SE543147C2 - Method and control device for configuring driving behavior of a vehicle based on a load of the vehicle - Google Patents

Abstract

The present disclosure relates to techniques in the context of vehicles, and to a method performed by a control device (100, 200, 300) for configuring driving behavior of a vehicle (1) based on a load of the vehicle (1). The vehicle (1) comprises at least one functional module (40) arranged for carrying a load of goods and/or passengers, and at least a first drive module (30). The at least one functional module (40) is releasably connected to the first drive module (30), and the first drive module (30) is configured to be autonomously and/or remotely operated; wherein the method comprises: receiving (S1) monitoring data indicative of a type and/or status of load in the at least one functional module (40); determining (S2) a desired driving behavior of the vehicle (1) based on the type and/or status of the load, and configuring (S3) the vehicle (1) to obtain the desired driving behavior. The disclosure also relates to a corresponding control device (100, 200, 300), to a vehicle (1) comprising the control device (200), to a computer program and a computer-readable medium.

Description

Method and control device for configuring driving behavior of a vehicle based on a load of the vehicle Technical field The present disclosure relates to techniques in the context of vehicles, and to amethod for configuring driving behavior of a vehicle based on a load of the vehicle,where the vehicle is a modular vehicle and comprises at least one functional moduleand at least a first drive module. The disclosure also relates to a correspondingcontrol device, to a vehicle comprising the control device, to a computer programand to a computer-readable medium.

BackgroundVehicies of today are fypicaiiy rrianufactured for a specific purpose, eg. a bus is rnanufaotured for transporting people and a truck is inanufactured for transportinggoods. Such vehicies are ccrrimoniy manufactured and ccrripieteiy assernbied in afactory, or they may be partiy assernbied in a factory and cornpieted at a bodymanufacturer. Once the vehicie is assernbied, the vehicie rriay be used for thespecific purpose. Thus, a bus rnay be used as a bus and a garbage truck may beused as a garbage truck. Different vehicies are thus needed for different purposes,which may require a iarge fieet of vehicies for a hauier, and thereby become very costiy.

There are, for exampte, itnotvn soiutions where a truck can be rebuiit by changinga concrete mixer to a toading ptatform. This increases the fiexibiiity and two differentfunctions can be achieved by rneans ot one singte vehicie. Aiso, document US-âuttš/'uiâïåšàšâ Ai discioses a rnoduiar eiectric vetiicie using interchangeabievehicie assembiy rnoduies. The user can thereby disassernbie and reassentbie thevehicie for use in different appiications. i-ioweven in the future, further developmenttowards even more flexible vehicle solutions might be needed to meet customers”different vehicle needs in a cost-efficient way. Especially, new solutions will bedemanded to ensure safety for modular vehicles that operate autonomously and/orthat are remotely operated.

Summary 2 lt is an object of the disclosure to provide a solution for increasing safety duringtravel for a load carried by a modular autonomously or remotely operated vehicle.

This object and others are at least partly achieved by a method, a control deviceand a vehicle according to the independent claims, and by the embodiments according to the dependent claims.

According to a first aspect, the disclosure discloses a method performed by acontrol device for configuring driving behavior of a vehicle based on a load of thevehicle, wherein the vehicle comprises: at least one functional module arranged forcarrying a load of goods and/or passengers, and at least a first drive module. Theat least one functional module is releasably connected to the first drive module, andthe first drive module is configured to be autonomously and/or remotely operated.The method comprises receiving monitoring data indicative of a type and/or statusof load in the at least one functional module, determining a desired driving behaviorof the vehicle based on the type and/or status of the load and configuring the vehicleto obtain the desired driving behavior. Thereby, an adjustable and flexible way ofoperating the vehicle that increases safety of the load is provided.

According to some embodiments, the determining a desired driving behaviorcomprises determining the type of load based on the monitoring data andpredetermined criteria for different types of load. Thus, different types of loadsmay be determined based on the monitoring data, and the vehicle can selectivelybe configured to get a desired driving behavior for the particular type of load.

According to some embodiments, the type of load is determined from a selectionof: sensitive load, highly sensitive load and normal load. Thus, the load may becategorized into different types of loads. The type determines which driving behavior the vehicle should have, to not damage the load.

According to some embodiments, the receiving comprises continually receiving monitoring data indicative of the type and status of the load in the at least one 3 functional module, and the determining comprises determining the desired drivingbehavior of the vehicle, based upon a change of status of the load determinedbased upon a result of a comparison of the continually obtained monitoring data.Thus, changes to the load from one time to another, such as sudden changes tothe load, may be determined.

According to some embodiments, the configuring of the vehicle comprises one orseveral of: configuring speed of the vehicle, configuring a starting procedure of thevehicle, and configuring a braking procedure of the vehicle, configuring a turningprocedure of the vehicle. Thus, the behavior of the vehicle may be configured in aplurality of ways, to obtain a desired driving behavior of the vehicle.

According to some embodiments, the configuring of the vehicle comprisesconfiguring the vehicle to be in a driving mode, wherein the driving mode isselected from: sensitive driving mode where the vehicle is configured to obtain adriving behavior adapted for transporting a sensitive load; highly sensitive drivingmode where the vehicle is configured to obtain a driving behavior adapted fortransporting a highly sensitive load, and normal driving mode where the vehicle isnot re-configured. By setting or configuring the vehicle to be in such a mode, aplurality of functions of the vehicle may be configured simultaneously.

According to some embodiments, the monitored data is collected by means of amonitoring arrangement including one or several of a camera, a radar, pressuresensors and at least one heat sensor. Thus, monitoring data from one or aplurality of sensors may be collected and used in the method.

