SE1851150A1 - Method and control device for determining change of load status of a vehicle - Google Patents

Method and control device for determining change of load status of a vehicle

Info

Publication number
SE1851150A1
SE1851150A1 SE1851150A SE1851150A SE1851150A1 SE 1851150 A1 SE1851150 A1 SE 1851150A1 SE 1851150 A SE1851150 A SE 1851150A SE 1851150 A SE1851150 A SE 1851150A SE 1851150 A1 SE1851150 A1 SE 1851150A1
Authority
SE
Sweden
Prior art keywords
vehicle
change
sensor
control device
load status
Prior art date
Application number
SE1851150A
Other languages
Swedish (sv)
Inventor
André Claesson
Linus Ährlig
Roberg Sjödin
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1851150A priority Critical patent/SE1851150A1/en
Publication of SE1851150A1 publication Critical patent/SE1851150A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/025—Modular vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present disclosure relates to techniques in the context of vehicles, and to a method for use in a control device for determining change of load status of a vehicle. The vehicle comprises at least one functional module arranged for carrying a load; wherein the functional module is releasably connected with a first drive module that is configured to be autonomously operated; the method comprising: receiving sensor data collected by a first sensor arrangement in the first drive module and/or a third sensor arrangement in the at least one functional module, and indicative of a driving behavior of the vehicle, and determining a change of load status of the vehicle upon the sensor data meeting a predefined change of load status criterium. The disclosure also relates to a corresponding control device, to a vehicle comprising the control device, to a computer program and a computer-readable medium.

Claims (36)

