig. 1 the platform 8 has an inclination oi in relation to the road surface 16 at the platform 8. 27 The floor surface 14 of the vehicle 1 has a different level and a different inclination inrelation to the height and inclination oi of the platform 8.

Fig. 1b schematically illustrate a side view of the vehicle 1 provided with a control de-vice 100 according to an embodiment. ln fig. 1b the vehicle 1 has been controlled, sothat the floor surface 14 of the vehicle 1 has a level corresponding to the platformheight. ln addition, the vehicle 1 has been controlled, so that the floor surface 14 ofthe vehicle 1 has an inclination oi in the longitudinal direction of the vehicle 1, corre-sponding to the inclination oi of the platform 8. The inclination oi of the vehicle 1 iscontrolled in a longitudinal direction of the vehicle 1 and in a lateral direction of thevehicle 1. The control device 100 is configured to control an individually controllablewheel suspension 20 of the wheels of the vehicle 1. Each wheel of the vehicle 1 isprovided with such an individually controllable wheel suspension 20.

The vehicle 1 comprises a level sensor 22, which detects the inclination of the floorsurface 14 in the vehicle 1. The level sensor 22 is connected to the control device100. The control device 100, with input from the level sensor 22 is configured to de-termine the inclination of the floor surface 14 in the vehicle 1. When having infor-mation about the inclination of the platform 8 and the inclination of the floor surface14, the vehicle 1 is controlled by the control device 100, so the floor surface 14 of the vehicle 1 will have an inclination corresponding to the inclination of the platform 8.

The control device 100 is configured to control an individually controllable wheel sus-pension 20 of at least one wheel. The position of the body 11 of the vehicle 1 is ad-justed in relation to the wheels by means of the wheel suspension 20 of each wheel.By adjusting the position of the body 11 of the vehicle 1, also the position of the floorsurface 14 of the vehicle 1 may be adjusted. The control device 100 is configured tocontrol the individually controllable wheel suspension 20 of wheels, so that the floorsurface 14 of the vehicle 1 coincide with a platform surface 9 in a common plane.The control device 100 further is configured to receive information about the platformheight and the inclination of the platform 8 from another vehicle 21. The informationabout the platform height and the inclination of the platform 8 may be received wire-less directly from the other vehicle or via a control centre 24. The control device 100 28 further is configured to receive information about the platform height and the inclina-tion of the platform 8 from a control centre 24.

Figures 2a and 2b schematically illustrate side views of a vehicle 1 provided with acontrol device 100 according to an embodiment. ln fig. 2a the vehicle 1 approachesthe platform 8. The vehicle 1 may be a bus, a truck or any other type of heavy vehicle.The height and inclination of the platform 8 is determined by means of the sensor de-vice 2. ln addition, the shape of the road surface 16 is determined by means of the atleast one sensor device 2. The platform 8 in fig. 2a has an inclination ß in relation to a horizontal plane. ln fig. 2b the vehicle 1 has reached the platform 8 and has parked adjacent to theplatform 8. Based on the information from the sensor device 2, the control unit hascontrolled the vehicle 1, so that a floor surface 14 of the vehicle 1 has a level corre-sponding to the platform height; and so that the floor surface 14 of the vehicle 1 hasan inclination ß corresponding to the inclination ß of the platform 8. At this position, adoor 26 of the door opening 10 is opened. However, it is possible that the floor sur-face 14 of the vehicle 1 has an inclination which is smaller than the inclination ß ofthe platform 8 in order to facilitate a manoeuvring of a pallet loader within the vehicle1.

Fig. 2c schematically illustrate a view of from behind of the vehicle 1 provided with acontrol device 100 according to an embodiment. The platform 8 in fig. 2c has, in addi-tion to the inclination ß in fig. 2a and 2b an inclination din relation to a horizontal plane.The vehicle 1 has been controlled so that the floor surface 14 of the vehicle 1 has aninclination d, in the lateral direction, in addition to the inclination ß in the longitudinaldirection of the vehicle 1 Fig. Sa schematically illustrates a side view of a modular vehicle 1, comprising twodrive modules 30 and a functional module 40 provided with a control device 100 ac- cording to an embodiment.