According to a second aspect, the disclosure relates to a control device forconfiguring driving behavior of a vehicle based on the load of the vehicle. Thevehicle comprises: at least one functional module arranged for carrying a load ofgoods and/or passengers, wherein the at least one functional module comprises amonitoring arrangement monitoring the load. The monitoring arrangement is configured for generating monitoring data indicative of the type and/or status of 4 load in the at least one functional module. The functional module is releasablyconnected to a first drive module, and the first drive module is configured to beautonomously and/or remotely operated. The control device is configured to:receive, from the monitoring arrangement, monitoring data indicative of the typeand/or status of load in the at least one functional module; determine a desireddriving behavior based on the type and/or status of the load, and to configure thevehicle to obtain the desired driving behavior. ln some embodiments, the control device is arranged in the first drive module. lnsome embodiments, the control device is arranged in a second drive module thatis releasably connected to the functional module. ln some embodiments, the controldevice is arranged in the off-board system. ln still some embodiments, the controldevice is distributed over several of the first drive module, the second drive moduleand the off-board system.

According to a third aspect, the disclosure relates to a vehicle comprising the controldevice according to the second aspect. The vehicle comprises a first drive module,at least one functional module arranged for carrying a load of goods and/orpassengers, wherein the functional module is releasably connected to the first drivemodule; and a monitoring arrangement arranged to monitor the load of the at least one functional module.

According to a fourth aspect, the disclosure relates to a computer programcomprising instructions which, when the program is executed by a computer, causethe computer to carry out the method according to the first aspect.

According to a fifth aspect, the disclosure relates to a computer-readable mediumcomprising instructions which, when executed by a computer, cause the computer to carry out the method according to the first aspect.

Brief description of the drawindsFig. 1 illustrates a set of modules, a vehicle assembled from the set of modules,and an offboard system.

Fig. 2 schematically illustrates a drive module in further detail in a side view.

Fig. 3 illustrates a method for configuring driving behavior of the vehicle dependingon the load of the vehicle according to the first aspect.

Figs. 4a-4b schematically illustrate a vehicle where a status of the load has beenchanged, according to one example.

Fig. 5 illustrates an example implementation of a control device according to the second aspect.

Detailed descriptionOne way of meeting customers” different vehicle needs in a flexible and cost- efficient way is to use a modularised vehicle assembled from a set of modules.Such a modularised vehicle, herein referred to as a modular vehicle, is typicallyassembled at the customer”s premises and the customer may thus buy a set ofmodules from a manufacturer. The modular vehicle can easily be assembled and re-assembled e.g. to perform a certain mission.

A rnodoiar' vehicle is e.g. asseiriioied by at ieast one functional module forperforming a certain function (such as carrying a ioad), and one or more driverrioduies used for driving the vehicle. The drive modules are configured to beautonomously and/or remotely operated. The load may for example be humans,animals or goods. A modular vehicle may be used to perform a diversity ofassignments, and thus transport different kinds of loads at different occasions. Avehicle that is always being operated in the same or similar way, irrespective of theload, may incur problems and damages to the load if not certain care is taken. Whenthe modular vehicle is driving autonomously or is being remotely operated, there isno driver in the vehicle that immediately can see and react to passenger behaviouror see the road ahead and react to hindrances and/or disturbances that mayinfluence the operation of the vehicle depending on the type of load. For example,an elderly person may fall, or the goods may change position, e.g. fall out of itsplace. Such situations may for example occur if a curve is taken with a too high speed. 6 A method is herein proposed, for configuring driving behavior of the vehicle,based on the load of the vehicle. More specifically, the load of the vehicle ismonitored, and a desired driving behavior is determined, based on the type ofload and/or the status of the load. The vehicle is then configured to obtain thedesired driving behavior while performing the assignment. With the proposedmethod, an adaptable and flexible operation of the vehicle is achieved, that increases safety for the load.

For better understanding of the proposed technique, the concept of assembling avehicle from modules will now be explains with reference to the example embodiment of Fig. 1.

Fig. t tiiostrates an exarnoie set of moduies 20 for assernbiing a vehicie t. Anoftboard system, herein referred to as a first oontroi device 100, and an exarnoie ofan assernoied vehicie i are aiso iiiostrated. The set of rnodoies 20 comprises apiuraiity of drive rnoduies 30 and a piuraiity ot funotionai moduies 40.

The drive modules” 30 main function is typically to drive (e.g. propel, steer andbrake) a vehicle 1. The drive modules 30 comprise a pair of wheels 37 and areconfigured to be autonomously operated. The functional modules are configured toperform a certain function such as to carry a load, e.g. goods or people. Eachmodule 30, 40 in the set of modules 20 comprises at least one interface 50releasably connectable to a corresponding interface 50 of another module 30, 40.The drive modoies 30 may he remoteiy oontroiied from a oontroi deviee t00 in an off-board systern.

By combining drive rnodoies 30 and fiinetionai rrioduies 40, different types ofvehicies i oan be aohieved. Some vehioies t require two or more drive moduies 30and some vehicies 'i oniy require one drive modoie 30, depending on the struoturaiconfiguration of the functionai modoie 40. Each drive moduie 30 comprises a oontroidevice, herein referred to as a second oontroi device 200, and may thuscommunicate tfvith a ooritroi center or off~ooard system, i.e. the first ooritroi devioe100. Since the drive modules 30 may be configured to be operated as 7 independently driven units by means of the second control devices 200, the drivemodules 30 may be connected to, or disconnected from, the functional modu|e(s) 40 without manual work.

