Device and a method for reversing an articulated vehicle combination

A device for reversing an articulated vehicle combination comprising:

• at least two vehicle units interconnected via at least one articulated joint, comprising:
• means for recording and storing a plurality of global positions of a local position of the vehicle combination, at least one sensor, mounted on the vehicle combination, for recording data representing a plurality properties of the surroundings, and a control unit arranged to determine, based at least partly on a plurality of dimensions of the vehicle combination, a set of global positions recorded when the vehicle combination is moving forward, and a set of data representing properties of the surroundings recorded during the forward movement, vehicle control input data for control of the vehicle combination during a reverse movement of the vehicle combination, wherein the control unit is adapted to identify properties of the surroundings, including asphalt and grass, by a signal analysis function, in the form of an image analysis function, and in that the control unit is arranged to determine a drivable path width based at least on the set of global positions and the set of data representing properties of the surroundings, and to determine the vehicle control input data partly based on the drivable path width.

A device for reversing an articulated vehicle combination comprising:

• at least two vehicle units interconnected via at least one articulated joint, comprising:
• means for recording and storing a plurality of global positions of a local position of the vehicle combination, at least one sensor, mounted on the vehicle combination, for recording data representing a plurality properties of the surroundings, and a control unit arranged to determine, based at least partly on a plurality of dimensions of the vehicle combination, a set of global positions recorded when the vehicle combination is moving forward, and a set of data representing properties of the surroundings recorded during the forward movement, vehicle control input data for control of the vehicle combination during a reverse movement of the vehicle combination, wherein the control unit is adapted to identify properties of die surroundings, including asphalt and grass, by a signal analysis function, in the form of an image analysis function, and in that the control unit is arranged to control the vehicle combination during the reverse movement of the vehicle combination autonomously or semi-autonomously via at least one actuation device.

A method for reversing an articulated vehicle combination comprising:

• at least two vehicle units interconnected via at least one articulated joint, comprising:
• storing data representing a plurality of global positions of a local position of the vehicle combination, recorded when the vehicle combination is moving forward, storing a set of data representing a plurality of properties of the surroundings, recorded during the forward movement the vehicle combination by means of at least one sensor mounted on the vehicle combination, and determining, based at least partly on a plurality of dimensions of the vehicle combination, the global positions, and the set of data representing the properties of the surroundings, vehicle control input data for control of the vehicle combination during a reverse movement of the vehicle combination, comprising identifying properties of the surroundings, including asphalt and grass, by a signal analysis function, in the form of an image analysis function, determining a swept area of the vehicle combination based at least on the global positions wherein the determination of the vehicle control input data is done partly based on the swept area, and simulating a reverse movement of the vehicle combination, wherein the swept area is determined partly based on, the simulated reverse movement.

A method for reversing an articulated vehicle combination comprising:

• at least two vehicle units interconnected via at least one articulated joint, comprising:
• storing data representing a plurality of global positions of a local position of the vehicle combination, recorded when the vehicle combination is moving forward, storing a set of data representing a plurality of properties of the surroundings, recorded during the forward movement the vehicle combination by means of at least one sensor mounted on the vehicle combination, and determining, based at least partly on a plurality of dimensions of the vehicle combination, the global positions, and the set of data representing the properties of the surroundings, vehicle control input data for control of the vehicle combination during a reverse movement of the vehicle combination, comprising identifying properties of the surroundings, including asphalt and grass, by a signal analysis function, in the form of an image analysis function, and determining a drivable path width based at least on the global positions and the set of data representing the properties of the surroundings, wherein the determination of the vehicle control input data is done partly based on the drivable path width.