DE112019005390T5 - A method, carried out by a control device, for controlling a vehicle position in relation to a platform, control device and vehicle, comprising such a control device - Google Patents

Abstract

The invention relates to a method, carried out by a control device (100), for controlling the position of a vehicle (1) in relation to a platform (8), the vehicle (1) comprising: at least one sensor device (2); at least two front wheels (4); at least two rear wheels (6); and the control device (100). The method comprises: determining (s101) a platform height above a road surface (16) on the platform (8); Determining (s102) an inclination of the platform (8); Controlling (s103) the vehicle (1) so that a floor surface (14) of the vehicle (1) has a level which corresponds to the platform height; and controlling (s104) the vehicle (1) so that the floor surface (14) of the vehicle (1) has an inclination which corresponds to the inclination of the platform (8). The invention also relates to a computer program (P), a computer-readable medium, a control device (100) and a vehicle (1) comprising such a control device (100).

Description

The invention relates to a method, carried out by a control device, for controlling a vehicle position in relation to a platform according to the appended claims. The invention further relates to a computer program, a computer-readable medium, a control device and a vehicle according to the appended claims.

For loading and unloading goods, goods and people on platforms such as B. loading ramps, different types of vehicles are operated. When the vehicle is stopped or parked next to the platform, goods, cargo and passengers can be transferred from the platform or the vehicle through a doorway of the vehicle. In order to facilitate loading and unloading of the vehicle, it is desirable that the floor of the vehicle coincide as closely as possible with the height of the platform surface.

Today's vehicles are typically made for a specific purpose, e.g. B. a bus is made for the transport of people and a truck for the transport of goods. Such vehicles are typically manufactured and fully assembled in a factory, or they are partially assembled in a factory and completed by a bodybuilder. As soon as the vehicle is assembled, it can be used for the respective purpose. A bus can be used as a bus and a truck can be used as a truck for transporting goods. Different vehicles are therefore required for different purposes, which can require a large fleet of vehicles and is very expensive. It may therefore be desirable to be able to adapt a vehicle depending on the intended use.

There are e.g. B. known solutions in which a truck can be converted by replacing a concrete mixer with a loading area. This increases flexibility and two different functions can be implemented with a single vehicle. Document US-2016/0 129 958 A also discloses a modular electric vehicle with interchangeable vehicle body modules. This allows the user to disassemble and reassemble the vehicle for various uses. However, disassembling and assembling such a vehicle would be a very cumbersome and time-consuming job.

In addition, in the event of a defect in one of the known vehicle modules, it can be difficult to replace the defective module, which can result in the vehicle being unusable for a long period of time. Transporting the replacement module to the location of the vehicle with the defective module can also be cumbersome.

SUMMARY

Despite known solutions in the prior art, it is desirable to facilitate the loading and unloading of a vehicle and to minimize the time required for this. In addition, safety should be increased and damage when loading and unloading a vehicle should be minimized.

One object of the invention is to facilitate the loading and unloading of a vehicle and to minimize the time required.

Another object of the invention is to increase safety and minimize damage when loading and unloading a vehicle.

The objects mentioned herein are achieved by a method, carried out by a control device, for controlling a vehicle position in relation to a platform according to the appended claims. The objects mentioned herein are also achieved by a computer program, a computer readable medium, a control device and a vehicle according to the appended claims.

One aspect of the invention relates to a method, carried out by a control device, for controlling a vehicle position in relation to a platform, the vehicle comprising: at least one sensor device; at least two front wheels; at least two rear wheels; and the control device, the method comprising: determining a platform height above a road surface on the platform; Determining a slope of the platform; Controlling the vehicle so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle so that the floor surface of the vehicle has a slope corresponding to the slope of the platform.

Another aspect of the invention relates to a control device for controlling a vehicle position in relation to a platform, the vehicle comprising: at least one sensor device; at least two front wheels; at least two rear wheels; and the control device, wherein the control device is configured to: determine a platform height above a wheel surface on the platform; Determining a slope of the platform; Controlling the vehicle so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle so that the floor surface of the vehicle has a slope that corresponds to the slope of the platform.

Such a method and such a control device facilitate the loading and unloading of the vehicle. The time required is minimized, safety is increased and damage when loading and unloading the vehicle is minimized.

By determining the platform height above a wheel surface and determining any inclination of the platform, the vehicle can be controlled so that the floor surface of the vehicle has a level that corresponds to the platform height and also such that the floor surface of the vehicle has a slope that corresponds to the incline of the platform.

The loading and unloading of goods, goods and passengers on the platform is facilitated if the floor surface of the vehicle has a level and an inclination which correspond to the platform height and the inclination of the platform. The time required to load and unload goods, cargo and passengers on the platform is minimized because the goods and cargo can be easily moved between the surfaces of the vehicle floor and the platform without the need for a lift. Safety is increased and damage to the goods, cargo and passengers is minimized as there is no step between the surfaces of the vehicle floor and the platform.

According to another aspect of the invention there is provided a vehicle assembled from a set of modules. The vehicle comprises at least one drive module and at least one functional module, wherein the at least one drive module comprises the at least two front wheels or the at least two rear wheels and is designed to be operated autonomously and to drive the assembled vehicle. The vehicle further includes a controller as disclosed herein.

Such a vehicle facilitates loading and unloading of the vehicle. The time required is minimized, safety is increased and damage when loading and unloading the vehicle is minimized.

Today's vehicles are typically made for a specific purpose, e.g. B. a bus is made for the transport of people and a truck for the transport of goods. Such vehicles are typically manufactured and fully assembled in a factory, or they are partially assembled in a factory and completed by a bodybuilder. Once the vehicle is assembled, it is only used for the specific purpose. A bus is only used as a bus and a truck for the transport of goods is only used as a truck for the transport of goods. Different vehicles are therefore required for different purposes, which requires a large fleet of vehicles and can be very costly. The assembly of a vehicle from a set of modules according to the invention makes it possible to dynamically assemble a modularized vehicle as a function of a task currently to be carried out or a current function. In this way, a truck, garbage truck, bus or snow plow, for example, can be assembled with the same set of modules. This not only leads to increased flexibility, but also to significantly lower costs for the vehicle owner compared to a large number of different vehicles for different applications. The vehicle is operated autonomously by means of the at least one drive module. By using the at least one autonomously operated drive module, the drive module can also independently / automatically perform the physical and electrical connection / disconnection with a second module. In this way, no manual work is required and the assembly of the vehicle is less cumbersome and significantly more time-saving.

Since the vehicle is set up to be operated autonomously and to drive the assembled vehicle, the platform height above a wheel surface and any inclination of the platform are determined autonomously by the control device of the vehicle. In addition, the vehicle is controlled autonomously in such a way that the floor surface of the vehicle has a level corresponding to the platform height, and also such that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform.

Other objects, advantages, and novel features of the invention will become apparent to those skilled in the art from the following details and practice of the invention. Although the invention is described below, it should be understood that the invention need not be limited to the details specifically described. One skilled in the art having access to the teachings contained herein will recognize additional uses, modifications, and incorporations in other areas that are within the scope of the invention.

Figure list

• 1a und 1b Seitenansichten eines Fahrzeugs schematisch zeigen, das mit einer Steuervorrichtung gemäß einer Ausführungsform ausgebildet ist;
• 2a und 2b Seitenansichten eines Fahrzeugs schematisch zeigen, das mit einer Steuervorrichtung gemäß einer Ausführungsform ausgebildet ist;
• 2c eine Ansicht eines Fahrzeugs von hinten schematisch zeigt, das mit einer Steuervorrichtung gemäß einer Ausführungsform ausgebildet ist;
• 3a und 3b Seitenansichten eines modularisierten Fahrzeugs schematisch zeigen, das mit einer Steuervorrichtung gemäß einer Ausführungsform ausgebildet ist;
• 4 ein mit einer Steuervorrichtung ausgebildetes Antriebsmodul gemäß einer Ausführungsform schematisch zeigt;
• 5a ein Flussdiagramm für ein von einer Steuervorrichtung ausgeführtes Verfahren zum Steuern der Höhe eines modularisierten Fahrzeugs gemäß einer Ausführungsform zeigt;
• 5b ein Flussdiagramm für ein von einer Steuervorrichtung ausgeführtes Verfahren zum Steuern der Höhe eines modularisierten Fahrzeugs gemäß einer Ausführungsform zeigt; und
• 6 eine Steuervorrichtung oder einen Computer gemäß einer Ausführungsform schematisch zeigt.