1 _ 31 laims
1. A method for use in a control device (100, 200, 300), for determining changeof load status of a vehicle (1 ), wherein the vehicle (1) comprises at least one functional module (40) arranged for carrying a load;wherein the functional module (40) is releasably connected with a first drivemodule (30a) that is configured to be autonomously operated; the methodcomprising: receiving (S1) sensor data collected by a first sensor arrangement(250a) in the first drive module (30a) and/or a third sensor arrangement (250c)in the at least one functional module (40), and indicative of a driving behaviorof the vehicle (1 ), and determining (S3) a change of load status of the vehicle (1) upon the sensor data meeting a predefined change of load status criterium.
2. The method according to claim 1, wherein the vehicle (1) comprises a seconddrive module (30b) releasably connected with the functional module (40),wherein the second drive module (30b) is configured to be autonomouslyoperated; the method comprising: receiving (S2) sensor data, collected by a second sensorarrangement (200b) in the second drive module (30b), indicative of a drivingbehavior of the vehicle (1 ), and wherein the determining (S3) comprises: determining a change of load status of the vehicle (1) upon also thesensor data from the second sensor arrangement (200b) meeting the predefined change of load status criterium.
3. The method according to claim 2, wherein the determining (S3) comprises:comparing sensor data collected by the first sensor arrangement (250a) and/or the third sensor arrangement (250c) during a time period withcorresponding sensor data collected by the second sensor arrangement(250b) during the same time period, wherein the predefined change of load status criterium comprises that adifference between the sensor data collected by the first sensor arrangement 32 (250a) and/or the third sensor arrangement (250c), and the correspondingsensor data collected by the second sensor arrangement (250b) during thesame time period exceeds a predetermined threshold, wherein the determining(S3) comprises:determining a change of load status, upon the difference between the sensor data collected by the first sensor arrangement (250a)and/or the third sensor arrangement (250c), and the corresponding sensordata collected by the second sensor arrangement (250b) during the same time period exceeding the predetermined threshold_
4. _ The method according to any one of the preceding claims, comprising: configuring (S4) the vehicle (1 ), based on the determined change of load status.
5. _ The method according to claim 4, wherein configuring (S4) the vehicle (1) comprises one or several of: reducing speed of the vehicle (1 ); configuring suspension of the vehicle (1); configuring steering of the vehicle (1); configuring braking of the vehicle (1); configuring acceleration of the vehicle (1); driving the vehicle (1) to a service station, and parking the vehicle (1) at a nearest available parking spot.
6. _ The method according to claim 4 or 5, wherein configuring (S4) the vehicle (1) comprises: saving road data such as road topography and road curve radiusrelated to a road segment of a road (400) the vehicle (1) is currently travellingand where the change of load status is determined; identifying at least one future road segment along a planned route ofthe vehicle (1) where a change of load status may occur, based on a 33 comparison of the saved road data where change of load status was determined and future road data along the planned route of the vehicle (1 );configuring the vehicle (1) when the vehicle is travelling along the identified at least one future road segment to mitigate further changes of load StatUS.
7. _ The method according to any of the preceding claims, wherein the determining (S3) comprises: comparing the sensor data with reference data, andwherein the predefined change of load status load criterium comprises that adifference between the sensor data and the reference data exceeds apredetermined threshold, wherein the determining (S3) comprises: determining a change of load status, upon the differencebetween the sensor data and the reference data exceeding thepredetermined threshold.
8. _ The method according to claim 7, wherein the determining (S3) comprises: comparing the sensor data with reference data being sensor datacollected at a different time instance; and determining a change of load status, upon the differencebetween the sensor data and the reference data exceeding the predetermined threshold.
9. _ The method according to claim 7 or 8, wherein the determining (S3) comprises: comparing the sensor data with reference data being predictedsensor data retrieved from a model of expected behavior of the vehicle (1 );and determining a change of load status, upon the differencebetween the sensor data and the reference data exceeding thepredetermined threshold. 34
10.The method according to any one of claims 7 to 9, wherein the determining
11. (S3) comprises: comparing the sensor data with reference data retrieved from asimilar vehicle that was driving at a road with similar road data with a similarweight and a similar velocity as the vehicle and that did not have a change ofload status, and determining a change of load status, upon a difference between thesensor data and the reference sensor data exceeding the predeterminedthreshold. .The method according to any one of the preceding claims, comprising: sending (S5) information of the determined change of load status to an off-board system.
12.The method according to any of the preceding claims, wherein the first sensor arrangement (250a), the second sensor arrangement (250b) and/or the thirdsensor arrangement (250c) comprises one or several of at least oneaccelerometer, at least one gyro meter, a lidar, a fon/vard sensing camera, atleast one radar sensor, at least one weight sensor and a positioning sensor.
13. The method according to any of the preceding claims, wherein a change of load status indicates a change of position of the load in the functional module(40).
14.The method according to any of the preceding claims, wherein the control device (200) is at least partly located in the first drive module (30a) of thevehicle (1).
15.The method according to claim 2, wherein the control device (200) is at least partly located in the second drive module (30a) of the vehicle (1).
16.The method according to any of the preceding claims, wherein the controldevice (100) is at least partly located in an off-board system.
17.A computer program comprising instructions which, when the program isexecuted by a computer, cause the computer to carry out the method of any one of the claims 1 to 16.
18.A computer-readable storage medium comprising instructions which, whenexecuted by a computer, cause the computer to carry out the method of any one of the claims 1 to 16.
19. A control device (100, 200, 300), for determining change of load status of a vehicle (1), wherein the vehicle (1) comprisesat least one functional module (40) arranged for carrying a load; wherein the functional module (40) is releasably connected with a first drivemodule (30a) that is configured to be autonomously operated; wherein thecontrol device (100, 200, 300) is configured to: receive sensor data collected by a first sensor arrangement (250a) inthe first drive module (30a) and/or a third sensor arrangement (250c) in the at least one functional module (40), and indicative of a driving behavior of the vehicle (1), and determine a change of load status of the vehicle (1) upon the sensor data meeting a predefined change of load status criterium.