The vehicle 1 may be a modular vehicle 1 comprising at least one drive module 30and at least one functional module. The modular vehicle 1 may comprise only one 29 drive module 30. Depending on the direction of travel, the drive module 30 comprisestwo front wheels 4 or two rear wheels 6. However, the modular vehicle 1 may com-prise two drive modules 30, of which one of the drive modules 30 comprises the twofront wheels 4 and the other drive module 30 comprises the two rear wheels 6. Themodular vehicle 1 is configured to be autonomously operated and drive the assem-bled vehicle 1.

The drive modules 30 are adapted to be releasably connected to the functional module40 for forming the assembled vehicle 1. ln fig. 3a the drive modules 30 and the func-tional module 40 are disconnected from each other. Each drive module 30 comprisesa pair of wheels 48 and is configured to be autonomously operated and drive the as-sembled vehicle 1 when the drive modules 30 and a functional module 40 are con-nected. The pair of wheels 48 of the drive module 30 correspond to the at least twofront wheels 4 or the at least two rear wheels 6 of the vehicle 1. The functional module40 comprising at least one connecting means 42 adapted for physically connecting thefunctional module 40 to the drive module 30. The control device 100 is comprised inany of the modules 30, 40. Thus, the control device 100 may be comprised in each ofthe drive modules 30. The control device 100 may alternatively be comprised in thefunctional module 40.

The connecting means 42 may comprise a physical interface 42 for the purpose ofphysically connecting and disconnecting the modules 30,40. The drive module 30 andthe functional module 40 each suitably comprises at least one physical interface 42 forthe purpose of physically connecting and disconnecting the modules 30,40. The phys-ical interface 42 on the drive module 40 is connected to the control device 100, whichis configured to control the physical interface 42 on the drive module 30 to physicallyconnect and disconnect the modules 30, 40. The functional module 40 in fig. 1 is pro-vided with an indentation 46, which is adapted for each drive module 30. Due to theindentation 46 the length of the assembled vehicle 1 will coincide with the length of thefunctional module 40. However, the functional module 40 may be configured withoutan indentation 46 and the drive modules 30 may be connected directly to the front sideor the rear side of the functional module 40. The functional module is provided with at least one door opening 10.

The functional module 40 is provided with a floor 12. The floor 12 is provided with afloor surface 14. At least one sensor device 2 is arranged on the functional module40. The sensor device 2 may provide the control device 100 with information of thelevel of the floor surface 14 of the functional module 40. The sensor device 2 mayalso provide the control device 100 with information of the height and inclination ofthe platform surface 9 (fig. 1a). The sensor device 2 may also be arranged on thedrive modules 30.

Fig. 3b schematically illustrates a side view of the two drive modules 30 and the func-tional module 40 provided with a control device 100 according to an embodiment. lnfig. 1b the drive modules 30 and the functional module 40 are connected to eachother. The connected drive modules 30 and functional module 40 together form theassembled vehicle 1. The drive modules 30 and the functional module 40 are con-nected by means of the connecting means 42.

Fig. 4 schematically a drive module 30 provided with a control device 100 according toan embodiment. The drive module 30 may comprise a pair of wheels 48. A steeringunit 39 is connected to the wheels 48. The steering unit 39 may make the drive module30 steerable. The pair of wheels 48 may be so arranged at the drive module 30 that acentre axis 43 of each wheel 48 coincides with each other. Each wheel 48 has a centreaxis 43 and is arranged at the drive module 30 so that each wheel 48 may rotate aboutits centre axis 43. When the centre axis 43 of each wheel 48 coincides with each other the drive module 30 has good manoeuvring abilities.

The drive module 30 is provided with a suspension system 52 for the wheels 48. Theheight of a body 54 of the drive module 30 is adjusted in relation to the wheels 48 bymeans of the suspension system 52. The control device 100 is configured to controlthe vehicle level by means of the suspension system 52. The suspension system 52of the driving module 30 is arranged between the wheels 48 and a body 54 of thedriving module 30. The suspension system 52 may comprise springs 54 and dampers56 for improving the driving characteristics of the driving module 30 and also of theassembled vehicle 1. The suspension system 52 of the driving module may compriseadjusting means for controlling the vehicle level. The control device 100 is connectedto the adjusting means of the suspension system 52. 31 The drive module 30 may comprise at least two connecting means 42. The connectingmeans 42 si configured as interfaces for transferring electric energy and/or transmittingelectric signals, and for physically connection.