The following is a description of preferred embodiments, as examples, with reference to the accompanying figures, wherein:

• 1a and 1b Schematically show side views of a vehicle configured with a control device according to an embodiment;
• 2a and 2 B Schematically show side views of a vehicle configured with a control device according to an embodiment;
• 2c a view of a vehicle from the rear schematically, which is formed with a control device according to an embodiment;
• 3a and 3b Schematically show side views of a modularized vehicle configured with a control device according to an embodiment;
• 4th schematically shows a drive module formed with a control device according to an embodiment;
• 5a FIG. 11 shows a flow diagram for a method performed by a controller for controlling the height of a modularized vehicle in accordance with an embodiment; FIG.
• 5b FIG. 11 shows a flow diagram for a method performed by a controller for controlling the height of a modularized vehicle in accordance with an embodiment; FIG. and
• 6th schematically shows a control device or a computer according to an embodiment.

Detailed description

The method carried out by a control device for controlling a vehicle position with respect to a platform will facilitate the loading and unloading of the vehicle and minimize the time for loading and unloading. It also increases safety and minimizes damage when loading and unloading the vehicle.

Modularized vehicles are typically assembled at the customer's site and the customer can therefore purchase a set of modules from a manufacturer. The assembled vehicle can consist of at least two modules, including at least one drive module and at least one functional module. Such a modularized vehicle is applicable to all types of road vehicles and thus can relate to heavy vehicles such as buses, trucks, etc., which are used on public roads.

According to one aspect, the present disclosure relates to a method, carried out by a control device, for controlling a vehicle position with respect to a platform, the vehicle comprising: at least one sensor device; at least two front wheels; at least two rear wheels; and the control device, the method comprising: determining a platform height above a road surface on the platform; Determining a slope of the platform; Controlling the vehicle so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle so that the floor surface of the vehicle has a slope that corresponds to the slope of the platform.

Such a method facilitates loading and unloading of the vehicle. Time is minimized, safety is increased and damage when loading and unloading the vehicle is minimized.

By determining the platform height above a road surface and determining any inclination of the platform, the vehicle is controlled in such a way that the floor surface of the vehicle has a level that corresponds to the platform height and also such that the floor surface of the vehicle has a slope that corresponds to the incline of the platform.

Based on the determined platform height above a road surface and the determined inclination of the platform, the vehicle level and the inclination are controlled when the vehicle is moving towards the platform or when the vehicle has stopped next to the platform. The vehicle level is controlled in such a way that a certain component of the vehicle changes height. The level of the platform surface above the road surface can be the same level as the platform height above the road surface. The level of the floor surface above the road surface can be the same level as a floor surface height above the road surface.

The definition that a floor surface of the vehicle has a level corresponding to the platform height includes that the level and the height exactly match, or that there is a difference between the level and the height. The difference between the level and the height can be very small and does not affect getting in and out of the vehicle or loading and unloading the vehicle.

The vehicle can be designed with a passenger compartment to accommodate passengers and thus function as a bus. According to another example, the vehicle can be designed with a loading space for receiving cargo, goods and freight and thus function as a truck.

The determined platform height above the road surface on the platform is compared with the actual vehicle floor level in relation to the road surface. The vehicle floor level that is present when the vehicle approaches the platform is a Vehicle floor level used when driving the vehicle under normal driving conditions. However, the level of the vehicle floor used when driving the vehicle under normal driving conditions may vary depending on the weight of the passengers and / or the goods loaded in the vehicle. The vehicle floor level of the vehicle, which is present when the vehicle approaches the platform, is detected with the aid of any sensor device for the height. The sensor device can also be used in controlling the vehicle floor level prior to arriving at the platform so that the floor surface of the vehicle has a level that corresponds to the height of the platform surface. The determination of the platform height above a road surface on the platform is based on the detected height information from any height or position sensor device. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of determining the platform height. The determination of the inclination of the platform is based on detected inclination information from any inclination sensor device. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of the determination of the inclination of the platform. The sensor devices also detect an outer edge of the platform and give signals to the control unit in order to control the vehicle in such a way that an outer edge of the floor surface of the vehicle is positioned parallel to the outer edge of the platform.

The control device provided in the vehicle is set up to receive commands and instructions from a control center or an off-board system and the commands / instructions for controlling the vehicle level and the inclination with respect to the road surface on the basis of data from the sensor device executes. The vehicle can be operated autonomously in order to determine the platform height above a road surface on the platform; determine the inclination of the platform; control the vehicle such that a floor surface of the vehicle has a level corresponding to the platform height; and control the vehicle such that the floor surface of the vehicle has a slope that corresponds to the slope of the platform.

The control of the vehicle level with respect to the road surface according to the method is carried out by the control device provided in the vehicle without instructions from the control center.

In one aspect, controlling the vehicle so that the floor surface of the vehicle has an inclination that corresponds to the inclination of the platform further comprises controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a lateral direction of the vehicle.

Determining an inclination of the platform surface can lead to the result that the platform surface has an inclination with respect to a horizontal plane. The platform surface can slope in any direction on a horizontal plane. Controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a transverse direction of the vehicle can result in the floor surface of the vehicle being able to have a corresponding inclination to the inclination of the platform. The vehicle may include a sensor device, such as a level sensor, connected to the control device. The sensor device can detect the inclination of the vehicle.

According to one aspect, controlling the vehicle includes controlling an individually controllable wheel suspension of at least one wheel.

The suspension of the vehicle is arranged between each wheel and a body of the vehicle. The wheel suspension can include springs and dampers to improve the driving characteristics of the vehicle. The suspension of the vehicle may comprise adjustment means for controlling the level of the vehicle upon arrival at the platform. The control device receives information about the platform and the road surface on the platform. The control device is then set up to control the adjustment means of each wheel suspension individually in order to adjust the vehicle with respect to the platform. The road surface on the platform can have a curvature and have troughs which the individually controllable wheel suspension of at least one wheel can compensate for. The suspension system can also be controlled such that an outer edge of the platform is arranged parallel to an outer edge of the floor surface of the vehicle.

In one aspect, controlling the vehicle includes controlling an individual suspension of at least one wheel so that the floor surface of the vehicle coincides with a platform surface in a common plane.

The control device receives information about the platform height and the inclination of the platform surface above the road surface on the platform from the one or more sensor device (s). The control device then controls the adjustment means of each wheel suspension individually to adjust the vehicle level and inclination according to the platform height and the inclination of the platform surface. The vehicle can have at least four wheels, each of which is designed with an individually controlled wheel suspension. Controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a transverse direction of the vehicle is possible when the wheels are in the range of e.g. B. each corner of the vehicle are arranged. The individual adjustment of the distance between each wheel and the vehicle body and thus the distance between the road surface and the floor surface of the vehicle leads to such an adjustment of the level and the inclination of the floor surface of the vehicle that there is a correspondence with the platform height and the inclination of the platform surface . Matching the level and the inclination of the floor surface of the vehicle to the platform height and the inclination of the platform surface results in the floor surface of the vehicle coinciding with a platform surface in a common plane.

According to one aspect, determining a platform height comprises determining the platform height by means of the at least one sensor device.

