US 12,084,038 B2
Method and control device for operating a modular vehicle
Robert Sjödin, Nyköping (SE); Pontus Svens, Rönninge (SE); Verena Löfqvist Klass, Huddinge (SE); Linus Ährlig, Västerhaninge (SE); and André Claesson, Tullinge (SE)
Assigned to Scania CV AB, Södertälje (SE)
Appl. No. 17/289,304
Filed by Scania CV AB, Södertälje (SE)
PCT Filed Oct. 31, 2019, PCT No. PCT/SE2019/051096
§ 371(c)(1), (2) Date Apr. 28, 2021,
PCT Pub. No. WO2020/096507, PCT Pub. Date May 14, 2020.
Claims priority of application No. 1851370-5 (SE), filed on Nov. 5, 2018.
Prior Publication US 2022/0009471 A1, Jan. 13, 2022
Int. Cl. B60W 10/08 (2006.01); B60K 7/00 (2006.01); B60K 17/356 (2006.01); B60L 15/20 (2006.01); B60K 1/00 (2006.01); B60K 17/354 (2006.01); B60P 3/42 (2006.01); B60P 7/13 (2006.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01); B62D 63/02 (2006.01)
CPC B60W 10/08 (2013.01) [B60L 15/20 (2013.01); B60K 7/0007 (2013.01); B60K 17/356 (2013.01); B60L 2240/62 (2013.01); B60W 2556/50 (2020.02); B60W 2710/083 (2013.01)] 25 Claims
OG exemplary drawing
 
25. A vehicle comprising:
at least one functional module;
two or more drive modules, wherein each of the drive modules is a separate unit from the at least one functional module, can be connected and disconnected from the at least one functional module, is configured to be autonomously operated, is individually associated with an individual set of energy parameters, comprises: a pair of wheels; at least one electrical motor arranged for operating the pair of wheels; and at least one interface releasably connected to a corresponding interface on the functional module, and is independently connectable to and disconnectable from the functional module, and wherein at least one drive module has a gear ratio being different from any other gear ratio of any other drive module and where a gear ratio for each of the two more drive modules is used in defining the individual set of energy parameters for the drive module; and
a control device configured to:
receive the individual set of energy parameters for each of the two or more drive modules;
obtain route information describing a planned route of the vehicle;
determine a distribution of a requested driving torque between the respective at least one electrical motors of the two or more drive modules for operating the vehicle along the route based on the route information and the individual sets of energy parameters for each of the two or more drive modules in order to meet energy criteria; and
control the two or more drive modules to produce the requested driving torque, in accordance with the determined distribution.