The drive module 30 may comprise at least one propulsion unit 50 connected to thepair of wheels 48. The propulsion unit 50 may be an electric machine connected to thewheels 48. Two electric machines are arranged as propulsion units 50 in the drivemodule 30. One electric machine 50 is connected to one wheel 48 and the other elec-tric machine 50 is connected to the other wheel 48. The electric machines 50 are ar-ranged in the rim 44 of the wheels 48. The wheels 48 may thereby be driven inde-pendently of each other. The electric machines 50 may also work as generators andgenerate electric energy when braking the wheels 48. lnstead of electric machines 50as a propulsion unit 50, the at least one propulsion unit 50 may be an internal combus- tion engine, such as an otto engine or a diesel engine connected to the wheels 48.

The drive module 30 may comprise at least one energy storage unit 52 for providingthe propulsion unit 50 with energy.

As mentioned above the drive module 30 may comprise the control device 100. Thecontrol device 100 is configured to operate the drive module 30 as an independentlydriven unit. The control device 100 may be configured to transmit and receive infor-mation and control signals to and from an external control centre 24. The control device100 may be configured to transmit and receive information and control signals to andfrom another vehicle 21.

Fig. 5a illustrates a flow chart for a method, performed by a control device 100, forcontrolling a vehicle position in relation to a platform 8. The method thus relates tothe controlling of the vehicle position in relation to a platform 8 of the vehicle 1 andthe modularised vehicle 1 disclosed in figures 1a - 4. The vehicle 1 comprising: atleast one sensor device 2; at least two front wheels 4; at least two rear wheels 6; andthe control device 100. The method comprising: determining s101 a platform heightabove a road surface 16 at the platform 8; determining s102 an inclination of the plat-form 8; controlling s103 the vehicle 1, so that a floor surface 14 of the vehicle 1 has a 32 level corresponding to the platform height; and controlling s104 the vehicle 1, so thatthe floor surface 14 of the vehicle 1 has an inclination corresponding to the inclinationof the platform 8.

According to an aspect, controlling s104 the vehicle 1, so that the floor surface 14 ofthe vehicle 1 has an inclination corresponding to the inclination of the platform 8,comprises controlling the inclination of the vehicle 1 in a longitudinal direction of thevehicle 1 and in a lateral direction of the vehicle 1. According to an aspect, controllings103, s104 the vehicle 1, comprises controlling an individually controllable wheel sus-pension 20 of at least one wheel 4, 6. According to an aspect, controlling s103, s104the vehicle 1, comprises controlling an individually controllable wheel suspension 20of at least one wheel 4, 6, so that the floor surface 14 of the vehicle 1 coincide with aplatform surface 9 in a common plane. According to an aspect, determining s101 aplatform height comprises determining the platform height by means of the least onesensor device 2. According to an aspect, controlling s104 the vehicle 1, so that thefloor surface 14 of the vehicle 1 has an inclination corresponding to the inclination ofthe platform 8, comprises determining the inclination of the floor surface 14 by meansof a level sensor 22 and determining the inclination of the platform 8 by means of theat least one sensor device 2. According to an aspect, the method comprises the fur-ther step of determining s105 the distance between the vehicle 1 and the platform 8by means of the at least one sensor device 2. According to an aspect, the methodcomprises the further step of determining s106 the shape of the road surface 16 bymeans of the at least one sensor device 2. According to an aspect, the method com-prises the further step of determining s107 any obstacles 18 above or beside theroad surface 16 in front of the platform 8 by means of the at least one sensor device2. According to an aspect, the method comprises the further step of receiving s108information about the platform height and the inclination of the platform 8 from an-other vehicle 21.