To determine the platform height, at least one sensor device is arranged on the vehicle. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of the determination of the platform height. The sensor device is connected to the control device and provides the control device with information about the platform height. When the vehicle approaches the platform, the sensor device detects the platform height. Signals from the sensor device are transmitted to the control device. Based on the information from the sensor device, the control unit controls the vehicle so that the floor surface of the vehicle has a level that corresponds to the platform height. Several sensor devices for determining the platform height are arranged on the vehicle. A sensor device is arranged in the front area of the vehicle. Another sensor device is arranged at the rear of the vehicle and two further sensor devices are arranged on each side of the vehicle.

Signals from the sensor, which include the information about the platform height above the road surface at the destination, are received by the control device in the vehicle. The control device is set up to control the vehicle height when approaching the platform in such a way that the floor surface of the vehicle has a level which corresponds to the height of the platform surface. The control device is set up to check whether the level of the floor surface of the vehicle corresponds to the height of the platform surface when the vehicle is in the vicinity of the platform or adjacent to the platform. The control of the level of the floor surface by the control device may set a number of software flags of the control device. If the control device determines that the floor surface level is higher than the platform height, the control device sets a first marker in a software of the control device. If the control device determines that the floor surface level is lower than the platform height, the control device sets a second flag in the software of the control device. If the control device determines that the floor surface level already corresponds to the platform height, the control device sets a third marker in the software of the control device. Depending on the marking set, the control device controls the vehicle to a floor surface level that corresponds to the platform height at the destination, so that a floor surface of the vehicle has a level that corresponds to the height of the platform surface. The definition of the expression that the floor surface of the vehicle matches the height of the platform surface is that there is a small margin of error between the level of the floor surface and the height of the platform surface.

According to one aspect, controlling the vehicle so that the floor surface of the vehicle has an inclination that corresponds to the inclination of the platform comprises determining the inclination of the floor surface by means of a level sensor and determining the inclination of the platform by means of the at least one sensor device.

The vehicle may have a sensor device such. B. a level sensor, which is connected to the control device. The sensor device can detect the inclination of the vehicle and transmit the information to the control device. At least one sensor device for determining the inclination of the platform is arranged on the vehicle. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of the determination of the inclination of the platform. The sensor device is connected to the control device and provides the control device with information about the inclination of the platform. Determining an inclination of the platform surface can result in the platform surface having an inclination with respect to a horizontal plane. The platform surface can have an incline in any Have direction of a horizontal plane. When the vehicle approaches the platform, the sensor device detects the inclination of the platform. Signals from the sensor device are transmitted to the control device. Several sensor devices for determining the inclination of the platform are arranged on the vehicle. A sensor device is arranged on the front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two further sensor devices are arranged on each side of the vehicle. Based on the information from the sensor device, the control unit is set up to control the vehicle in such a way that the floor surface of the vehicle has an inclination which corresponds to the inclination of the platform.

According to one aspect, the method comprises the further step of determining the distance between the vehicle and the platform by means of the at least one sensor device.

When the vehicle approaches the platform, the at least one sensor device detects the platform. The at least one sensor device transmits the detected signals from the platform to the control device. The control device uses these signals to determine the distance between the vehicle and the platform. Based on the determined distance between the vehicle and the platform, the control device controls the vehicle in such a way that it drives to a position next to the platform.

According to one aspect, the method comprises the further step of determining the shape of the road surface by means of the at least one sensor device.

The road surface on the platform can have a curvature, depressions and elevations that can influence the position of the vehicle in relation to the platform. At least one sensor device for determining the shape of the road surface is arranged on the vehicle. The sensor device can detect the curvature and any depressions in the road surface on the platform. The sensor device can also detect elevations or bumps in the roadway on the platform. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of the determination of the shape of the road surface. The sensor device is connected to the control device and provides the control device with information about the shape of the road surface. When the vehicle approaches the platform, the sensor device detects the shape of the road surface on the platform. Signals from the sensor device are transmitted to the control device. Based on the information from the sensor device, the control device can control the vehicle in such a way that the floor surface of the vehicle has a level and an inclination which correspond to the platform height and inclination. Several sensor devices for determining the shape of the road surface can be arranged on the vehicle. A sensor device is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two further sensor devices are arranged on each side of the vehicle. Another sensor device for determining the shape of the roadway is arranged on the underside of the vehicle.

According to one aspect, the method comprises the further step of determining any obstacle above or next to the road surface in front of the platform by means of the at least one sensor device.

When approaching the platform, the vehicle can collide with obstacles above or next to the road surface in front of the platform. Such obstacles can e.g. B. be a blanket over and in front of the platform. Such obstacles can also be another vehicle parked on the platform. At least one sensor device is arranged on the vehicle, which determines any obstacles above or next to the road in front of the platform. The sensor device can detect the obstacles above or next to the road in front of the platform. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of the determination of any obstacles above or next to the roadway in front of the platform. The sensor device is connected to the control device and provides the control device with information about possible obstacles above or next to the roadway in front of the platform. When the vehicle approaches the platform, the sensor device detects any obstacles above or next to the road in front of the platform. The signals from the sensor device are transmitted to the control device. Based on the information from the sensor device, the control device is set up to control the vehicle in such a way that the vehicle avoids the detected obstacles. Several sensor devices for determining obstacles can be arranged on the vehicle above or next to the road in front of the platform. A sensor device is arranged on the front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two further sensor devices are arranged on the sides of the vehicle.

According to one aspect, the method comprises the further step of receiving information about the platform height and the inclination of the platform from another vehicle.

Other vehicles may have visited the location of the platform and registered and stored information about the platform height above the road surface and the inclination of the platform. The information about the platform height above the road surface and the inclination of the platform are received by such another vehicle before the vehicle arrives at the destination. The information can be received shortly before the vehicle arrives at the destination. As soon as there is a change in the platform height above the roadway or the inclination of the platform, the vehicle can receive updated information on the platform height and the inclination of the platform. A change in the platform height above the road surface and a change in the inclination of the platform can take place due to a reconstruction of the road and / or the platform.

The vehicle height and inclination are controlled before reaching the destination. The vehicle height and inclination are controlled so that a particular component of the vehicle changes height. The vehicle height and inclination can be controlled before reaching the destination so that the floor surface of the vehicle can have a level above the road surface and an inclination which corresponds to the level of the platform surface above the road surface and the inclination of the platform at the destination. The level of the platform surface above the road surface can be the same level as the platform height above the road surface. The level of the floor surface above the road surface can be the same level as a floor surface height above the road surface.

Alternatively or additionally, the information about the platform height and the inclination of the platform is received from an external control center. The control device contained in the vehicle is set up to receive information, commands and instructions from the control center or an external system and to execute the commands / instructions for controlling the vehicle height and inclination according to the platform height and inclination at the destination.

In addition, a door actuator is activated to open at least one door of the vehicle. The door is opened after verifying that the floor surface of the vehicle has a height and slope equal to the height and slope of the platform surface. The door actuator is controlled by the control device in the vehicle. If the doors of the vehicle are opened when there is a difference between the floor area level and the platform height, the doors can be obstructed by the platform, which can lead to a technical malfunction of the doors and / or the door actuators. By opening the doors after ensuring that the floor surface level of the vehicle corresponds to the platform height, passengers can get on and off the vehicle safely and comfortably. In addition, loads and goods can be safely loaded and unloaded from the vehicle when the doors are opened after checking that the floor surface of the vehicle is at a level and inclination corresponding to the height and inclination of the platform surface.

The present disclosure also relates to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method disclosed above. The invention further relates to a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method disclosed above.

The present disclosure further relates to a control device for controlling a vehicle position in relation to a platform, the vehicle comprising: at least one sensor device; at least two front wheels; at least two rear wheels; and the control device, wherein the control device is set up for the following: determining a platform height above a road surface on the platform; Determining a slope of the platform; Controlling the vehicle so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the vehicle so that the floor surface of the vehicle has a slope that corresponds to the slope of the platform.