The orincioie of assernbiing a vehicie t trom moduies St), 4t) vviii now be described.An operator may receive a mission trom a ciient to transport goods trom oneiocation to another. "the ooerator enters the information about the mission into thetirst controi device tut) via a user intertaoe, such as a touch screen or sirriiiar. it isbointed out that this is rriereiy an exarrioie, and the received mission mayautomaticaiiy be transiated and/or inbutted to the tirst controi device ttit). "the tirstcontroi device tOt) then deterrnines which tunction to be oertorrried and thus whichtyoe ot vehicie t is required to comoiete the mission. in this exarnpie, the requiredvehicie t may be a truck. The tirst controi device tt)t) seiects which rrioduies Bt), 40to use tor the required truck. The type ot vehicie t and the rrioduies (St), 40 reouiredto combiete the mission may tor exambie be setected based on intormation aboutthe goods, the distance to travet and/or the geograohicai iocation. The tirst controidevice tot) then suitabiy oonverts the mission into a comrnand tor one or twosetected drive modutes 3G to ohysicaity and eiectricaiiy connect with the setectedtunctionai moduie rtt). the second controi devices 200 ot the drive rnoduies St) eachreceives the command and converts the comrriand to controi signais tor therespective drive moduie 30. "the drive rnoduies St) are thereby controiied toohysicaiiy and eiectricatiy connect with the tunctionai rnoduie et). Gontroiiing thedrive moduie Bt) to connect with a tunctionai modute et) may comprise controitingthe drive moduie íšt) to identity the oosition ot the setected tunctionai moduie et) andmove to that position. The position ot the setected tunctionai moduie et) may bedetermined based on intorrnation received in the command to connect the drivemoduie St) with the tunctionat moduie et). Aiternativety, the corrimand to connectthe drive rnoduie St) and the tunctionai moduie 4G is transrnitted to both the drivemoduie 3G and the tunctionai moduie et), whereby the tunctionai moduie 40prepares tor the connection and starts transmitting a signai. "the drive rnoduie St)may then determine the position ot the tunctionai moduie based on this transmittedsignai. The drive moduies (St) are thus autonomousiy operated to tind the setected 8 tunctionat rnodeie 40 and connect vvith that functionai rrieduie 40. At ieast onesensor device et) arranged at the drive rnoduies 30 and/or the tenctionai rneduie 40rnay he centigered to sense vvhen the physicat and/er eiectricai connection hasbeen eertorrned. The at ieast ene senser device 60 rnay send a signai to the secondcentret device 200 indicating that the connectiontjs) have eeen eertornted. Basedon the signai frern the at teast ene sensor device 60, the second centret device 200may send a verification signai to the first centret device t00 ter verification ot thecennectients). The first centret device t00 rnay then generate a unique vehioieidentity ter the assenribied vehicie t. A vehicie t is thus assernoied and the vehictet is ready te perform the mission.

As illustrated in the assembled vehicle 1 in Fig. 1, the functional module 40comprises a monitoring arrangement 400. The monitoring arrangement 400 isarranged in the at least one functional module 40. ln some embodiments, themonitoring arrangement 400 includes one or several of: at least one camera 410,at least one radar 420, pressure sensors 430 and at least one heat sensor 440 (Fig.1). The monitoring arrangement 400 is arranged to collect information of the interiorof the functional module 40, and thus of the load in the at least one functionalmodule 40. l\/lonitoring data from the at least one camera 410 for examplecomprises information from the at least one camera 410, in particular informationof the load inside the at least one functional module that the at least one camera410 has collected. The at least one camera 410 typically comprises one or severalimage sensors that senses or collects information that may be used to make imagesof the load. The at least one camera 410 may be an optical or an infrared camera.The at least one camera 410 may collect information continually or continuously, ore.g. start collecting data in response to an alert or notice from a movement detectorin the functional module 40. l\/lonitoring data from the at least one radar 420 includesinformation from the radar, in particular information of the load inside the at leastone functional module 40 that the at least one radar has collected. The at least oneradar uses radio waves to determine information such as range, angle or movementof the load. l\/lonitoring data from the pressure sensors 430 includes information ofthe load inside the at least one functional module 40 that the pressure sensors have 9 collected. For example, one pressure sensor 430 is arranged in a respective seat480 of the at least one functional module 40. ln Fig. 1 only one seat 480 isexemplified, but it should be understood that the functional module 40 maycomprise a plurality of seats and that the individual seats typically compriseindividual pressure sensors 430. The pressure sensor sense whether a person issitting on the seat or not. The floor of the functional module 40 may also be providedwith pressure sensors, to sense whether a load is present or not. A distribution mapof the load may then be determined, and thus also changes to the distribution. Theat least one temperature sensor measures the temperature of the air inside the atleast one functional module 40. l\/lonitoring data from the at least one temperaturesensor thus includes information of the temperature of the air inside the functionalmodule 40. The temperature in the at least one functional module 40 may indicatethe presence of passengers. The monitoring arrangement 400 may also includeother kinds of sensors, such as laser sensors or ultrasound sensors, that arearranged to monitor the load of the functional module 40 and to collect monitoringdata therefrom. Such sensors may indicate the presence or absence of goods andchange of position of the goods. The monitoring data may include information froma plurality of different sensors in the monitoring arrangement 400, where thesensors are of the same type and/or of different type. Thereby, a plurality of differentkinds of monitoring data may be used in the method to determine a type and/orstatus of the load, that is used for determining a desired driving behavior and toconfigure the vehicle 1 to obtain the desired driving behavior. The monitoringarrangement 400 may include more kinds of sensors, such as weight sensors forsensing the weight of the load. Thereby, the distribution of the load, and changesto the distribution of the load, may be determined in a still other way. The monitoringarrangement 400 is for example connected by wire or wirelessly with one or severalof the control devices 100, 200, 300, in order to transfer the monitoring data to theone or several control devices 100, 200, 300. The monitoring data may be sentcontinuously or continually from the one or several sensors in the monitoringarrangement 400 to the one or several of the control devices 100, 200, 300. Themonitoring data may alternatively be sent only when a change of the sensed property is sensed. lO The the functional module 40 may also include a suspension system (not shown).The suspension system may be configured, e.g. by the control device 300, to havedifferent suspension actions.

Fig. 2 schematically illustrates a drive module 30 in further detail in a side view. Thedrive module 30 comprises at least one (only one illustrated) propulsion system 91,an energy storage device 92, an interface 50 and a control device 200. The drivemodule 30 may also comprise a suspension system (not shown), that is arrangedto suspend the wheels to the drive module 30. The suspension system may be configured, e.g. by the control device 200, to have different suspension actions.

The propulsion system(s) 91 comprises for example an electric machine(s)connected to the wheels 37. ln some embodiments, each wheel 37 is individuallydriven by its own electric machine. The electric machine(s) may also work asgenerators and generate electric energy when braking the wheels 37. Thus, thepropulsion system is typically the primary braking system of the vehicle 1. i-iowever,because the braking functionality systern may in some situations be irisuffioierit orfaii for some reason, a secondary braking systern ia required. This secondarybraking systern is nerein referred to as the braking system. The braking systerncomprises for exarnpie standard disc: brakee and eiectromechariicai aotuatore thatrequire reiiabie power suppiy.

