US 11,993,330 B2
Method for controlling physically connecting a first and a second module to assemble a vehicle, a control device, a vehicle, a system, a computer program and a computer-readable medium
André Claesson, Tullinge (SE); Morgan Colling, Hölö (SE); Nils Åkerman, Årsta (SE); Robert Sjödin, Nyköping (SE); Linus Ährlig, Västerhaninge (SE); Mikko Kallio, Hölö (SE); Sami Teppola, Nykvarn (SE); and Tomas Skeppström, Södertälje (SE)
Assigned to Scania CV AB, Södertälje (SE)
Appl. No. 17/254,371
Filed by Scania CV AB, Södertälje (SE)
PCT Filed Jun. 14, 2019, PCT No. PCT/SE2019/050565
§ 371(c)(1), (2) Date Dec. 21, 2020,
PCT Pub. No. WO2020/005136, PCT Pub. Date Jan. 2, 2020.
Claims priority of application No. 1850807-7 (SE), filed on Jun. 29, 2018.
Prior Publication US 2021/0269109 A1, Sep. 2, 2021
Int. Cl. B62D 65/04 (2006.01); B62D 27/00 (2006.01); B62D 63/02 (2006.01); B62D 65/02 (2006.01); G01S 13/08 (2006.01); G01S 19/01 (2010.01); G05B 19/042 (2006.01); G05D 1/00 (2006.01)
CPC B62D 65/04 (2013.01) [B62D 27/00 (2013.01); B62D 63/025 (2013.01); B62D 65/024 (2013.01); G01S 13/08 (2013.01); G01S 19/01 (2013.01); G05B 19/042 (2013.01); G05D 1/021 (2013.01); G05B 2219/2637 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A method, performed by a first control device, for controlling physically connecting a first and a second module to assemble a vehicle, the vehicle being assembled from a set of modules comprising:
at least one drive module; and
at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be autonomously operated and drive the assembled vehicle, wherein the first control device is comprised in the first module, the method comprising:
activating a sensor device in the first module;
identifying an area between the two modules by means of the sensor device;
transmitting information about the identified area to the second module;
continuously determining the position of the second module in relation to the first module, by means of the sensor device, while the second module is moving towards the first module, and transmitting the determined position to the second module; and
physically connecting the modules when the second module has reached the first module.