Such a control device facilitates loading and unloading of the vehicle. The time required is minimized, safety is increased and damage when loading and unloading the vehicle is minimized.

The control device is set up to determine the platform height above a road surface and any inclination of the platform. Based on this determination, the control device is set up to control the vehicle in such a way that the floor surface of the vehicle can have a level corresponding to the platform height, and also such that the floor surface of the vehicle has an inclination which corresponds to the inclination of the platform.

Based on the determined platform height above a road surface and the determined inclination of the platform, the control device is configured to control the vehicle so that the level of the floor surface of the vehicle and the inclination of the floor surface of the vehicle are controlled when the vehicle is moving in the direction of the Platform moved or when the vehicle has stopped next to the platform. The control device is configured to control the level of the floor surface of the vehicle and the inclination of the floor surface of the vehicle so that a certain component of the vehicle changes the height. The level of the platform surface above the road surface can be the same level as the platform height above the road surface. The level of the floor surface above the road surface can be the same level as a floor surface height above the road surface.

The vehicle can be designed with a passenger compartment to accommodate passengers and thus function as a bus. According to another example, the vehicle can be designed with a loading space for receiving cargo, goods and freight and thus function as a truck.

The control device provided in the vehicle is set up to receive commands and instructions from a control center or an off-board system and to execute the commands / instructions for controlling the vehicle level and the inclination with respect to the road surface based on data from the sensor device. The vehicle can be operated autonomously by the control device in order to determine the platform height above a road surface on the platform; determine the inclination of the platform; control the vehicle such that a floor surface of the vehicle has a level corresponding to the platform height; and control the vehicle such that the floor surface of the vehicle has a slope that corresponds to the slope of the platform.

The control device provided in the vehicle is set up to control the floor surface level in relation to the height of the platform surface without instructions from the control center.

According to one aspect, the control device, which is configured to control the vehicle such that the floor surface of the vehicle has an inclination that corresponds to the inclination of the platform, comprises controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a lateral direction of the Vehicle.

The control device is set up to determine any inclination of the platform surface. It can be determined that the platform surface is inclined with respect to a horizontal plane. The platform surface can be inclined in any direction of a horizontal plane. The control device is designed to control the inclination of the vehicle in a longitudinal direction of the vehicle and in a transverse direction of the vehicle in such a way that the floor surface of the vehicle has an inclination corresponding to the inclination of the platform. The vehicle may have a sensor device such. B. a leveling element, which is connected to the control device. The level sensor can detect the inclination of the vehicle and send signals about the detection to the control unit.

According to one aspect, the control device, which is designed to control the vehicle, comprises controlling an individually controllable wheel suspension of at least one wheel.

The control device receives information transmitted by a sensor device about the platform and the road surface on the platform. The control device then controls the adjustment means of each wheel suspension individually in order to adjust the vehicle with respect to the platform. The road surface on the platform can have curvatures, depressions and elevations that the individually controllable wheel suspension of at least one wheel can compensate for.

According to one aspect, the control device, which is set up to control the vehicle, comprises controlling an individually controllable wheel suspension of at least one wheel, so that the floor surface of the vehicle coincides with a platform surface in a common plane.

The control device receives information about the platform height and the inclination of the platform surface above the road surface on the platform from the sensor device. The control device then controls the adjustment means of each wheel suspension individually in order to adjust the vehicle level and the inclination in accordance with the platform height and the inclination of the platform surface. The vehicle can have at least four wheels, each of which is provided with an individually controlled wheel suspension. Controlling the inclination of the vehicle in a longitudinal direction of the vehicle and in a transverse direction of the vehicle is possible when the wheels are in the range of e.g. B. each corner of the vehicle are arranged. By individually adjusting the distance between each wheel and the body of the vehicle and thus the distance between the road surface and the floor surface of the vehicle, the height and inclination of the floor surface of the vehicle is adapted to the platform height and the inclination of the platform surface. Customizing of the level and the inclination of the floor surface of the vehicle to the platform height and the inclination of the platform surface leads to the fact that the floor surface of the vehicle lies in a plane common to the platform surface.

According to one aspect, the control device, which is set up to determine a platform height, comprises determining the platform height with the aid of the at least one sensor device.

To determine the platform height, at least one sensor device is arranged on the vehicle. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of determining the platform height. The sensor device is connected to the control device and provides the control device with information about the platform height. When the vehicle approaches the platform, the sensor device detects the platform height. Signals from the sensor device are transmitted to the control device. Based on the information from the sensor device, the control device can control the vehicle in such a way that the floor surface of the vehicle has a level that corresponds to the platform height. A large number of sensor devices for determining the platform height are arranged on the vehicle. A sensor device is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two further sensor devices are arranged on each side of the vehicle.

The signal with the information about the platform height above the road surface at the destination is received by the control device in the vehicle. The control device is designed to control the vehicle height when approaching the platform in such a way that the floor surface of the vehicle has a level that corresponds to the height of the platform surface. The control device is designed to check whether the level of the floor surface of the vehicle corresponds to the height of the platform surface when the vehicle is in the vicinity of the platform or next to the platform. The definition of the expression that the floor surface of the vehicle matches the height of the platform surface is that there is a small margin of error between the level of the floor surface and the height of the platform surface.

According to one aspect, the control device, which is configured to control the vehicle in such a way that the floor surface of the vehicle has an inclination that corresponds to the inclination of the platform, comprises determining the inclination of the floor surface by means of a level sensor and determining the inclination of the platform by means of the at least one sensor device.

The vehicle may have a sensor device such. B. a level sensor, which is connected to the control device. The sensor device can detect the inclination of the vehicle and transmit the information to the control device. At least one sensor device for determining the inclination of the platform is arranged on the vehicle. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of the determination of the inclination of the platform. The sensor device is connected to the control device and provides the control device with information about the inclination of the platform. Determining a slope of the platform surface can result in the platform surface being inclined with respect to a horizontal plane. The platform surface can be inclined in any direction of a horizontal plane. When the vehicle approaches the platform, the sensor device detects the inclination of the platform. Signals from the sensor device are transmitted to the control device. Several sensor devices for determining the inclination of the platform are arranged on the vehicle. A sensor device is arranged on the front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two further sensor devices are arranged on each side of the vehicle. Based on the information from the sensor device, the control device is set up to control the vehicle in such a way that the floor surface of the vehicle has an inclination which corresponds to the inclination of the platform.

According to one aspect, the control device is also set up to determine the distance between the vehicle and the platform by means of the at least one sensor device.

When the vehicle approaches the platform, the at least one sensor device detects the platform. The at least one sensor device transmits the detected signals from the platform to the control device. Based on these signals, the control device is set up to determine the distance between the vehicle and the platform. Based on the determined distance between the vehicle and the platform, the control device is set up to control the vehicle in such a way that it drives into a position next to the platform.

According to one aspect, the control device is further configured to take the shape of the Determine road surface by means of the at least one sensor device.

The road surface on the platform can have a curvature, depressions and elevations that can influence the position of the vehicle in relation to the platform. At least one sensor device for determining the shape of the road surface is arranged on the vehicle. The sensor device can detect the curvature and any depressions in the road surface on the platform. The sensor device can also detect elevations or bumps in the roadway on the platform. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of the determination of the shape of the road surface. The sensor device is connected to the control device and provides the control device with information about the shape of the road surface. When the vehicle approaches the platform, the sensor device detects the shape of the road surface on the platform. Signals from the sensor device are transmitted to the control device. Based on the information from the sensor device, the control device is set up to control the vehicle in such a way that the floor surface of the vehicle has a level and an inclination which correspond to the platform height and inclination. Several sensor devices for determining the shape of the road surface are arranged on the vehicle. A sensor device is arranged in front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two further sensor devices are arranged on each side of the vehicle. Another sensor device for determining the shape of the road surface is arranged on the underside of the vehicle.

