# US 11,993,330 B2 · Method for controlling physically connecting a first and a second module to assemble a vehicle, a control device, a vehicle, a system, a computer program and a computer-readable medium

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- Number: US 11,993,330 B2
- Document ID: US11993330B2
- Status: Granted
- Kind: B2
- Application number: 17/254,371
- Filed: 2019-06-14
- Published: 2021-09-02
- Granted: 2024-05-28
- Earliest claimed: 2018-06-29
- Assignees: Scania CV AB
- Applicants: Scania CV AB
- Inventors: André Claesson; Morgan Colling; Nils Åkerman; Robert Sjödin; Linus Ährlig; Mikko Kallio; Sami Teppola; Tomas Skeppström
- Web page: https://patentgrep.com/patent/US11993330B2

## CPC

- B62D 65/04: Joining preassembled modular units composed of sub-units performing diverse functions, e.g. engine and bonnet (B62D65/06 - B62D65/16 take precedence)
- B62D 27/00: Connections between superstructure {or understructure} sub-units {(B62D33/0207, B62D33/044 take precedence; between sub-units predominently made of synthetic material B62D29/048)}
- B62D 63/025: {Modular vehicles (superstructures for busses having modular sections B62D31/025)}
- B62D 65/024: {Positioning of sub-units or components with respect to body shell or other sub-units or components}
- G01S 13/08: Systems for measuring distance only (indirect measurement G01S13/46)
- G01S 19/01: Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G05B 19/042: using digital processors (G05B19/05 takes precedence)
- G05D 1/021: {specially adapted to land vehicles}
- G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)}
- G05D 1/0282: {generated in a local control room}
- G05D 1/43: Control of position or course in two dimensions [2D]
- B60P 3/42: convertible from one use to a different one (vehicles capable of travelling in or on different media, rail-and-road vehicles B60F)
- G05B 2219/2637: Vehicle, car, auto, wheelchair
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B60P: VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS (vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00)

## Abstract

The invention relates to a method, performed by a first control device, for controlling physically connecting a first and a second module to assemble a vehicle, wherein the first control device is comprised in the first module, the method comprising: activating a sensor device in the first module; identifying an area between the two modules by means of the sensor device; transmitting information about the identified area to the second module; continuously determining the position of the second module in relation to the first module, by means of the sensor device, while the second module is moving towards the first module, and transmitting the determined position to the second module; and physically connecting the modules when the second module has reached the first module.

## Claims

### Claim 1

A method, performed by a first control device, for controlling physically connecting a first and a second module to assemble a vehicle, the vehicle being assembled from a set of modules 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, wherein the first control device is comprised in the first module, the method comprising:
activating a sensor device in the first module;
identifying an area between the two modules by means of the sensor device;
transmitting information about the identified area to the second module;
continuously determining the position of the second module in relation to the first module, by means of the sensor device, while the second module is moving towards the first module, and transmitting the determined position to the second module; and
physically connecting the modules when the second module has reached the first module.

### Claim 2 (depends on 1)

The method according to claim 1, wherein transmitting information about the identified area to the second module and transmitting the determined position to the second module are performed via wireless communication.

### Claim 3 (depends on 1)

The method according to claim 1, wherein physically connecting the modules when the second module has reached the first module is performed by a mechanical interface.

### Claim 4 (depends on 1)

The method according to claim 1, wherein transmitting information about the identified area to the second module also comprises transmitting the information to a control center arranged in communication with the modules.

### Claim 5 (depends on 1)

The method according to claim 1, wherein transmitting information about the position of the second module also comprises transmitting the information to a control center arranged in communication with the modules.

### Claim 6 (depends on 1)

The method according to claim 1, wherein the activation of a sensor device is performed in response to receiving an instruction from a control center arranged in communication with the modules.

### Claim 7 (depends on 1)

The method according to claim 1, further comprising:
receiving information from a control center, the information indicating which module of the vehicle to operate as a master and which module to operate as a slave.

### Claim 8

A computer program product comprising computer program code stored on a non-transitory computer-readable medium, said computer program product used for controlling physically connecting a first and a second module to assemble a vehicle, the vehicle being assembled from a set of modules 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, wherein the first control device is comprised in the first module, said computer program code comprising computer instructions to cause one or more control devices to perform the following operations:
activating a sensor device in the first module;
identifying an area between the two modules by means of the sensor device;
transmitting information about the identified area to the second module;
continuously determining the position of the second module in relation to the first module, by means of the sensor device, while the second module is moving towards the first module, and transmitting the determined position to the second module; and
physically connecting the modules when the second module has reached the first module.