The at least one energy storage device 92 is configured for providing the propulsionsystem 91 with energy. The energy storage device 92 is for example an electric battery that may be recharged with electric energy.

The control device 200 is configured to operate the drive module 30 as anindependently driven unit. The drive module 30 may transport itself without anyexternally driven unit such as a towing vehicle. The drive module 30 may transportitself by means of the at least one propulsion system 91. The drive module 30 maybe configured to be autonomously operated. Thus, the control device 200 may beconfigured to control the operation of the drive module 30. The control device 200 may be configured to transmit control signals to the various systems and ll components of the drive module 30 for controlling for example the steering and thepropulsion of the drive module 30. The control device 200 may be configured tooperate the drive module 30 autonomously based on received commands. Thecontrol device 200 may thus be configured to receive commands from a remotelylocated off-board system i.e. the first control device 100, and to convert thecommands into control signals for controlling the various systems and componentsof the drive module 30. The control device 200 may also be configured to receivedata about the surroundings from at least one sensor (not shown) and based onthis data control the drive module 30. The control device 200 will be described in further detail in connection with Fig. 5.

The drive module 30 may be configured to be releasably connected to either asecond drive module 30 and/or a functional module 40 for forming an assembled vehicle 1.

The at least one interface 50 of the drive module 30 is configured to physicallyconnect the drive module 30 with a second drive module 30 and/or a functionalmodule 40. The interface(s) 50 of the drive module 30 may be releasablyconnectable to a corresponding interface 50 of a second drive module 30 and/or a functional module 40. in Fig. f the drive rnodtiiee 30 are iiioetrated with oniy one interface 50, on one sideof the drive rnoduie 30. i-iotvever, it is to be iinderstood that each drive rnoduie 30rnay oornoriee a pitiraiity of interfaces 50 for reieaeabie connection with otherrnodtiiee 40. The interface(s) 50 of the drive rnodtiies 30 rney be arranged ondifferent sides of the drive moduie 30 and thus eneoie connection with otherntodiiies 30, 40 on muttipte eides of the drive rnoduie 30. The interfaces 50 on thedrive inodoies 30 and the fonotionei rnoduies 40 reepeotiveiy, are soitabiy arranged on corresponding positions to enaioie oonneotion between the rnodtiies 30, 40. ln some embodiments, the at least two interfaces 50 comprises electric interfaces,arranged for transferring electric power and/or transmitting electric signals betweenthe drive module 30 and another module e.g. to a functional module 40 to which 12 the drive module is connected. The electrical interface 50 may be a wired interfaceor a wireless interface such as a conductive interface. ln other words, by connectingthe drive module 30 and the functional module 40 electrically, the modules 30, 40may transfer power between each other and share information. The drive module30 may, for example, control parts of the functional module 40, such as openingand closing of doors, heating and cooling. Also, one drive module 40 of the modularvehicle 1 may transmit electric power and/or electric signals via a functional module30 and further to another drive module of the same vehicle 1, as illustrated by theconnection 51 in Fig. 1. Thus, the connection 51 comprises e.g. at least one of acable, bus or electrical line. ln some embodiments, the second control device 200 of the drive module 30 isconfigured to communicate with another drive module 30 being a part of the same assembled vehicle 1, as illustrated by dashed lines in Fig. 1. ln some embodiments, the second control device 200 of the drive module 30 isconfigured to communicate with a further control device e.g. a control device 300of a functional module 40. A functional module 40 may thus comprise a controldevice, which is referred to as a third control device 300. The communicationbetween the modules 30, 40 may be wireless such as conductively, or by wire. Thewireless communication may be directly between the modules or via the off-boardsystem (i.e. first control device 100). The modules 30, 40 of an assembled vehiclemay communicate with each other and/or the first control device via 4G, 5G, V2V (Vehicle to Vehicle), Wi-Fi or any other wireless communication means. lf the assembled vehicle 1 comprises two drive modules, the first control device 100may appoint one drive module to be master drive module and the other to be slave drive module.

The proposed technique will now be explained with reference to the flow chart ofFig. 3. As described above, this disclosure proposes a method for configuringdriving behavior of a vehicle based on the load of the vehicle, for example themodular vehicle 1 illustrated in Figs. 1 and 2. As described above, the vehicle 1 13 comprises at least one functional module 40 arranged for carrying a load of goodsand/or passengers. The vehicle 1 also comprises at least a first drive module 30,wherein the at least one functional module 40 is releasably connected to the firstdrive module 30. The first drive module 30 is configured to be autonomously orremotely operated. The method may be implemented as a computer programcomprising instructions which, when the program is executed by a computer (e.g.a processor in a control device 100, 200, 300 (Fig. 5)), causes the computer to carryout the method. According to some embodiments the computer program is storedin a computer-readable medium (e.g. a memory or a compact disc) that comprisesinstructions which, when executed by a computer, cause the computer to carry outthe method. The proposed method is eg. performed ih a second control device 200of a drive module 30 assigned to be a master drive modtiie. i-iotvever, it must beappreciated that the method may aitemativeiy, at ieast partiy, he impiemerited ihthe iiirst coritroi devioe 'i00 or ih any orte of the oohtitoi devices 200, 300 of themodiiies of the vehieie, or the impiemeritatioh may be distributed among some oratt of the cohtroi devices i00, 200, 300.