According to one aspect, the control device is also set up to determine any obstacles above or next to the road surface in front of the platform by means of the at least one sensor device.

When approaching the platform, the vehicle in front of the platform can collide with obstacles above or next to the roadway. Such obstacles can e.g. B. be a blanket over and in front of the platform. Such obstacles can also be another vehicle parked on the platform. At least one sensor device is arranged on the vehicle, which detects possible obstacles above or next to the roadway in front of the platform. The sensor device can detect the obstacles in front of the platform above or next to the roadway. Such a sensor device can be a laser sensor, an ultrasonic sensor, a radar, a lidar or the like. Such sensor devices can also be combined on the vehicle in order to increase the accuracy of the determination of any obstacles in front of the platform above or next to the roadway. The sensor device is connected to the control device and provides the control device with information about possible obstacles above or next to the roadway in front of the platform. When the vehicle approaches the platform, the sensor device detects any obstacles above or next to the road in front of the platform. Signals from the sensor device are transmitted to the control device. Based on the information from the sensor device, the control device is set up to control the vehicle in such a way that the vehicle avoids the detected obstacles. Several sensor devices for determining obstacles are arranged above or next to the road in front of the platform on the vehicle. A sensor device is arranged on the front of the vehicle. Another sensor device is arranged at the rear of the vehicle and two further sensor devices are arranged on each side of the vehicle.

According to one aspect, the control device is further designed to receive information about the platform height and the inclination of the platform from another vehicle.

The information about the platform height above the road surface and the inclination of the platform can be received by another vehicle before the vehicle arrives at the destination. The information can be received shortly before the vehicle arrives at the destination. As soon as the platform height above the road surface changes or the incline of the platform is changed, the vehicle can receive updated information on the platform height and the inclination of the platform. A change in the platform height above the road surface and a change in the inclination of the platform can take place due to a reconstruction of the road and / or the platform.

The control device is set up to control the vehicle height and inclination before arriving at the destination. The vehicle's height and inclination are controlled so that a particular component of the vehicle changes its height. The control device can be designed to control the vehicle height and inclination before reaching the destination, so that the floor surface of the vehicle can have a level above the road surface and an inclination which is the level of the platform surface above the road surface and the inclination of the platform at the destination. The level of the platform surface above the road surface is equal to the platform height above the road surface. The level of the floor surface above the road surface is equal to the height of the floor surface above the road surface.

Alternatively or additionally, the information about the platform height and the inclination of the platform from the control device in the vehicle can be received from an external control center. The control device in the vehicle is set up to receive information, commands and instructions from the control center or an external system and to execute the commands / instructions for controlling the vehicle height and inclination according to the platform height and inclination at the destination.

In addition, the control device is set up to control a door actuator for opening at least one door of the vehicle. The door is opened after verifying that the floor surface of the vehicle is at a height and slope equal to the platform height and slope. If the doors of the vehicle are opened when there is a difference between the floor area level and the platform height, the doors can be obstructed by the platform, which can lead to a technical malfunction of the doors and / or the door drives. Opening the doors after it has been ensured that the floor surface level of the vehicle corresponds to the platform height can enable passengers to get in and out of the vehicle safely and comfortably. In addition, loads and goods can be safely loaded and unloaded from the vehicle when the doors are opened after checking that the floor surface of the vehicle is at a level and inclination corresponding to the height and inclination of the platform surface.

The present disclosure further relates to a vehicle having at least one sensor device, at least two front wheels; and comprises at least two rear wheels, the vehicle comprising the control device mentioned herein.

The vehicle is applicable to all types of road vehicles and thus can refer to heavy vehicles such as buses, trucks, etc., which can be used on public roads. The vehicle can also be a boat or a ship and also an airplane. The control unit, which is located in the vehicle, is set up to carry out the method steps and actions mentioned herein. The control unit can be set up to operate the vehicle autonomously.

According to one aspect, the vehicle is a modular vehicle that comprises at least one drive module and at least one functional module, wherein the at least one drive module comprises the at least two front wheels or the at least two rear wheels and is set up to be operated autonomously and to drive the assembled vehicle.

The modularized vehicle is applicable to all types of road vehicles and thus can refer to heavy vehicles such as buses, trucks, etc. that can be used on public roads. The control unit, which is located in the modularized vehicle, is set up to carry out the method steps and activities mentioned here. The control unit can be set up to operate the modularized vehicle autonomously.

The loading and unloading of such a modularized vehicle is simplified. The time required is minimized, safety is increased and damage when loading and unloading such a modularized vehicle is minimized.

At least one drive module is used together with various function modules. The function modules are designed for specific purposes. By combining a drive module with a suitable function module, it is therefore possible to design a vehicle individually depending on the intended use. A function module is prepared to carry out a specific function, and the autonomously operated drive module can be connected to the function module in order to obtain an assembled vehicle which is adapted for a specific use. For example, the at least one functional module is designed with a passenger compartment for accommodating passengers and can thus function as a bus when it is assembled with the at least one drive module. According to another example, the at least one functional module is designed with a loading space for receiving cargo and goods and can thus function as a truck when it is assembled with the at least one drive module.

The at least one drive module and thus the assembled vehicle can be set up for autonomous operation. The control device comprised by the functional module is set up to receive commands and instructions from a control center or an offboard system and to execute the commands / instructions for driving the vehicle and also for controlling the vehicle height in relation to the road surface. In this way, the assembled vehicle can on the basis of the received commands and Driving instructions yourself. The control device, which is comprised by one of the modules, can control the assembled vehicle in such a way that it is also driven or operated autonomously on the basis of data from the at least one sensor device, taking into account situations that may occur during transport. The autonomous operation of the modularized vehicle can therefore determine a platform height above a road surface on the platform; determining a slope of the platform; controlling the modularized vehicle so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the modularized vehicle so that the floor surface of the modularized vehicle has a slope that corresponds to the slope of the platform. Controlling the modularized vehicle so that a floor surface of the vehicle has a level corresponding to the platform height; and controlling the modularized vehicle so that the floor surface of the modularized vehicle has an inclination corresponding to the inclination of the platform can be carried out by a control device comprised by one of the modules without instructions from the control center.

The functional module is designed to be detachably connected to the drive module in order to form the assembled vehicle. The drive module comprises a pair of wheels and is designed to be operated autonomously and to drive the assembled vehicle when the drive module and a functional module are connected. The functional module comprises at least one connecting means which is designed to physically connect the functional module to the drive module. The functional module can also include wheels.

The connection means may comprise a physical interface for the purpose of physically connecting and disconnecting the modules. The drive module and the functional module expediently each comprise at least one physical interface for physically connecting and disconnecting the modules. The physical interface on the drive module is connected to the control device, which is configured to control the physical interface on the drive module for physically connecting and disconnecting the modules. The functional module is designed with a recess. The recess is adapted for the drive module. Due to the recess, the length of the assembled vehicle corresponds to the length of the functional module. The functional module can, however, also be designed without a recess and the drive module can be connected directly to the front or the rear of the functional module.

The drive module may include a suspension system disposed between each of the wheels and a body of the drive module. The suspension system can comprise springs and dampers for influencing the driving properties of the drive module and also of the assembled vehicle. The suspension system of the drive module can comprise adjustment means for controlling the level of the vehicle as it approaches the platform. The control device is connected to the adjustment means of the suspension system. The control device can receive information about the platform height above the road surface at a destination. The control device is set up to control the adjustment means of the suspension system based on the information about the platform height above the road surface at a destination in order to adjust the vehicle level before arriving at the destination. The control device is set up to control the adjustment means of each wheel suspension individually in order to adjust the vehicle with respect to the platform.

