# US 11,307,588 B2 · Vehicle accessory arrangement > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,307,588 B2 - Document ID: US11307588B2 - Status: Granted - Kind: B2 - Application number: 16/809,967 - Filed: 2020-03-05 - Published: 2020-09-10 - Granted: 2022-04-19 - Earliest claimed: 2019-03-06 - Assignees: Hiab AB - Applicants: Hiab AB - Inventors: Erkki Ahola; Hannu Hyttinen - Web page: https://patentgrep.com/patent/US11307588B2 ## CPC - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - B60R 16/023: for transmission of signals between vehicle parts or subsystems - B66F 9/063: {Automatically guided} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) ## Abstract A vehicle accessory arrangement (2) structured to be mounted on a vehicle (4), the accessory arrangement (2) comprises a working equipment (6), an accessory control unit (8) configured to determine accessory control signals (10) and to control said working equipment (6) by said signals, and an accessory communication bus (12) comprising a bus interface (14) configured to connect said accessory communication bus (12) to a vehicle communication bus (16) provided at said vehicle. The accessory arrangement (2) comprises a wireless signal receiver (18) configured to receive current position data, e.g. GPS data, and working assignment data including route data for a working assignment for said vehicle (4) provided with said working equipment (6). The accessory control unit (8) is configured to receive a vehicle data set among a plurality of different vehicle data sets, each of said plurality of vehicle data sets comprises control characteristics of a vehicle on which the accessory arrangement may be mounted. The accessory control unit (8) is configured to determine, based upon said control characteristics, navigation and drive control commands adapted to control said vehicle (4) provided with said vehicle accessory arrangement (2) to work in an autonomous mode and to travel along a route of a working assignment, and working control commands adapted to control said vehicle (2) such that working procedures performed by said working equipment (6) are supported. And that the accessory control unit (8) is configured to control said vehicle (4) provided with said vehicle accessory arrangement (2), by said determined navigation and drive commands and working control commands, to fulfil said working assignment. ## Claims ### Claim 1 A vehicle accessory arrangement structured to be mounted on a vehicle, the accessory arrangement comprises: a working equipment, an accessory control unit configured to determine accessory control signals and to control said working equipment by said signals, an accessory communication bus comprising a bus interface configured to connect said accessory communication bus to a vehicle communication bus provided at said vehicle, wherein said accessory arrangement comprises a wireless signal receiver configured to receive current position data, e.g. GPS data, and working assignment data including route data for a working assignment for said vehicle provided with said working equipment, and to make said received position data and working assignment data available to said accessory control unit, said accessory control unit is configured to receive a vehicle data set among a plurality of different vehicle data sets, each of said plurality of vehicle data sets comprises control characteristics of a vehicle on which the accessory arrangement may be mounted, wherein said accessory control unit is configured to determine: navigation and drive control commands adapted to control said vehicle provided with said vehicle accessory arrangement to work in an autonomous mode and to travel along a route of a working assignment, working control commands adapted to control said vehicle such that working procedures performed by said working equipment are supported, wherein said navigation and drive control commands and said working control commands are determined based upon said control characteristics, and wherein said accessory control unit is configured to control said vehicle provided with said vehicle accessory arrangement, by said determined navigation and drive commands and working control commands, to fulfil said working assignment. ### Claim 2 (depends on 1) The vehicle accessory arrangement according to claim 1, wherein said control characteristics comprises at least one of the following parameters: specific features of actuators, geometry of the vehicle, control parameters, autonomous driving parameters, and other parameters required to operate said vehicle in an autonomous mode. ### Claim 3 (depends on 1) The vehicle accessory arrangement according to claim 1, wherein said navigation and drive control commands and said working control commands are determined by applying transformation algorithms which are based upon said received control characteristics. ### Claim 4 (depends on 1) The vehicle accessory arrangement according to claim 1, wherein said accessory control unit is configured to dynamically update said control characteristics in dependence of performed working assignments. ### Claim 5 (depends on 1) The vehicle accessory arrangement according to claim 1, wherein said accessory control unit is configured to receive said vehicle data set from an external