### Claim 9

A first control device for controlling physically connecting a first and a second module to assemble a vehicle, the vehicle being assembled from a set of modules 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, and wherein the first control device is comprised in a first module of the two modules, the first control device being configured to:
activate a sensor device in the first module;
identify an area between the two modules by means of the sensor device;
transmit information about the identified area to the second module;
continuously determine the position of the second module (30, 40) in relation to the first module, by means of the sensor device, while the second module is moving towards the first module, and transmit the determined position to the second module; and
connect the modules when the second module (30, 40) has reached the first module.

### Claim 10 (depends on 9)

The first control device according to claim 9, wherein the first control device is configured to transmit information about the identified area and the determined position to the second module via wireless communication.

### Claim 11 (depends on 9)

The first control device according to claim 9, wherein the first control device is configured to physically connecting the modules by a mechanical interface when the second module has reached the first module.

### Claim 12

A method, performed by a second control device, for controlling physically connecting a first and a second module to assemble a vehicle, the vehicle being assembled from a set of modules 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, wherein the second control device is comprised in the second module, the method comprising:
receiving information from the first module about an identified area between the two modules;
controlling the second module towards the first module based on the received information about the area between the two modules;
continuously receiving information from the first module about the position of the second module in relation to the first module and controlling the second module based on this information; and
physically connecting the modules when the second module has reached the first module.

### Claim 13 (depends on 12)

The method according to claim 12, wherein receiving information from the first module about an identified area between the two modules and about the position of the second module in relation to the first module are performed via wireless communication.

### Claim 14 (depends on 12)

The method according to claim 12, wherein physically connecting the modules when the second module has reached the first module is performed by a mechanical interface.

### Claim 15 (depends on 12)

The method according to claim 12, wherein receiving information from the first module about an identified area between the two modules also comprises receiving the information from a control center arranged in communication with the modules.

### Claim 16 (depends on 12)

The method according to claim 12, wherein continuously receiving information from the first module about the position of the second module in relation to the first module and controlling the second module based on this information also comprises receiving information from a control center arranged in communication with the modules.

### Claim 17 (depends on 12)

The method according to claim 12, further comprising:
receiving information from a control central, the information indicating which module of the vehicle to operate as a master and which module to operate as a slave.

### Claim 18

A computer program product comprising computer program code stored on a non-transitory computer-readable medium, said computer program product used for controlling physically connecting a first and a second module to assemble a vehicle, the vehicle being assembled from a set of modules 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, wherein the second control device is comprised in the second module, said computer program code comprising computer instructions to cause one or more control devices to perform the following operations:
receive information from the first module about an identified area between the two modules;
control the second module towards the first module based on the received information about the area between the two modules;
continuously receive information from the first module about the position of the second module in relation to the first module and controlling the second module based on this information; and
physically connect the modules when the second module has reached the first module.

### Claim 19

A second control device, for controlling physically connecting a first and a second module to assemble a vehicle, the vehicle being assembled from a set of modules 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, and wherein the second control device is comprised in a second module of the two modules, the second control device being configured to:
receive information from the first module about an identified area between the two modules;
control the second module towards the first module (30, 40) based on the received information about the area between the two modules;
continuously receive information from the first module about the position of the second module in relation to the first module and control the second module based on this information; and
physically connect the modules when the second module has reached the first module.

### Claim 20 (depends on 19)

The second control device according to claim 19, wherein the second control device is configured to receive information from the first module, about an identified area between the two modules and about the position of the second module in relation to the first module via wireless communication.

### Claim 21 (depends on 19)

The second control device according to claim 19, wherein the second control device is configured to physically connect the modules by a mechanical interface when the second module has reached the first module.

### Claim 22

A vehicle, being assembled from a set of modules 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 vehicle comprising:
a first control device configured to activate a sensor device in the first module; identify an area between the two modules by means of the sensor device; transmit information about the identified area to the second module; continuously determine the position of the second module in relation to the first module, by means of the sensor device, while the second module is moving towards the first module, and transmit the determined position to the second module; connect the modules when the second module has reached the first module; and
a second control device configured to receive information from the first module about an identified area between the two modules; control the second module towards the first module based on the received information about the area between the two modules; continuously receive information from the first module about the position of the second module in relation to the first module and control the second module based on this information; physically connect the modules when the second module has reached the first module.

### Claim 23

A system for controlling physically connecting two modules of a vehicle, the vehicle being assembled from a set of modules 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 system comprising:
a first control device configured to activate a sensor device in the first module; identify an area between the two modules by means of the sensor device; transmit information about the identified area to the second module; continuously determine the position of the second module in relation to the first module, by means of the sensor device, while the second module is moving towards the first module, and transmit the determined position to the second module; connect the modules when the second module has reached the first module; and
a second control device configured to receive information from the first module about an identified area between the two modules; control the second module towards the first module based on the received information about the area between the two modules; continuously receive information from the first module about the position of the second module in relation to the first module and control the second module based on this information; physically connect the modules when the second module has reached the first module.

### Claim 24 (depends on 23)

A system according to claim 23, wherein the system further comprises a control center arranged in communication with the modules.