SE1851347A1 - Methods for use in a modular vehicle for determining information about external distubances, and a vehicle using such information - Google Patents

Abstract

The present disclosure relates to techniques in the context of vehicles, and to a method for use in a modular vehicle (1) comprising a first drive module (30a) and a functional module (40), for determining information about external disturbances to be used by a second drive module (30b). The disclosure also relates to a method for using information about external disturbances determined by a first drive module (30a) or a thereto connected functional module (40) of a vehicle (1). The disclosure also relates to corresponding control devices, to a vehicle comprising the control device or devices, to computer programs and computerreadable mediums.

Description

Methods and control devices for determining information about external disturbances, and for using the determined information Technical field The present disclosure relates to techniques in the context of vehicles, and to amethod and a control device for use in a modular vehicle comprising a first drivemodule and a functional module, for determining information about externaldisturbances to be used by a second drive module. The disclosure also relates toa corresponding method and control device, for use in a modular vehiclecomprising the second drive module, and for using information about the externaldisturbances determined by the first drive module or the thereto connectedfunctional module of the vehicle. The disclosure also relates to a vehiclecomprising the control device(s), to computer programs and computer-readable mediums.

Backgroundvehicles of today are typioally mariufactured for a specific purpose, eg. a bus is rnanufactured for lransoorting people and a truck is rrianufactured for transoortinggoods. Such vehicles are commonly ntanufactured and completely asseiribled in afactory, or they may be partly assernbled in a factory and completed at a bodynianufacturer. Once the vehicle is asseiribled, the vehicle may be used for thespecific purpose. Thus, a bus inay be used as a bus and a garbage truck may beused as a. garbage truck. Different vehicles are thus needed for different purposes,which may require a large fleet of vehicles for a hauler, and thereby become very costly.

There are, for example, known solutions where a truck can be rebuilt by changinga oonorete mixer to a loading platform. This increases the flexibility and tvvo differentfunctions can be achieved by means of one single vehicle. Also, document US-QÜtS/ülâalšlšâ Al discloses a iriodular electric vehicle using interchangeablevehicle assembly modules. The user can tfiereby disassernble and reassernble thevehicle for use in different applications. l-lovveven in the future, further developmenttowards even more flexible vehicle solutions might be needed to meet customers" 2 different vehicle needs in a cost-efficient way. Especially, new solutions will bedemanded to ensure safety and improve propulsion for modular vehicles thatoperate autonomously and/or that are remotely operated, and to ensure safety forany load in the modular vehicles.

Summarylt is an object of the disclosure to provide a solution for improving propulsion of a modular vehicle. lt is a further object to increase safety of the modular vehicle, andin particular to increasing safety of a load, carried by the modular vehicle, whiletravelling.

These objects and others are at least partly achieved by methods, control devicesand a vehicle according to the independent claims, and by the embodimentsaccording to the dependent claims.

According to a first aspect, the disclosure relates to a method for use in a modularvehicle. The modular vehicle comprises a first drive module and a functionalmodule. The method is used for determining information about externaldisturbances to be used by a second drive module. The method comprisesdetecting at least one property indicative of an external disturbance to the vehicle,and indicative of a type of the external disturbance. The method also comprisesobtaining a position of the vehicle; and communicating information about theexternal disturbance to the second drive module, wherein the information includesthe type of external disturbance and position data indicative of the position of theexternal disturbance based on the position of the vehicle. The second drive moduleis located in the modular vehicle or in another modular vehicle. With the method,external disturbances detected by one vehicle may be communicated to othermodules in a straight fon/vard way, such that other modules or vehicles may takethe external disturbance into account and improve their propulsion. The drivingcapabilities and passengers" comfort may be improved. 3 According to some embodiments, the method comprises communicating theinformation about the external disturbance to a second drive module via an offboard system, wherein the second drive module is located in a modular vehiclebeing different from the modular vehicle where the first drive module is located.Thereby other vehicles may take action upon the external disturbance.

According to some embodiments, the method comprises communicating theinformation about the external disturbance to the second drive module, wherein thesecond drive module is located in the same modular vehicle as the first drive moduleis located. Thereby the same vehicle may take action upon the externaldisturbance.

According to some embodiments, the detected at least one property is detectedby means of a detector comprising at least one of an accelerometer, a gyro meter,a lidar, a forward sensing camera, a laser and a weight sensor.

According to some embodiments, the type of external disturbance is a pot hole, apatch of ice, a bump or another type of obstacle.

According to some embodiments, the detecting comprises: determining a type ofthe external disturbance, based upon whether the detected at least one propertymeeting at least one predetermined type criterion. Thereby relevant thresholds forthe type of external thresholds may be used. Also, the type may then becommunicated to the second drive module, such that the second drive modulemay determine how to react to the disturbance, based on the type of the externaldisturbance.

According to some embodiments, the detecting comprises detecting at least oneproperty and determining that the detected at least one property is indicating anexternal disturbance upon the detected at least one property meeting at least onepredetermined disturbance criterion for the at least one property. Thereby it canbe determined if the detected at least one property really is indicative of anexternal disturbance of such dignity that it should be communicated.