The present disclosure will now be explained in more detail with reference to the accompanying figures.

1a shows schematically a side view of a vehicle 1 that with a control device 100 is designed according to one embodiment. The vehicle 1 comprises at least one sensor device 2 , at least two front wheels 4th and at least two rear wheels 6th . The vehicle 1 is in 1a next to or in front of a platform 8th arranged. In a body 11 of the vehicle 1 is a doorway 10 arranged. Through the doorway 10 of the vehicle 1 goods, cargo and passengers are removed from the platform 8th or the vehicle 1 to hand over. The vehicle 1 includes a floor 12th with a floor area 14th . The control device 100 is for controlling the vehicle's position in relation to the platform 8th furnished. The control device 100 is set up to be a platform height above a road surface 16 at the platform 8th to determine and also a slope of the platform 8th to determine. The control device 100 receives from a sensor device 2 Information about the position of the vehicle in relation to the platform 8th . Based on the signals from the sensor device 2 is the control device 100 set up for this purpose, a platform height above a road surface 16 at the platform 8th to determine and a slope of the platform 8th to determine. The vehicle 1 comprises the sensor device 2 . The control device 100 However, the information can alternatively also be received from a sensor device arranged on another vehicle. The sensor device 2 can be set up to detect objects in the vicinity of the vehicle 1 capture. The sensor device 2 is with the control device 100 connected and transmitted to the control device 100 Signals about the position of objects in the vicinity. The sensor device 2 can be the shape of the platform 8th capture, such as B. the height, the inclination and a possible curvature of the platform 8th . The sensor device 2 can also be the distance between the vehicle 1 and the platform 8th to capture. The control device 100 is set up to use the inputs of the sensor device 2 the platform height and the incline of the platform 8th definitely. The sensor device 2 can change the shape of the road surface 16 in the area of the platform 8th to capture. Together with the control device 100 is the sensor device 2 set up the shape of the road surface 16 to determine. The sensor device 2 can be possible obstacles 18th above or next to the road surface 16 in front of the platform 8th detect. The sensor device 2 is together with the control device 100 set up to determine whether it is above or next to the road surface 16 in front of the platform 8th Obstacles 18th condition. In 1 instructs the platform 8th an inclination α with respect to the road surface 16 at the platform 8th on. The floor area 14th of the vehicle 1 has a different level and inclination with respect to the height and inclination α of the platform 8th .

1b shows schematically a side view of the vehicle 1 that with a control device 100 is designed according to one embodiment. In 1b became the vehicle 1 controlled so that the floor area 14th of the vehicle 1 has a level corresponding to the platform height. In addition, the vehicle was 1 controlled so that the floor area 14th of the vehicle 1 an inclination α in the longitudinal direction of the vehicle 1 having the inclination α of the platform 8th is equivalent to. The inclination α of the vehicle 1 is in a longitudinal direction of the vehicle 1 and in a lateral direction of the vehicle 1 controlled. The control device 100 is set up for this, an individually controllable wheel suspension 20th the wheels of the vehicle 1 to control. Every wheel of the vehicle 1 is with such an individually controllable wheel suspension 20th Mistake.

The vehicle 1 includes a level sensor 22nd showing the slope of the floor surface 14th in the vehicle 1 recorded. The level sensor 22nd is with the control device 100 connected. The control device 100 is set up for this, based on the inputs of the level sensor 22nd the slope of the floor surface 14th in the vehicle 1 to determine.

If information about the inclination of the platform 8th and the slope of the floor surface 14th is present, the vehicle will 1 by the control device 100 controlled so that the floor area 14th of the vehicle 1 has a slope equal to the slope of the platform 8th is equivalent to.

The control device 100 is set up for this, an individually controllable wheel suspension 20th control at least one wheel. About the suspension 20th each wheel becomes the position of the body 11 of the vehicle 1 set in relation to the wheels. By adjusting the position of the body 11 of the vehicle 1 can also change the position of the floor area 14th of the vehicle 1 can be set. The control device 100 is set up for this purpose, the individually controllable wheel suspensions 20th to steer the wheels in such a way that the floor area 14th of the vehicle 1 with a platform surface 9 coincides in a common plane. The control device 100 is also set up to provide information about the platform height and the inclination of the platform 8th from another vehicle 21 to recieve. The information about the platform height and the inclination of the platform 8th can be done wirelessly directly from the other vehicle or via a control center 24 be received. The control device 100 is also set up to provide information about the platform height and the inclination of the platform 8th from a control center 24 to recieve.

the 2a and 2 B show schematically side views of a vehicle 1 , according to one embodiment with a control device 100 is provided. In 2a the vehicle approaches 1 the platform 8th . With the vehicle 1 it can be a bus, truck, or other heavy vehicle. The height and slope of the platform 8th is made with the help of the sensor device 2 definitely. In addition, the shape of the road surface 16 with the aid of the at least one sensor device 2 definitely. The platform 8th in 2a has an inclination β with respect to a horizontal plane.

In 2 B has the vehicle 1 the platform 8th reached and got next to the platform 8th parked. Based on the information from the sensor device 2 the control unit has the vehicle 1 controlled so that a floor area 14th of the vehicle 1 has a level corresponding to the platform height; and that the floor area 14th of the vehicle 1 has a slope β that corresponds to the slope β of the platform 8th is equivalent to. In this position there will be a door 26th the door opening 10 open. However, it is possible that the floor area 14th of the vehicle 1 has an inclination which is smaller than the inclination β of the platform 8th to maneuver a pallet loader inside the vehicle 1 to facilitate.

2c shows schematically a view of the vehicle 1 from behind, according to one embodiment with a control device 100 is trained. The platform 8th in 2c has in addition to the slope β in 2a and 2 B an inclination α with respect to a horizontal plane. The vehicle 1 was controlled in such a way that the floor area 14th of the vehicle 1 in addition to the inclination β in the longitudinal direction of the vehicle 1 has a slope α in the lateral direction.

3a shows schematically a side view of a modular vehicle 1 , the two drive modules 30th and a function module 40 comprises that with a control device 100 is designed according to one embodiment.

The vehicle 1 can be a modular vehicle 1 be the at least one drive module 30th and comprises at least one functional module. The modular vehicle 1 can only be a drive module 30th include. Depending on the direction of travel, the drive module includes 30th two front wheels 4th or two rear wheels 6th . The modular vehicle 1 however, it can also have two drive modules 30th include, one of which is the drive modules 30th the two front wheels 4th and the other drive module 30th the two rear wheels 6th includes. The modular vehicle 1 is set up to be operated autonomously and the assembled vehicle 1 to drive.

The drive modules 30th are set up to do this with the function module 40 to form the assembled vehicle 1 to be releasably connected. In 3a are the drive modules 30th and the function module 40 not connected to each other. Every drive module 30th includes a pair of wheels 48 and is set up to be operated autonomously and the assembled vehicle 1 to drive when the drive modules 30th and a function module 40 are connected. The pairs of wheels 48 of the drive module 30th correspond to the at least two front wheels 4th or the at least two rear wheels 6th of the vehicle 1 . The functional module 40 comprises at least one connecting means 42 which is set up for this purpose, the function module 40 with the drive module 30th physically connect. The control device 100 is in any of the modules 30th , 40 intended. So can the control device 100 in each of the drive modules 30th be provided. Alternatively, the control device 100 also in the function module 40 be provided.

The lanyard 42 can be a physical interface 42 for physically connecting and disconnecting the modules 30th , 40 include. The drive module 30th and the function module 40 expediently each comprise at least one physical interface 42 for physically connecting and disconnecting the modules 30th , 40 . The physical interface 42 on the drive module 40 is with the control device 100 connected, which is set up, the physical interface 42 on the drive module 30th for physically connecting and disconnecting the modules 30th , 40 to control. The functional module 40 in 1 is with a recess 46 designed for each drive module 30th is adapted. Through the deepening 46 is the length of the assembled vehicle correct 1 with the length of the function module 40 match. The functional module 40 but can also be done without a deepening 46 be formed and the drive modules 30th can be placed directly on the front or the rear of the function module 40 be connected. The functional module has at least one door opening 10 educated.