With reference to the flowchart in Fig. 3, the method comprises receiving S1monitoring data indicative a type and/or status of load in the at least one functionalmodule 40. The load is thus a load in the at least one functional module 40 andconstitute the load of the vehicle 1. ln some embodiments, if the vehicle 1 comprisesseveral functional modules 40, the load of the vehicle 1 comprises some or all ofthe individual loads in the functional modules 40. According to some embodiments,the monitoring data is collected by means of the monitoring arrangement 400 (seeFig. 1). The monitoring data is thereafter sent to, or collected by, the control device100, 200, 300. ln other words, the monitoring data is received by the control device100, 200, 300. As previously described, the monitoring arrangement 400 isarranged to collect information of the interior of the functional module 40, and thusof the load in the at least one functional module 40. The monitoring data may includeinformation from only one sensor in the monitoring arrangement 400. Alternatively,the monitoring data may include information from a plurality of different sensors in the monitoring arrangement 400, where the sensors are of the same type and/or of 14 different type. Thereby, a plurality of different kinds of monitoring data may be usedin the method to determine a type and/or status of the load, that is used fordetermining a desired driving behavior and to configure the vehicle 1 to obtain thedesired driving behavior. For example, the monitoring data may compriseinformation from at least one camera 410, from at least one radar 420, from at leastone pressure sensor 430, from at least one laser, from at least one ultrasound sensor and/or from at least one temperature sensor.

The method also comprises determining S2 a desired driving behavior of the vehicle1 based on the type and/or status of the load. A type of load is for example'“passengers” or “goods”. The monitoring data may indicate the type of load indifferent ways. For example, if the monitoring data includes information from apressure sensor 430 monitoring pressure changes to a chair, and that it senses thata passenger is sitting in a chair, the monitoring data then includes such senseddata. lt can then be determined that the type of load is “passengers”. ln another example, if the monitoring data includes information from a pressuresensor that monitors pressure changes to a floor, and if the pressure sensor sensesthat a load is present, the monitoring data will include such sensed data. lt can thenbe determined that the type of load is “goods”.

Different objects may also be detected by means of an object recognition algorithmbased on monitoring data from the at least one camera. Such object recognitionalgorithms are generally known to the skilled person and will not be furtherexemplified here. Detected objects in the images may be compared and/or matchedwith characteristics identifying different types of objects, such as characteristics for'“passengers” or “goods”.

The type '“passengers” may be divided into different types of passengers, such as:“sensitive passengers” including e.g. children, “highly sensitive passengers”including elderly passengers and handicapped passengers, and “regularpassengers” that are not elderly, children or handicapped. To identify such different types of passengers, the passengers may be identified as objects in images and compared or matched with Characteristics identifying different types of passenger, such as characteristics for children, elderly passengers or handicappedpassengers, and the rest that may be regular passengers, to determine the type ofthe load. The type “goods” may be divided into different types of goods, such as:“sensitive goods” including e.g. easily broken goods such as ceramics, very heavygoods, very large goods or other kind of sensitive goods, “highly sensitive goods”including very sensitive goods such as glass, and “regular goods” that are sensitiveor very heavy goods. Detected objects in the images may also be compared ormatched with characteristics identifying different statuses of the objects, such ascharacteristics for “standing passengers”, “sitting passengers”, “secured goods” or “unsecured goods”, to determine the status of the load.

Furthermore, the status of the load may indicate how the load is affected by thecurrent driving behavior. lf the load is affected in a negative way, the load maychange its position. ln other words, in some embodiments, the determining S2 adesired driving behavior comprises determining the type and/or status of load basedon the monitoring data and predetermined criteria for different types of load. ln otherwords, in some embodiments the predetermined criteria comprise that themonitoring data matches characteristics identifying a type of load (e.g. a type ofobject), whereby it can be determined what type the load is. Thus, every individualtype of load can be identified by predetermined characteristics for that type of load(e.g. object).

A desired driving behavior may be a driving behavior that has been determinedbeforehand as being appropriate for the type and/or status of the load. Alternatively,the desired driving behavior may be dynamic, e.g. it may be adjusted in responseto a present status of the load. For example, a desired driving behavior may beobtained by incrementally configuring or adjusting the operation of the vehicle, whilemonitoring a status of the load. lf the status of the load is not satisfying, theoperation of the vehicle is further adjusted. The desired driving behavior may forexample include that the vehicle has a speed below or equal to a predetermined maximum speed, that it has a starting procedure and/or braking procedure that is 16 configured to be suitable for the present type and/or status of the load, and/or thatit has a turning procedure that is configured to be suitable for the present typeand/or status of the load. For example, the desired driving behavior of the vehicle1 may be determined to be a driving behavior configured for transportingpassengers or goods, a sensitive load, a highly sensitive load, or for transporting anormal load. For example, passengers of the type “sensitive passengers” may becategorized as sensitive load, passengers of the type “highly sensitive passengers”and may be categorized as highly sensitive load etc. Goods of the type “sensitivegoods” may be categorized as sensitive load, goods of the type “highly sensitivegoods” and may be categorized as highly sensitive load etc. Correspondingly,“standing passengers” may be categorized as sensitive load or highly sensitiveload, and “unsecured goods” may be categorized as sensitive load or highlysensitive load, etc. ln one example embodiment, if the type of load is simply“passengers”, the desired driving behavior may simply include to have a maximumspeed of 70 km/h. ln another example embodiment, if the type of load is simply“goods”, the desired driving behavior may simply include to have a maximum speedof 90 km/h.

The method also comprises configuring S3 the vehicle 1 to obtain the desireddriving behavior. The configuring may be automatically performed. For example,the control device 100, 200, 300 may, upon that a desired driving behavior has beendetermined, automatically send control signals or control data to one or severalfunctions or systems performing different function in the vehicle 1 , where the controlsignals or control data includes information to configure the one or several functionsto obtain the desired driving behavior of the vehicle 1. The functions may includethe braking system of one or several driving modules 30, the propulsion system(s)91 of the one or several drive modules 30 or the suspension system of one orseveral drive modules 30 and/or functional modules 40. Configuring S3 the vehicle1 may comprise one or several of: configuring speed of the vehicle 1, configuring astarting procedure of the vehicle 1, configuring a braking procedure of the vehicle1, and configuring a turning procedure of the vehicle 1. Configuring the vehicleherein refers to configuring the operation of the vehicle 1, i.e. the autonomous 17 operation or driving of the vehicle 1. Configuring speed of the vehicle 1 comprises,for example, configuring the speed of the vehicle 1 to a lower speed that the presentspeed, or configuring the maximum speed of the vehicle to a predetermined lowspeed, e.g. 20, 30, 40 or 50 km/h. Configuring speed of the vehicle 1 mayalternatively include to slow down the speed of the vehicle 1 in certain roadsegments, such as in turns. Hence, control signals may thus be sent to thepropulsion system 91 with information of the desired speed, whereby the propulsionsystem 91 controls the speed of the vehicle 1 accordingly.

