Safety method, a control device, a vehicle, a computer program and a computer-readable medium

Patent metadata

Field	Value
Publication number	US-12038762-B2
Application number	US-201917297085-A
Country	US
Kind code	B2
Filing date	Oct 30, 2019
Priority date	Dec 7, 2018
Publication date	Jul 16, 2024
Grant date	Jul 16, 2024

Abstract

The invention relates to a method, performed by a control device associated with a vehicle assembled from a set of modules, the vehicle 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, the method comprising: identifying an erroneous function of the at least one drive module; physically connecting an autonomously operated assisting drive module to the at least one drive module; and controlling the assisting drive module to perform at least the erroneous function of the at least one drive module.

First claim

The invention claimed is:

1. A method, performed by a control device associated with a vehicle assembled from a set of modules, the vehicle 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 vehicle, the method comprising:
identifying an erroneous function of the at least one drive module;
physically connecting an autonomously operated assisting drive module to the at least one drive module;
controlling the at least one drive module and/or the assisting drive module to lift the pair of wheels of the at least one drive module from the ground so as to prevent the drive module from interfering with operation of the vehicle; and
controlling the assisting drive module to operate with the functional module of the vehicle and to perform at least the erroneous function of the at least one drive module.

2. The method according to claim 1 , further comprising:
configuring the at least one drive module and/or the assisting drive module for tandem operation.

3. The method according to claim 2 , wherein configuring the at least one drive module and/or the assisting drive module for tandem operation comprises adapting a steering angle of the at least one drive module.

4. The method according to claim 1 , wherein identifying an erroneous function comprises identifying an erroneous function related to hardware of the at least one drive module and/or identifying an erroneous function related to software of the at least one drive module.

5. The method according to claim 1 , further comprising:
electrically connecting the assisting drive module with the vehicle.

6. The method according to claim 1 , further comprising, before physically connecting the assisting drive module:
controlling the assisting drive module to be autonomously operated to a location of the vehicle.

7. The method according to claim 1 , wherein controlling the assisting drive module to perform at least the erroneous function comprises appointing the assisting drive module to operate as a master and thereby control the modules of the vehicle.

8. The method according to claim 1 , wherein controlling the assisting drive module to perform at least the erroneous function comprises controlling the assisting drive module to drive the vehicle by pushing or pulling the vehicle.

9. A computer program product comprising computer program code stored on a non-transitory computer-readable medium, said computer program product configured for operation with a vehicle assembled from a set of modules, the vehicle 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 vehicle, said computer program code comprising computer instructions to cause one or more control units to perform the following operations:
identifying an erroneous function of the at least one drive module;
physically connecting an autonomously operated assisting drive module to the at least one drive module;
controlling the at least one drive module and/or the assisting drive module to lift the pair of wheels of the at least one drive module from the ground so as to prevent the drive module from interfering with operation of the vehicle; and
controlling the assisting drive module to operate with the functional module of the vehicle and to perform at least the erroneous function of the at least one drive module.

10. A control device associated with a vehicle assembled from a set of modules, the vehicle 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 vehicle, the control device configured to:
identify an erroneous function of the at least one drive module;
physically connect an autonomously operated assisting drive module to the at least one drive module;
controlling the at least one drive module and/or the assisting drive module to lift the pair of wheels of the at least one drive module from the ground so as to prevent the drive module from interfering with operation of the vehicle; and
control the assisting drive module to operate with the functional module of the vehicle and to perform at least the erroneous function of the at least one drive module.

11. The control device according to claim 10 , wherein the control device is configured to configure the at least one drive module and/or the assisting drive module for tandem operation.

12. The control device according to claim 11 , wherein the control device is configured to adapt the steering angle of the at least one drive module.

13. The control device according to claim 10 , further being configured to, before physically connecting the assisting drive module, control the assisting drive module to be autonomously operated to a location of the vehicle.

14. The control device according to claim 10 , wherein the control device is configured to appoint the assisting drive module to operate as a master and thereby control the modules of the vehicle.

15. The control device according to claim 10 , wherein the control device is configured to control the assisting drive module to drive the vehicle by pushing or pulling the vehicle.

16. The control device according to claim 10 , wherein the control device is comprised in the vehicle and/or the assisting drive module and/or in a control center arranged in communication with the vehicle and the assisting drive module.

17. A system comprising:
an assembled vehicle 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 vehicle;
an assisting drive module;
a control center; and
a control device configured to:
identify an erroneous function of the at least one drive module;
physically connect an autonomously operated assisting drive module to the at least one drive module;
controlling the at least one drive module and/or the assisting drive module to lift the pair of wheels of the at least one drive module from the ground so as to prevent the drive module from interfering with operation of the vehicle; and
control the assisting drive module to operate with the functional module of the vehicle and to perform at least the erroneous function of the at least one drive module.

18. The control device according to claim 10 configured to operate computer program code stored on a non-transitory computer-readable medium comprising computer instructions that cause the control device to perform the recited operations of:
identify an erroneous function of the at least one drive module;
physically connect an autonomously operated assisting drive module to the at least one drive module; and
control the assisting drive module to perform at least the erroneous function of the at least one drive module.

19. The system according to claim 17 , wherein the control device is configured to operate computer program code stored on a non-transitory computer-readable medium comprising computer instructions that cause the control device to perform the recited operations of:
identify an erroneous function of the at least one drive module;
physically connect an autonomously operated assisting drive module to the at least one drive module; and
control the assisting dri

Assignees

• Scania Cv Ab

Inventors

• Claesson André
• Sjödin Robert
• Ährlig Linus
• Teppola Sami
• Skeppström Tomas
• Kallio Mikko
• Colling Morgan

Classifications

• G05D1/69

  Coordinated control of the position or course of two or more vehicles · CPC title

• G05D1/226

  Communication links with the remote-control arrangements · CPC title

• B62D63/025

  Modular vehicles (superstructures for busses having modular sections B62D31/025) · CPC title

• B60P3/12

  for salvaging damaged vehicles · CPC title

• H04W4/46

  for vehicle-to-vehicle communication [V2V] · CPC title