The functional module 40 is with a bottom 12th educated. The floor 12th is with a floor area 14th educated. On the function module 40 is at least one sensor device 2 intended. The sensor device 2 can the control device 100 Information about the level of the floor area 14th of the function module 40 provide. The sensor device 2 can the control device 100 also information about the height and inclination of the platform surface 9 ( 1 a) provide. The sensor device 2 can also be done on the drive modules 30th be arranged.

3b shows schematically a side view of the two drive modules 30th and the function module 40 having a control device 100 are designed according to one embodiment. In 1b are the drive modules 30th and the function module 40 connected with each other. The connected drive modules 30th and the function module 40 together form the assembled vehicle 1 . The drive modules 30th and the function module 40 are by means of the connecting means 42 connected with each other.

4th shows schematically a drive module 30th , according to one embodiment with a control device 100 is trained. The drive module 30th can be a pair of wheels 48 include. A steering unit 39 is with the wheels 48 connected. The steering unit 39 can the drive module 30th make steerable. The pair of wheels 48 can in this way on the drive module 30th be arranged that a central axis 43 each wheel 48 coincides with each other. Every wheel 48 has a central axis 43 and is so on the drive module 30th arranged that each wheel 48 around its central axis 43 can turn. When the central axes 43 of the individual wheels 48 match with each other, the drive module 30th good maneuverability.

The drive module 30th is with a suspension system 52 for the wheels 48 educated. The height of a body 54 of the drive module 30th is made by means of the suspension system 52 in terms of the wheels 48 set. The control device 100 is set up to control the vehicle level by means of the suspension system 52 to control. The suspension system 52 of the drive module 30th is between the wheels 48 and a body 54 of the drive module 30th arranged. The suspension system 52 can feathers 54 and damper 56 to improve the driving characteristics of the drive module 30th and also of the assembled vehicle 1 include. The suspension system 52 of the drive module can comprise adjustment means for controlling the vehicle level. The control device 100 is with the adjustment means of the suspension system 52 connected.

The drive module 30th can have at least two lanyards 42 include. The lanyards 42 are set up as interfaces for transmitting electrical energy and / or for transmitting electrical signals and for physical connection.

The drive module 30th can have at least one drive unit 50 include those with the pair of wheels 48 connected is. At the drive unit 50 it can be an electric machine that works with the wheels 48 connected is. In the drive module 30th are two electrical machines as drive units 50 arranged. An electric machine 50 is with one wheel 48 connected and the other electrical machine 50 is with the other wheel 48 connected. The electrical machines 50 are in the rim 44 of the wheels 48 arranged. The wheels 48 can thus be driven independently of each other. The electrical machines 50 can also work as generators and when braking the wheels 48 generate electrical energy. Instead of the electrical machines 50 as a drive unit 50 can the at least one drive unit 50 be an internal combustion engine, for example a gasoline engine or a diesel engine, the one with the wheels 48 connected is.

The drive module 30th can have at least one energy storage unit 52 to supply the drive unit 50 embrace with energy.

As already mentioned, the drive module 30th the control device 100 include. The control device 100 is set up, the drive module 30th to operate as an independently powered unit. The control device 100 can be set up to send information and control signals to an external control center 24 to send and receive from this. The control device 100 can be set up to send information and control signals to another vehicle 21 to send and receive from this.

5a FIG. 3 shows a flow chart for a method carried out by a control device 100 , for controlling a vehicle position with respect to a platform 8th . The method thus relates to controlling the vehicle position of the vehicle 1 and that in the 1a - 4th disclosed modularized vehicle 1 in relation to a platform 8th . The vehicle 1 comprises: at least one sensor device 2 ; at least two front wheels 4th ; at least two rear wheels 6th ; and the control device 100 . The method comprises: determining s101 a platform height above a road surface 16 at the platform 8th ; Determining s102 an inclination of the platform 8th ; Control s103 of the vehicle 1 so that a floor area 14th of the vehicle 1 has a level corresponding to the platform height; and controlling s104 the vehicle 1 so that the floor area 14th of the vehicle 1 one of the slope of the platform 8th has a corresponding inclination.

In one aspect, controlling includes s104 the vehicle 1 so that the floor area 14th of the vehicle 1 has a slope equal to the slope of the platform 8th corresponds to controlling the inclination of the vehicle 1 in a longitudinal direction of the vehicle 1 and in a lateral direction of the vehicle 1 . According to one aspect, controlling comprises s103, s104 of the vehicle 1 controlling an individually controllable wheel suspension 20th at least one wheel 4th , 6th . According to one aspect, controlling comprises s103, s104 of the vehicle 1 controlling an individually controllable wheel suspension 20th at least one wheel 4th , 6th so that the floor area 14th of the vehicle 1 with a platform surface 9 coincides in a common plane. According to one aspect, determining s101 a platform height comprises determining the platform height by means of the at least one sensor device 2 . In one aspect, controlling includes s104 the vehicle 1 so that the floor area 14th of the vehicle 1 has a slope equal to the slope of the platform 8th corresponds to determining the slope of the floor surface 14th by means of a level sensor 22nd and determining the incline of the platform 8th by means of the at least one sensor device 2 . According to one aspect, the method comprises the further step of determining s105 the distance between the vehicle 1 and the platform 8th by means of the at least one sensor device 2 . According to one aspect, the method comprises the further step of determining s106 the shape of the road surface 16 by means of the at least one sensor device 2 . According to one aspect, the method comprises the further step of determining s107 any obstacles 18th above or next to the road surface 16 in front of the platform 8th by means of the at least one sensor device 2 . According to one aspect, the method comprises the further step of receiving s108 information about the platform height and the inclination of the platform 8th from another vehicle 21 .

5b FIG. 3 shows a flow chart for a method carried out by a control device 100 , for controlling a vehicle position with respect to a platform 8th . The method thus relates to controlling the vehicle position in relation to a platform 8th of the vehicle 1 and the modularized vehicle 1 that is in the 1a - 4th is revealed. The method comprises: determining s101 a platform height above a road surface 16 at the platform 8th ; Determining s102 an inclination of the platform 8th ; Controlling the vehicle 1 so that a floor area 14th of the vehicle 1 has a level corresponding to the platform height; Control s103 of the vehicle 1 so that the floor area 14th of the vehicle 1 one of the slope of the platform 8th has a corresponding inclination; Controlling s104 the inclination of the vehicle 1 in a longitudinal direction of the vehicle 1 and in a lateral direction of the vehicle 1 ; Controlling an individually controllable wheel suspension 20th at least one wheel 4th , 6th ; Controlling an individually controllable wheel suspension 20th at least one wheel 4th , 6th so that the floor area 14th of the vehicle 1 with a platform surface 9 coincides in a common plane; Determining the platform height by means of the at least one sensor device 2 ; Determine the slope of the floor surface 14th by means of a level sensor 22nd and determining the incline of the platform 8th by means of the at least one sensor device 2 ; Determining s105 the distance between the vehicle 1 and the platform 8th by means of the at least one sensor device 2 ; Determining s106 the shape of the road surface 16 by means of the at least one sensor device 2 ; Determine s107 any obstacles 18th above or next to the road surface 16 in front of the platform 8th by means of the at least one sensor device 2 ; and receiving s108 information about the platform height and the inclination of the platform 8th from another vehicle 21 .