A sudden and/or heavy acceleration may make the load fall. Configuring a startingprocedure of the vehicle 1 comprises, for example, during a starting procedure,starting the vehicle 1 with a lower acceleration than before, or starting the vehicle 1with a predetermined low acceleration, for example, the acceleration should notexceed 1 m/s2. ln some embodiments, the acceleration should not exceed 0,4 m/s2.The vehicle 1 may then be accelerated during a longer time, to reach a desired speed.

A sudden and/or heavy braking may make the load fall. Hence, configuring abraking procedure of the vehicle 1 comprises, for example braking the vehicle 1with a lower retardation than before or braking the vehicle 1 with a predeterminedlow retardation, for example, the retardation should not exceed 1 m/s2. ln someembodiments, the retardation should not exceed 0,6 m/s2. The vehicle 1 may thenbe slowed down during a longer time, to lower the speed or halt the vehicle as deswed.

A high speed of the vehicle 1 during a curve may make the load fall. Configuring aturning procedure of the vehicle 1 comprises, for example, during or before a turningprocedure, lowering the speed of the vehicle 1, e.g. to a predetermined maximumspeed. ln some embodiments, configuring the vehicle 1 includes to configuresuspension of the vehicle 1, thus to have an increased suspension action or alowered suspension action than the suspension gives at present. For example, ifthe vehicle 1 is driving along a bumpy road, the load may be affected e.g. fall because of the action of the bumps to the vehicle 1. By increasing the suspension 18 action, the vehicle 1 is cushioned from the road conditions and the load becomes less affected by the bumps.

To configure the vehicle 1 includes to configure functions in the first drive module30, and/or in the second drive module 30 and/or in the at least one functional module 40.

According to some embodiments, the configuring S3 the vehicle 1 comprisesconfiguring the vehicle 1 to be in driving mode, wherein the driving mode is selectedfrom: sensitive driving mode where the vehicle 1 is configured to obtain a drivingbehavior adapted for transporting a sensitive load; highly sensitive driving modewhere the vehicle 1 is configured to obtain a driving behavior adapted fortransporting a highly sensitive load, and normal driving mode where the vehicle 1is not re-configured. ln each individual mode, one or a plurality of operations orfunctions of the vehicle 1 may be automatically configured to be suitable for theparticular type and/or status of load. Hence, a driving mode being a sensitive drivingmode includes for example configuring the vehicle 1 to have a low speed, forexample 30-50 km/h, configuring the suspension in the vehicle 1 to have a highsuspension action, e.g. 70-80 °/> of maximum suspension action, and configuringstarting and braking procedure of the vehicle 1 to have a predetermined lowacceleration and a predetermined small braking force/torque. A driving mode beinga highly sensitive driving mode includes for example configuring the vehicle 1 tohave a very low speed, for example 10-20 km/h, configuring the suspension in thevehicle 1 to have a very high suspension action, e.g. 100 °/> of maximum suspensionaction, and configuring starting and braking procedure of the vehicle 1 to have apredetermined very low acceleration and a predetermined very small braking force.ln a driving mode being a normal driving mode, the vehicle 1 is not re-configured.The present configuration of the vehicle 1 is then maintained, and no specialconfiguration adapted to the load is made.

According to some embodiments, the receiving S1 comprises continually receivingmonitoring data indicative of the type and status of the load in the at least one functional module 40, and the determining S2 comprises determining the desired 19 driving behavior of the vehicle 1, based upon a change of status of the loaddetermined based upon a result of a comparison of the continually obtainedmonitoring data. ln other words, the determining S2 comprises comparingmonitoring data from different time instances and determining a difference betweenthe monitoring data collected at the different time instances. For example, if themonitoring data is collected by a camera, an object in the image may be recognizedor identified by means of an object identification algorithm. The object may betracked by continually or continuously identify the same object in the images takenat different time instances. Hence, any movement of the object may be detected,by comparing the placement of the same object in the images. Thus, it can bedetected if the object has changed position, for example has fallen to the floor. Suchchange of status of the load may thus be indicative of a highly sensitive load, andthe vehicle 1 may be configured accordingly to obtain a driving behavior appropriatefor the highly sensitive load.

Figs, äta to Lib illiistrates an example vvhere the method may be implemented. Fig.4a iiiustrates a vehicle, tor example the assembled modular vehioie t in Fig. t,where the functional modiiie 40 has a ioad ot several containers 506. Thecontainers are stacked, btit not secured. With the above described method, thecontainers 500 are monitored by the monitoring arrangernent 400. The controldevice EGO in one ot the drive modtiies St) receives the monitoring data(corresponding to step St) and deterrnines the type ot load to be “onseotiredgoodsï vvhereby the load is determined to be a sensitive load (oorresponding tostep S2). The desired driving behavior should thus be adapted to a sensitive ioad,and the desired driving behavior shotiid be “sensitive driving behavior". The vehicle“i is configured to obtain “sensitive driving behaviorï for exarnpie the vehicle i isconfigured to be set in a sensitive driving mode where a vehicie t is configured ina pltiratity of ways, eg. the speed is iovvered, the starting prooedore is configuredto become srnoother etc. (corresponding to step S3).

