US 12,145,622 B2
Method for controlling a vehicle assembled from a set of modules, a control device, a vehicle, a computer program and a computer-readable medium
André Claesson, Tullinge (SE); Linus Ährlig, Västerhaninge (SE); Robert Sjödin, Nyköping (SE); Sami Teppola, Nykvarn (SE); Mikko Kallio, Hölö (SE); Tomas Skeppström, Södertälje (SE); and Morgan Colling, Hölö (SE)
Assigned to Scania CV AB, Södertälje (SE)
Appl. No. 17/052,559
Filed by Scania CV AB, Södertälje (SE)
PCT Filed Apr. 26, 2019, PCT No. PCT/SE2019/050378
§ 371(c)(1), (2) Date Nov. 3, 2020,
PCT Pub. No. WO2019/231370, PCT Pub. Date Dec. 5, 2019.
Claims priority of application No. 1850639-4 (SE), filed on May 28, 2018.
Prior Publication US 2021/0229701 A1, Jul. 29, 2021
Int. Cl. B60W 60/00 (2020.01); B60R 16/023 (2006.01); B60R 25/30 (2013.01); B60W 50/02 (2012.01); B60W 50/032 (2012.01); B60W 50/038 (2012.01); G05D 1/00 (2006.01); G07C 5/08 (2006.01); B60K 6/22 (2007.10); B60L 50/75 (2019.01); B60W 50/00 (2006.01)
CPC B60W 60/0015 (2020.02) [B60R 16/0232 (2013.01); B60R 25/30 (2013.01); B60W 50/0205 (2013.01); B60W 50/032 (2013.01); B60W 50/038 (2013.01); G05D 1/0214 (2013.01); G07C 5/0808 (2013.01); B60K 6/22 (2013.01); B60L 50/75 (2019.02); B60W 2050/0075 (2013.01); B60W 2556/45 (2020.02)] 27 Claims
OG exemplary drawing
 
1. A method, performed by a control device, for controlling a vehicle, wherein the vehicle is assembled from modules comprising at least one drive module and at least one functional module configured to be connected to the at least one drive module, wherein the at least one drive module comprises a pair of wheels and is configured to be autonomously operated and drive the vehicle, and wherein the modules of the vehicle are configured to communicate with the control device, the method comprising:
receiving data from the modules of the vehicle, the data comprising values of at least one parameter associated with a current condition of the modules;
evaluating the received data based on comparing a value of the at least one parameter from one of the modules with a value of the at least one parameter from another one of the modules; and
controlling the vehicle based on the evaluation.