Fig. 5b illustrates a flow chart for a method, performed by a control device 100, forcontrolling a vehicle position in relation to a platform 8. The method thus relates tothe controlling of the vehicle position in relation to a platform 8 of the vehicle 1 andthe modularised vehicle 1 disclosed in figures 1a - 4. The method comprising: deter-mining s101 a platform height above a road surface 16 at the platform 8; determining 33 s102 an inclination of the platform 8; controlling the vehicle 1, so that a floor surface14 of the vehicle 1 has a level corresponding to the platform height; controlling s103the vehicle 1, so that the floor surface 14 of the vehicle 1 has an inclination corre-sponding to the inclination of the platform 8; controlling s104 the inclination of the ve-hicle 1 in a longitudinal direction of the vehicle 1 and in a lateral direction of the vehi-cle 1; controlling an individually controllable wheel suspension 20 of at least onewheel 4, 6; controlling an individually controllable wheel suspension 20 of at leastone wheel 4, 6, so that the floor surface 14 of the vehicle 1 coincide with a platformsurface 9 in a common plane; determining the platform height by means of the leastone sensor device 2; determining the inclination of the floor surface 14 by means of alevel sensor 22 and determining the inclination of the platform 8 by means of the atleast one sensor device 2; determining s105 the distance between the vehicle 1 andthe platform 8 by means of the at least one sensor device 2; determining s106 theshape of the road surface 16 by means of the at least one sensor device 2; determin-ing s107 any obstacles 18 above or beside the road surface 16 in front of the plat-form 8 by means of the at least one sensor device 2; and receiving s108 informationabout the platform height and the inclination of the platform 8 from another vehicle21.

Fig. 6 is a diagram of a version of a device 500. The control device 100 of the vehicle1 may in a version comprise the device 500. The device 500 comprises a non-volatilememory 520, a data processing unit 510 and a read/write memory 550. The non-vola-tile memory 520 has a first memory element 530 in which a computer programme, e.g.an operating system, is stored for controlling the function of the device 500. The device500 further comprises a bus controller, a serial communication port, l/O means, an A/Dconverter, a time and date input and transfer unit, an event counter and an interruptioncontroller (not depicted). The non-volatile memory 520 has also a second memory el-ement 540.

There is provided a computer programme P which comprises routines for performingthe safety method. The programme P may be stored in an executable form or in a compressed form in a memory 560 and/or in a read/write memory 550. 34 Where the data processing unit 510 is described as performing a certain function, itmeans that the data processing unit 510 effects a certain part of the programme storedin the memory 560 or a certain part of the programme stored in the read/write memory550.

The data processing device 510 can communicate with a data port 599 via a data bus515. The non-volatile memory 520 is intended for communication with the data pro-cessing unit 510 via a data bus 512. The separate memory 560 is intended to com-municate with the data processing unit 510 via a data bus 511. The read/write memory 550 is adapted to communicating with the data processing unit 510 via a data bus 542.

When data are received on the data port 599, they are stored temporarily in the secondmemory element 540. When input data received have been temporarily stored, the data processing unit 510 is prepared to effect code execution as described above.

Parts of the methods herein described may be effected by the device 500 by means ofthe data processing unit 510 which runs the programme stored in the memory 560 orthe read/write memory 550. When the device 500 runs the programme, methods herein described are executed.

The foregoing description of the embodiments has been furnished for i||ustrative anddescriptive purposes. lt is not intended to be exhaustive, or to limit the embodimentsto the variants described. l\/lany modifications and variations will obviously be apparentto one ski||ed in the art. The embodiments have been chosen and described in orderto best expiicate principles and practical applications, and to thereby enable one ski||edin the art to understand the embodiments in terms of its various embodiments and withthe various modifications that are applicable to its intended use. The components andfeatures specified above may, within the framework of the embodiments, be combined between different embodiments specified.

Claims

1. A method, performed by a control device (100), for controlling a vehicle (1) positionin relation to a platform (8), the vehicle (1) comprising: at least one sensor device (2); at least two front wheels (4); at least two rear wheels (6); and the control device (100),the method comprising: determining (s101) a platform height above a road surface (16) at the platform(8); determining (s102) an inclination of the platform (8); controlling (s103) the vehicle (1 ), so that a floor surface (14) of the vehicle (1)has a level corresponding to the platform height; and controlling (s104) the vehicle (1 ), so that the floor surface (14) of the vehicle(1) has an inclination corresponding to the inclination of the platform (8).

2. The method according to claim 1, wherein controlling (s103~§1;) the vehicle (1), sothat the floor surface (14) of the vehicle (1) has an inclination corresponding to the in-clination of the platform (8), comprises controlling the inclination of the vehicle (1) in alongitudinal direction of the vehicle (1) and in a lateral direction of the vehicle (1 ).

3. The method according to any one of claims 1 and 2, wherein controlling (s103;s104) the vehicle (1 ), comprises controlling an individually controllable wheel suspen-sion (20) of at least one wheel (4, 6).