Fig. eb illtistrates an example scenario where the vehicle t is driven at a high speed in a corve, and a container ätit falls and changes position. The monitoring arrangement 400 then ceiieets rrienitering data that indicates the change ei statusef the feed (cerreseending te step St i. The centret device 200 in the drive rrieduiereeeives the rnenitering data and deterrnines that a change ei status ei the iead haseeetirred, based en eerriparing irienitering data eeiieeted befere the eentainer 5i0feii and efter it feii. The iead is tthereby deterrnined *te be a highiy sensitive iead(eerrespending te step S2). The desired driving behavier sheuid thus be adapted tea highiy sensitive iead, and the desired driving behavior sheuid be “highiy sensitivedriving behavior”. The vehipie i is then eenfigured te eietain “highiy sensitive drivingbehavier”, ter exarnpie the vehieie i is set in a highiy sensitive driving rnede wherea vehieie is configured in a piiiraiity ef vvays, eg. the speed is ievvered even rnere,the starting preeedure is eenfigured tb beeerne even srneether ete. (eerrespondingte stee S3).

The proposed solution is applicable on all sorts of road vehicles. However, thedisclosure may relate to heavy vehicles, such as buses, trucks etc. Specifically, thepresent disclosure may relate to vehicles for use on public roads.

Now turning to Fig. 5 which illustrates an example implementation of a controldevice 100, 200, 300 configured to implement the proposed method. As previouslyexplained, the control device may be a control device 200 in a drive module 30, acontrol device 100 in an off-board system or by a control device 300 in the functionalmodule 40. The proposed method includes to configure driving behavior of a vehicle1 based on the load of the vehicle 1. The configuring may be automaticallyperformed. The vehicle 1 comprises: at least one functional module 40 arranged forcarrying a load of goods and/or passengers, wherein the at least one functionalmodule 40 comprises a monitoring arrangement 400 monitoring the load. Themonitoring arrangement 400 is configured for generating monitoring data indicativeof the type and/or status of load in the at least one functional module 40. Thefunctional module 40 is releasably connected to the first drive module 30, and thefirst drive module 30 is configured to be autonomously and/or remotely operated.The control device 100, 200, 300, is configured to receive, from the monitoring arrangement 400 monitoring data indicative of the type and/or status of load in the 21 at least one functional module 40, determine a desired driving behavior based onthe type and/or status of the load, and configure the vehicle 1 to obtain the desired driving behavior.

According to some embodiments, the control device 100, 200, 300 is configured todetermine the type of load based on the monitoring data and predetermined criteria for different types of load.

According to some embodiments, the control device 100, 200, 300 is configuredto continually receive monitoring data indicative of the type and status of the loadin the at least one functional module 40 and determine a desired driving behaviorof the vehicle 1, based upon a change of status of the load determined based upon a result of a comparison of the continually obtained monitoring data.

According to some embodiments, the control device 100, 200, 300 is configuredto configure the vehicle 1 comprising one or several of: configure speed of thevehicle 1; configure starting procedure of the vehicle 1; configure brakingprocedure of the vehicle 1 ; and configure turning procedure of the vehicle 1.

According to some embodiments, the control device 100, 200, 300 is configuredto configure the vehicle 1 by configuring the vehicle 1 to be in a certain drivingmode, wherein the driving mode is selected from: sensitive driving mode wherethe vehicle 1 is configured to obtain a driving behavior adapted to transport asensitive load; highly sensitive driving mode where the vehicle 1 is configured toobtain a driving behavior adapted to transport a highly sensitive load, and normaldriving mode where the vehicle 1 is not re-configured.

The disclosure also relates to a vehicle 1 comprising a control device 100, 200,300 according to any one of the embodiments as described herein, wherein thevehicle comprises a first drive module 30, at least one functional module 40 arranged for carrying a load of goods and/or passengers, wherein the functional module 40 is releasably connected to the first drive module 30. The vehicle 1 also 22 comprises a monitoring arrangement 400 arranged to monitor the load of the atleast one functional module 40. ln some embodiments, the control device 100, 200, 300 is a control device 100,200, 300 that is a “unit” in a functional sense. Hence, in some embodiments thecontrol device 100, 200, 300 is a control arrangement comprising several physicalcontrol units that operate in corporation. The control device 100, 200, 300comprises hardware and software. The hardware basically comprises variouselectronic components on a Printed Circuit Board, PCB. The most important of those components is typically a processor 210 along with a memory 220.

The control device 100, 200, 300 also comprises one or more communicationinterfaces 230, enabling the control device 100, 200, 300 to communicate with othermodules 30, 40 of the modular vehicle 1, or of other vehicles. The communicationbetween the modules is as mentioned above wireless, conductive or wired. Wiredcommunication may be implemented standard protocols such as Controller AreaNetwork, CAN. CAN is a robust vehicle bus standard designed to allowmicrocontrollers and devices to communicate with each other in applicationswithout a host computer. Wireless communication between the modules may beimplemented using any short-range communication protocol such as Bluetooth or802.11.

The one or more communication interfaces 230 is also configured to enablewireless communication between a control device 200, 300 in a vehicle 1 and acontrol device 100 in the off-board system. The wireless communication is e.g.implemented using 4G, 5G, V2V (Vehicle to Vehicle) or any other suitable wireless communication protocol.

The control device 100, 200, 300 or more specifically the processor 210 of thecontrol device 200, is configured to cause the control device 100, 200, 300 to perform all aspects of the method described above and below. This is typically done 23 by running computer program code stored in the memory 220 in the processor 210of the control device 100, 200, 300.

The terminology used in the description of the embodiments as illustrated in theaccompanying drawings is not intended to be limiting of the described method;control arrangement or computer program. Various changes, substitutions and/oralterations may be made, without departing from invention embodiments as definedby the appended claims.

The term “or” as used herein, is to be interpreted as a mathematical OR, i.e., as aninclusive disjunction; not as a mathematical exclusive OR (XOR), unless expresslystated otherwise. ln addition, the singular forms "a", "an" and "the" are to beinterpreted as “at least one”, thus also possibly comprising a plurality of entities ofthe same kind, unless expressly stated otherwise. lt will be further understood thatthe terms "includes", "comprises", "including" and/ or "comprising", specifies thepresence of stated features, actions, integers, steps, operations, elements, and/ orcomponents, but do not preclude the presence or addition of one or more otherfeatures, actions, integers, steps, operations, elements, components, and/ orgroups thereof. A single unit such as e.g. a processor may fulfil the functions of several items recited in the claims.