control centre via said wireless signal receiver or from the vehicle on which the accessory arrangement is mounted via said accessory communication bus. ### Claim 6 (depends on 1) The vehicle accessory arrangement according to claim 1, wherein said accessory control unit is configured to determine which vehicle data set to be applied among said plurality of different vehicle data sets, by identifying the vehicle on which the accessory arrangement is mounted, wherein the identification is performed by receiving identification data from said vehicle. ### Claim 7 (depends on 1) The vehicle accessory arrangement according to claim 1, wherein said accessory control unit is configured to determine which of said vehicle data set to be applied among said plurality of different vehicle data sets, by receiving a vehicle identification signal from an operator of said accessory arrangement, wherein said identification signal includes identification data for the vehicle on which the accessory arrangement is mounted, and to determine the vehicle data set to be applied in dependence of said identification. ### Claim 8 (depends on 1) The vehicle accessory arrangement according to claim 1, comprising an accessory memory configured to store said plurality of different vehicle data sets. ### Claim 9 (depends on 1) The vehicle accessory device according to any of claim 1, wherein said accessory control unit is configured to control said vehicle by said navigation and drive commands and said working control commands, by applying said commands to said vehicle communication bus via said accessory communication bus and said bus interface. ### Claim 10 (depends on 1) The vehicle accessory arrangement according to claim 1, wherein said working assignment comprises working procedures related to one of the following: a loading or unloading procedure, a forestry machine procedure, a tail lift procedure, a hook lift procedure, a mining procedure; and wherein said route data comprises positional data required to follow a route related to the working procedure. ### Claim 11 A method in relation to a vehicle accessory arrangement structured to be mounted on a vehicle, the accessory arrangement comprises: a working equipment, an accessory control unit configured to determine accessory control signals and to control said working equipment by said signals, an accessory communication bus comprising a bus interface configured to connect said accessory communication bus to a vehicle communication bus provided at said vehicle, wherein the method comprises: receiving current position data, e.g. GPS data, and working assignment data including route data for a working assignment for said vehicle provided with said working equipment, and making said received position data and working assignment data available to said accessory control unit; receiving a vehicle data set among a plurality of different vehicle data sets, each of said plurality of vehicle data sets comprises control characteristics of a vehicle on which the accessory arrangement may be mounted; determining navigation and drive control commands adapted to control said vehicle provided with said vehicle accessory arrangement to work in an autonomous mode and to travel along a route of a working assignment, and determining working control commands adapted to control said vehicle such that working procedures performed by said working equipment are supported, wherein said navigation and drive control commands and said working control commands are determined based upon said control characteristics, and controlling said vehicle provided with said vehicle accessory arrangement, by said determined navigation and drive commands and working control commands, to fulfil said working assignment. ### Claim 12 (depends on 11) The method according to claim 11, comprising determining said navigation and drive control commands and said working control commands by applying transformation algorithms which are based upon said received control characteristics. ### Claim 13 (depends on 11) The method according to claim 11, comprising dynamically updating said control characteristics in dependence of performed working assignments. ### Claim 14 (depends on 11) The method according to claim 11, comprising receiving said vehicle data set from an external control centre via said wireless signal receiver or from the vehicle on which the accessory arrangement is mounted via said accessory communication bus. ### Claim 15 (depends on 11) The method according to claim 11, comprising determining which vehicle data set to be applied among said plurality of different vehicle data sets, either by: identifying the vehicle on which the accessory arrangement is mounted, wherein the identification is performed either by receiving identification data from said vehicle, or by sending an identification request to said vehicle and receiving identification data from said vehicle, and determining the vehicle data set to be applied in dependence of said identification; or by: receiving a vehicle identification signal from an operator of said accessory arrangement, wherein said identification signal includes identification data for the vehicle on which the accessory arrangement is mounted, and determining the vehicle data set to be applied in dependence of said identification.