4. The method according to claim 3, wherein controlling (s103; s104) the vehicle (1 ),comprises controlling an individually controllable wheel suspension (20) of at leastone wheel (4, 6), so that the floor surface (14) of the vehicle (1) coincide with a plat- form surface (9) in a common plane.

5. The method according to any one of the preceding claims, wherein determining(s101; 102) a platform height comprises determining the platform height by means of the least one sensor device (2). 36

6. The method according to claim 1 or 2, wherein controlling (s10êgtg) the vehicle (1),so that the floor surface (14) of the vehicle (1) has an inclination corresponding to theinclination of the platform (8), comprises determining the inclination of the floor sur-face (14) by means of a level sensor (22) and determining the inclination of the plat-form (8) by means of the at least one sensor device (2).

7. The method according to any one of the preceding claims, wherein the methodcomprises the further step of:determining (s105) the distance between the vehicle (1) and the platform (8) by means of the at least one sensor device (2).

8. The method according to any one of the preceding claims, wherein the methodcomprises the further step of: determining (s106) the shape of the road surface (16) by means of the at leastone sensor device (2).

9. The method according to any one of the preceding claims, wherein the methodcomprises the further step of: determining (s107) any obstacles (18) above or beside the road surface (16)in front of the platform (8) by means of the at least one sensor device (2).

10. The method according to any one of the preceding claims, wherein the methodcomprises the further step of: receiving (s108) information about the platform height and the inclination ofthe platform (8) from another vehicle (21).

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

12. A computer-readable medium comprising instructions, which when executed by acomputer (100; 500), cause the computer (100; 500) to carry out the method accord-ing to any one of claims 1-10. 37

13. A control device (100) for controlling a vehicle position in relation to a platform(8),the vehicle (1) comprising:at least one sensor device (2);at least two front wheels (4);at least two rear wheels (6); andthe control device (100),the control device (100) being configured to:determine a platform height above a road surface (16) at the platform (8);determine an inclination of the platform (8);control the vehicle (1 ), so that a floor surface (14) of the vehicle (1) has a levelcorresponding to the platform height; andcontrol the vehicle (1 ), so that the floor surface (14) of the vehicle (1) has an inclination corresponding to the inclination of the platform (8).

14. The control device (100) according to claim 13, wherein the control device (100)is configured to control the vehicle (1 ), so that the floor surface (14) of the vehicle (1)has an inclination corresponding to the inclination of the platform (8), comprising con-trolling the inclination of the vehicle (1) in a longitudinal direction of the vehicle (1)and in a lateral direction of the vehicle (1).

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

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

17. The control device (100) according to any one of claims 13 - 16, wherein the con-trol device (100) is configured to determine a platform height, comprising determiningthe platform height by means of the least one sensor device (2). 38

18. The control device (100) according to any one of claims 13 - 17, wherein the con-trol device (100) is configured to control the vehicle (1 ), so that the floor surface (14)of the vehicle (1) has an inclination corresponding to the inclination of the platform(8), comprising determine the inclination of the floor surface (14) by means of a levelsensor (22) and determine the inclination of the platform (8) by means of the at least one sensor device (2).

19. The control device (100) according to any one of the claims 13 - 18, wherein thecontrol device (100) further is configured to: determine the distance between the vehicle (1) and the platform (8) by meansof the at least one sensor device (2).

20. The control device (100) according to any one of the claims 13 - 19, wherein thecontrol device (100) further is configured to: determine the shape of the road surface (16) by means of the at least onesensor device (2).

21. The control device (100) according to any one of the claims 13 - 20, wherein thecontrol device (100) further is configured to: determine any obstacles (18) above or beside the road surface (16) in front ofthe platform (8) by means of the at least one sensor device (2).

22. The control device (100) according to any one of claims 13 - 21, wherein the con-trol device (100) further is configured to: receive information about the platform height and the inclination of the plat-form (8) from another vehicle (21).

23. A vehicle (1), comprising: at least one sensor device (2); at least two front wheels (4); and at least two rear wheels (6);wherein the vehicle (1) comprising a control device (100) according to any one of theclaims 13 - 22. 39

24. The vehicle (1) according to claim 23, wherein the vehicle (1) is a modular vehicle(1) comprising: at least one drive module (30); and at least one functional module (40),wherein the at least one drive module (30) comprises the at least two front wheels (4)or the at least two rear wheels (6), and is configured to be autonomously operatedand drive the assembled vehicle (1 ).