20.The control device (100, 200, 300) according to claim 19, wherein the vehicle (1) comprises a second drive module (30b) releasably connected with the functional module (40), wherein the second drive module (30b) is configured to be autonomously operated; wherein the control device (100, 200, 300) isconfigured to: receive sensor data, collected by a second sensor arrangement(200b) in the second drive module (30b), indicative of driving behavior of the vehicle (1), and
21. 36 determine a change of load status to the vehicle (1) upon also thesensor data from the second sensor arrangement (200b) meeting the predefined change of load status criterium. .The control device (100, 200, 300) according to claim 19 or 20, wherein the control device (100, 200, 300) is configured to:compare sensor data collected by the first sensor arrangement (250a) and/or the third sensor arrangement (250c) during a time period withcorresponding sensor data collected by the second sensor arrangement(250b) during the same time period, wherein the predefined change of load status criterium comprises that adifference between the sensor data collected by the first sensor arrangement(250a) and/or the third sensor arrangement (250c), and the correspondingsensor data collected by the second sensor arrangement (250b) during thesame time period exceeds a predetermined threshold, wherein the controldevice (100, 200, 300) is configured to: determine a change of load status, upon the difference between the sensor data collected by the first sensor arrangement (250a)and/or the third sensor arrangement (250c), and the corresponding sensordata collected by the second sensor arrangement (250b) during the same timeperiod exceeding the predetermined threshold.
22.The control device (100, 200, 300) according to any one of the claims 19 to 21, wherein the control device (100, 200, 300) is configured to:configure the vehicle (1 ), based on the determined change of load StatUS.
23.The control device (100, 200, 300) according to claim 22, wherein the control device (100, 200, 300) is configured to configure the vehicle (1) by one orseveral of:reducing speed of the vehicle (1 ); configuring suspension of the vehicle (1); 37 configuring steering of the vehicle (1);configuring braking of the vehicle (1);configuring acceleration of the vehicle (1);driving the vehicle (1) to a service station, and parking the vehicle (1) at a nearest available parking spot.
24.The control device (100, 200, 300) according to claim 22 or 23, wherein configuring the vehicle (1) comprises to: save road data such as road topography and road curve radiusrelated to a road segment of a road (400) the vehicle (1) is currently travellingand where the change of load status is determined; identify at least one future road segment along a planned route of thevehicle (1) where a change of load status may occur, based on a comparisonof the saved road data where change of load status was determined and futureroad data along the planned route of the vehicle (1 ); configure the vehicle (1) when the vehicle is travelling along theidentified at least one future road segment to mitigate further changes of loadstatus.
25.The control device (100, 200, 300) according to any one of the 19 to 24, wherein the control device (100, 200, 300) is configured to: compare the sensor data with reference data, andwherein the predefined change of load status criterium comprises that adifference between the sensor data and the reference data exceeds apredetermined threshold, and wherein the control device (100, 200, 300) isconfigured to: determine a change of load status, upon the differencebetween the sensor data and the reference data exceeding a predeterminedthreshold.
26.The control device (100, 200, 300) according to claim 25, wherein the control device (100, 200, 300) is configured to: 38 compare the sensor data with reference data being sensor datacollected at a different time instance; and determine a change of load status, upon the differencebetween the sensor data and the reference data exceeding the predetermined threshold.
27.The control device (100, 200, 300) according to c|aim 25 or 26, wherein the control device (100, 200, 300) is configured to: compare the sensor data with reference data being predicted sensordata retrieved from a model of expected behavior of the vehicle (1 ); and determine a change of load status, upon the differencebetween the sensor data and the reference data exceeding the predetermined threshold.
28.The control device (100, 200, 300) according to any one of c|aim 25 to 27, wherein the control device (100, 200, 300) is configured to: compare the sensor data with reference data retrieved from a similarvehicle that was driving at a road with similar road data with a similar weightand a similar velocity as the vehicle and that did not have a change of loadstatus, and determine a change of load status, upon a difference between thesensor data and the reference sensor data exceeding the predeterminedthreshold.
29.The control device (100, 200, 300) according to any one of the claims 19 to 28,wherein the control device (100, 200, 300) is configured to:send information of the determined change of load status to an off-board system.
30.The control device (100, 200, 300) according to any one of the claims 17 to 29,wherein the first sensor arrangement (250a), the second sensor arrangement(250b) and/or the third sensor arrangement (250c) comprises one or several of 39 at least one accelerometer, at least one gyro meter, a lidar, a forward sensingcamera, at least one radar sensor, at least one weight sensor and a positioning sensor.
31. The control device (100, 200, 300) according to any one of the claims 17 to30, wherein a change of load status indicates a change of position of the loadin the functional module (40).
32.The control device (100, 200, 300) according to any one of the claims 17 to 31,wherein the control device (100) is at least partly located in the first drivemodule (30a) of the vehicle (1).
33.The control device (100, 200, 300) according to claim 20, wherein the controldevice (200) is at least partly located in the second drive module (30b) of thevehicle (1 ).
34.The control device (100, 200, 300) according to any one of the claims 17 to 31,wherein the control device (100) is at least partly located in an off-boardsystem.
35.A vehicle (1) comprising: a first drive module (30a); at least one functional module (40) arranged for carrying a load,wherein the functional module (40) is releasably connected with the first drivemodule (30a); a control device (100, 200, 300) according to any one of the claims 19to 33; and a first sensor arrangement (250a) arranged in the first drive module(30a) and/or a third sensor arrangement (250c) arranged in the at least onefunctional module (40), and arranged to collect sensor data indicative of drivingbehavior of the first drive module (30).
36.The vehicle (1) according to claim 35, comprising:a second drive module (30b); anda second sensor arrangement (250b) in the second drive module(30b) configured to co||ect sensor data indicative of driving behavior of the5 vehicle (1).
SE1851150A 2018-09-27 2018-09-27 Method and control device for determining change of load status of a vehicle SE1851150A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SE1851150A SE1851150A1 (en) 2018-09-27 2018-09-27 Method and control device for determining change of load status of a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1851150A SE1851150A1 (en) 2018-09-27 2018-09-27 Method and control device for determining change of load status of a vehicle

Publications (1)

Publication Number Publication Date
SE1851150A1 true SE1851150A1 (en) 2020-03-28

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SE1851150A SE1851150A1 (en) 2018-09-27 2018-09-27 Method and control device for determining change of load status of a vehicle

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