Claims (19)

1 _ laims

1. A method performed by a control device (100, 200, 300) for configuring drivingbehavior of a vehicle (1) based on a load of the vehicle (1 ), wherein the vehicle(1) comprises at least one functional module (40) arranged for carrying a load ofgoods and/or passengers, and at least a first drive module (30);wherein the at least one functional module (40) is releasably connected to thefirst drive module (30), and the first drive module (30) is configured to beautonomously and/or remotely operated; wherein the method comprises: receiving (S1) monitoring data indicative of a type and status of loadin the at least one functional module (40), wherein the monitoring data isindicative if the type of load is goods or humans; determining (S2) a desired driving behavior of the vehicle (1) basedon the type and status of the load, and configuring (S3) the vehicle (1) to obtain the desired driving behavior.

2. The method according to claim 1, wherein the determining (S2) a desireddriving behavior comprises:determining the type of load based on the monitoring data and predetermined criteria for different types of load.

3. The method according to claim 1 or 2, wherein the type of load is determined from a selection of: sensitive load, highly sensitive load and normal load.

4. The method according to any one of the preceding claims, wherein thereceiving (S1) comprises continually receiving monitoring data indicative of the type and statusof the load in the at least one functional module (40), and the determining (S2)comprises determining the desired driving behavior of the vehicle (1 ), basedupon a change of status of the load determined based upon a result of a comparison of the continually obtained monitoring data.

5. The method according to any one of the preceding claims, wherein configuring (S3) the vehicle (1) comprises one or several of:configuring speed of the vehicle (1 );configuring a starting procedure of the vehicle (1 );configuring a braking procedure of the vehicle (1); configuring a turning procedure of the vehicle (1 )_

6. _ The method according to any one of the preceding claims, wherein configuring (S3) the vehicle (1) comprises configuring the vehicle (1) to be in a drivingmode, wherein the driving mode is selected from: sensitive driving mode where the vehicle (1) is configured to obtain adriving behavior adapted for transporting a sensitive load; highly sensitive driving mode where the vehicle (1) is configured toobtain a driving behavior adapted for transporting a highly sensitive load, and normal driving mode where the vehicle (1) is not re-configured.

7. _ The method according to any one of the preceding claims, wherein the monitoring data is collected by means of a monitoring arrangement includingone or several of at least one camera, at least one radar, pressure sensors and at least one heat sensor.

8. _ The method according to any one of the preceding claims, wherein configuring (S3) the vehicle comprises adjusting the operation of the vehicle to obtain adynamic driving behavior, while monitoring the status of the load, and upon thestatus of the load is not satisfying, the operation of the vehicle is furtheradjusted.

9. _ A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of any one of the claims 1 to 8. 3

10.A computer-readable storage medium comprising instructions which, when

11. Executed by a computer, cause the computer to carry out the method of any one of the claims 1 to 8. .A control device (100, 200, 300) for configuring driving behavior of a vehicle (1) based on the load of the vehicle (1 ), characterized in that the vehicle (1)comprises: at least one functional module (40) arranged for carrying a load ofgoods and/or passengers, wherein the at least one functional module (40)comprises a monitoring arrangement (400) monitoring the load and isconfigured for generating monitoring data indicative of the type and status ofload in the at least one functional module (40);wherein the functional module (40) is releasably connected to the first drivemodule (30), and the first drive module (30) is configured to be autonomouslyand/or remotely operated; wherein the control device (100, 200, 300) isconfigured to: receive, from the monitoring arrangement (400), monitoring dataindicative of the type and status of load in the at least one functional module(40), wherein the monitoring data is indicative if the type of load is goods orhumans; determine a desired driving behavior based on the type and status ofthe load, and configure the vehicle (1) to obtain the desired driving behavior.

12. The control device (100, 200, 300) according to claim 11, configured to determine the type of load based on the monitoring data and predeterminedcriteria for different types of load.

13.The control device (100, 200, 300) according to claim 11 or 12, wherein the type of load is determined from a selection of: sensitive load, highly sensitiveload and normal load. 4

14.The control device (100, 200, 300) according to any one of the claims 11 to 13,configured to:continually receive monitoring data indicative of the type and status ofthe load in the at least one functional module (40), anddetermine a desired driving behavior of the vehicle (1 ), based upon achange of status of the load determined based upon a result of a comparison of the continually obtained monitoring data.

15.The control device (100, 200, 300) according to any one of the claims 11 to 14,wherein configuring the vehicle (1) comprises one or several of: configure speed of the vehicle (1 ); configure starting procedure of the vehicle (1 );configure braking procedure of the vehicle (1 );configure turning procedure of the vehicle (1 ).

16.The control device (100, 200, 300) according to any one of the claims 11 to 15,configured to configure the vehicle (1) to be in a certain driving mode, whereinthe driving mode is selected from: sensitive driving mode where the vehicle (1) is configured to obtain adriving behavior adapted to transport a sensitive load; highly sensitive driving mode where the vehicle (1) is configured toobtain a driving behavior adapted to transport a highly sensitive load, and normal driving mode where the vehicle (1) is not re-configured.

17. The control device (100, 200, 300) according to any one of the claims 11 to16, wherein the monitoring arrangement comprises one or several of a camera, a radar, pressure sensors and at least one heat sensor.

18.The control device (100, 200. 300) according to any one of the claims 11 to 17,configured to configure the vehicle (1) to obtain a desired driving behavior byadjusting the operation of the vehicle (1) to obtain a dynamic driving behavior,while monitoring the status of the load, and upon the status of the load is not 5 satisfying, control device (100, 200, 300) is configured to further adjust theoperation of the vehicle (1).

19.A vehicle (1) comprising a control device (200) according to any one of the5 claims 11 to 18;a first drive module (30);at least one functional module (40) arranged for carrying a load ofgoods and/or passengers, wherein the functional module (40) is releasablyconnected to the first drive module (30); and10 a monitoring arrangement (400) arranged to monitor the load of the atleast one functional module (40).