6th Figure 3 is a schematic representation of one embodiment of an apparatus 500 . The control device 100 of the vehicle 1 can in one embodiment the device 500 include. The device 500 includes non-volatile memory 520 , a data processing unit 510 and a read / write memory 550 . The non-volatile memory 520 has a first storage element 530 in which a computer program, e.g. An operating system for controlling the operation of the device 500 is stored. The device 500 further comprises a bus controller, a serial communication interface, I / O means, an A / D converter, a time and date input and transmission unit, an event counter and an interrupt controller (not shown). The non-volatile memory 520 also has a second storage element 540 on.

A computer program P is provided which comprises routines for carrying out the security method. The program P can be in an executable form or in a compressed form in a memory 560 and / or in a read / write memory 550 be saved.

When the data processing unit 510 is described as performing a particular function, it means that the data processing unit 510 a certain part of the in memory 560 stored program or a specific part of it in the read / write memory 550 stored program.

The data processing unit 510 can via a data bus 515 with a data port 599 communicate. The non-volatile memory 520 is for communication with the data processing unit 510 via a data bus 512 intended. The separate storage 560 is for communication with the data processing unit 510 via a data bus 511 intended. The read / write memory 550 is for communication with the data processing unit 510 via a data bus 542 intended.

If data at the data port 599 are received, they are stored in the second storage element 540 temporarily saved. If the received input data has been temporarily stored, the data processing unit is 510 ready to execute the code as described above.

Parts of the methods described here can be carried out by the device 500 with the help of the data processing unit 510 running that in memory 560 or in read / write memory 550 executes the saved program. When the device 500 executes the program, the procedures described here will be performed.

The foregoing description of the embodiments has been presented for purposes of illustration and description. It does not claim to be complete or to restrict the embodiments to the variants described. Many modifications and variations will become apparent to one skilled in the art. The embodiments were chosen and described in order to best explain the principles and practical applications, thereby enabling any person skilled in the art to understand the embodiments in their various embodiments and with the various modifications that are applicable to the intended use. The components and features specified above can be combined between the various specified embodiments within the scope of the embodiments.

Claims (24)

Method, carried out by a control device (100), for controlling a position of a vehicle (1) in relation to a platform (8), the vehicle (1) comprising: at least one sensor device (2); at least two front wheels (4); at least two rear wheels (6); and the control device (100), the method comprising: determining (s101) a platform height above a road surface (16) on the platform (8); Determining (s102) an inclination of the platform (8); Controlling (s103) the vehicle (1) so that a floor surface (14) of the vehicle (1) has a level corresponding to the platform height; and controlling (s104) the vehicle (1) so that the floor surface (14) of the vehicle (1) has an inclination which corresponds to the inclination of the platform (8). Procedure according to Claim 1 , wherein controlling (s103) the vehicle (1) so that the floor surface (14) of the vehicle (1) has an inclination corresponding to the inclination of the platform (8), controlling the inclination of the vehicle (1) in one In the longitudinal direction of the vehicle (1) and in a transverse direction of the vehicle (1). Method according to one of the Claims 1 or 2 wherein the controlling (s103; s104) of the vehicle (1) comprises controlling an individually controllable wheel suspension (20) of at least one wheel (4, 6). Procedure according to Claim 3 , wherein the control (s103; s104) of the vehicle (1) comprises such a control of an individually controllable wheel suspension (20) of at least one wheel (4, 6) that the floor surface (14) of the vehicle (1) with a platform surface (9 ) coincides in a common plane. Method according to one of the preceding claims, wherein determining (s101; 102) a platform height comprises determining the platform height by means of the at least one sensor device (2). Procedure according to Claim 1 or 2 , wherein controlling (s103) the vehicle (1) so that the floor surface (14) of the vehicle (1) has an inclination which corresponds to the inclination of the platform (8), determining the inclination of the floor surface (14) by means of a Level sensor (22) and determining the inclination of the platform (8) by means of the at least one sensor device (2). The method according to any one of the preceding claims, wherein the method comprises the further step: Determining (s105) the distance between the vehicle (1) and the platform (8) by means of the at least one sensor device (2). The method according to any one of the preceding claims, wherein the method comprises the further step: Determining (s106) the shape of the road surface (16) by means of the at least one sensor device (2). The method according to any one of the preceding claims, wherein the method comprises the further step: Determination (s107) of any obstacles (18) above or next to the road surface (16) in front of the platform (8) with the aid of the at least one sensor device (2). The method according to any one of the preceding claims, wherein the method comprises the further step: Receiving (s108) information about the platform height and the inclination of the platform (8) from another vehicle (21). Computer program (P) comprising instructions which, when the program is executed by a computer (100; 500), cause the computer (100; 500) to carry out the method according to one of the preceding claims. A computer-readable medium comprising instructions which, when executed by a computer (100; 500), cause the computer (100; 500) to implement the method according to one of the Claims 1 - 10 to execute. Control device (100) for controlling a vehicle position in relation to a platform (8), wherein the vehicle (1) comprises: at least one sensor device (2); at least two front wheels (4); at least two rear wheels (6); and the control device (100), wherein the control device (100) is set up for the following: Determining a platform height above a road surface (16) on the platform (8); Determining an inclination of the platform (8); Controlling the vehicle (1) so that a floor surface (14) of the vehicle (1) has a level which corresponds to the platform height; and Controlling the vehicle (1) so that the floor surface (14) of the vehicle (1) has an inclination which corresponds to the inclination of the platform (8). Control device (100) according to Claim 13 , wherein the control device (100) is set up to control the vehicle (1) in such a way that the floor surface (14) of the vehicle (1) has an inclination which corresponds to the inclination of the platform (8), comprising controlling the inclination of the vehicle (1) in a longitudinal direction of the vehicle (1) and in a transverse direction of the vehicle (1). Control device (100) according to one of the Claims 13 or 14th , wherein the control device (100) is set up for controlling the vehicle (1), comprising controlling an individually controllable wheel suspension (20) of at least one wheel (4, 6). Control device (100) according to Claim 15 , wherein the control device (100) is set up to control the vehicle (1), comprising the control of an individually controllable wheel suspension (20) of at least one wheel (4, 6) such that the floor surface (14) of the vehicle (1) coincides with a platform surface (9) in a common plane. Control device (100) according to one of the Claims 13 until 16 , wherein the control device (100) is set up to determine a platform height, comprising determining the platform height by means of the at least one sensor device (2). Control device (100) according to one of the Claims 13 until 17th , wherein the control device (100) is set up to control the vehicle (1) in such a way that the floor surface (14) of the vehicle (1) has an inclination which corresponds to the inclination of the platform (8), comprising determining the inclination the floor surface (14) by means of a level sensor (22) and determining the inclination of the platform (8) by means of the at least one sensor device (2). Control device (100) according to one of the Claims 13 until 18th , wherein the control device (100) is further set up to: determine the distance between the vehicle (1) and the platform (8) by means of the at least one sensor device (2). Control device (100) according to one of the Claims 13 until 19th , wherein the control device (100) is further set up for the following: determining the shape of the road surface (16) by means of the at least one sensor device (2). Control device (100) according to one of the Claims 13 until 20th , wherein the control device (100) is further set up for the following: determining any obstacles (18) above or next to the road surface (16) in front of the platform (8) by means of the at least one sensor device (2). Control device (100) according to one of the Claims 13 until 21 wherein the control device (100) is further set up to: receive information about the platform height and the inclination of the platform (8) from another vehicle (21). Vehicle (1) comprising: at least one sensor device (2); at least two front wheels (4); and at least two rear wheels (6); wherein the vehicle (1) has a control device (100) according to one of the Claims 13 until 22nd having. Vehicle (1) after Claim 23 wherein the vehicle (1) is a modular vehicle (1) comprising: at least one drive module (30); and at least one functional module (40), wherein the at least one drive module (30) comprises the at least two front wheels (4) or the at least two rear wheels (6) and is set up to be operated autonomously and to drive the assembled vehicle (1) .

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