According to some embodiments, the method comprises determining a position ofthe external disturbance based on the obtained position of the vehicle andincluding the determined position of the external disturbance in the information.Thereby the second drive module will immediately know where the external disturbance is located.

According to a second aspect, the disclosure relates to a control device of amodular vehicle, comprising a first drive module and a functional module, fordetermining information about external disturbances to be used by a second drivemodule. The control device is configured to: detect at least one property indicativeof an external disturbance to the vehicle, and indicative of a type of externaldisturbance. The at least one property is detected by means of at least onedetector in the first module or the functional module. The control device is alsoconfigured to obtain a position of the vehicle, and to communicate informationabout the external disturbance to the second drive module. The informationincludes the type of external disturbance and position data indicative of theposition of the external disturbance based on the position of the vehicle. Thesecond drive module is located in the modular vehicle or in another modular vehicle. The same effects as by the method may be achieved.

According to a third aspect, the disclosure relates to a method, for use in a modularvehicle comprising a second drive module, for using information about externaldisturbances determined by a first drive module or a thereto connected functionalmodule of a vehicle. The method comprises receiving, from the first drive moduleor the thereto connected functional module, information about an externaldisturbance including disturbance type and position data indicative of the positionof the external disturbance. The method also comprises controlling a vehiclefunction of the second drive module or the functional module, based on theinformation about the external disturbance, to mitigate the impact of the externaldisturbance on the modular vehicle. Thereby the second drive module may take theexternal disturbance into account and improve its propulsion. The driving capabilities and passengers" comfort in the vehicle comprising the second drive module may be improved.

According to some embodiments, the method comprises receiving the determinedinformation about the external disturbance at the second drive module via an offboard system, wherein the second drive module is located in a modular vehiclebeing different from the modular vehicle where the first drive module and thethereto connected functional module are located. Thus, another vehicle may use the information about a detected external disturbance.

According to some embodiments, the method comprises receiving the informationabout the external disturbance at the second drive module, wherein the second drive module is located in the same vehicle as the first drive module and a theretoconnected functional module is located. Thus, other modules of the same vehicle may use the information about a detected external disturbance.

According to some embodiments, the controlling comprises controlling a vehiclefunction of the second drive module or a thereto connected functional module, thevehicle function being any one or several of: steering, propulsion, braking andsuspension. Thereby the vehicle may automatically mitigate or obviate the effects of the external disturbance.

According to a fourth aspect, the disclosure relates to a control device, in amodular vehicle comprising a second drive module, for using information aboutexternal disturbances determined by a first drive module or the thereto connectedfunctional module of a vehicle. The control device is configured to receive, fromthe first drive module or the thereto connected functional module, informationabout an external disturbance including disturbance type and position dataindicative of the position of the external disturbance; and to control a vehiclefunction of the second drive module or a thereto connected functional module, based on the information about the external disturbance, to mitigate the impact of 6 the external disturbance on the vehicle. The same effects as by the method maybe achieved.

According to a fifth aspect, the disclosure relates to a vehicle comprising a controldevice according to the second aspect, a first control module and a theretoconnected functional module.

According to some embodiments, the vehicle also comprises a control deviceaccording to the fourth aspect, and a second drive module.

According to a sixth aspect, the disclosure relates to a computer programcomprising instructions which, when the program is executed by a computer, causethe computer to carry out the method according to the first aspect.

According to a seventh aspect, the disclosure relates to a computer-readablemedium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to the first aspect.

Brief description of the drawinqs Fig. 1 illustrates a set of modules, a vehicle assembled from the set of modules,and an offboard system.

Fig. 2 illustrates another vehicle assembled from the set of modules in Fig. 1.

Fig. 3 schematically illustrates a drive module in further detail in a side view.

Fig. 4 illustrates a method for detecting at least one property indicating an externaldisturbance to a vehicle according to the first aspect.

Fig. 5 illustrates a method for using information about an external disturbanceaccording to the second aspect.

Fig. 6 schematically illustrates an example scenario according to oneembodiment.

Fig. 7 illustrates an example implementation of a control device according to thesecond aspect and the fourth aspect.

Detailed descriptionOne way of meeting customers" different vehicle needs in a flexible and cost- efficient way is to use a modularised vehicle assembled from a set of modules.Such a modularised vehicle, herein referred to as a modular vehicle, is typicallyassembled at the customer"s premises and the customer may thus buy a set ofmodules from a manufacturer. The modular vehicle can easily be assembled and re-assembled e.g. to perform a certain mission.

A modular vehicle is e.g. assembied by ett least one functional lnoduie forperforming a certain function (stich as carrying a load), and at least one drivemodule used for driving the vehicle. The drive modules are configured to beautonomously and/or remotely operated. The load may for example be humans,animals or goods. A modular vehicle may be used to perform many different kindsof assignments, and thus transport different kinds of loads at different occasions.The modular vehicle comprises at least one drive module and one functionalmodule. Sometimes the modular vehicle comprises more modules, such as twodrive modules and one functional module. A vehicle sometimes encounters externaldisturbances such as pot holes, ice patches, bumps, road kills, dropped load oreven external disturbances such as traffic jam or road work that causes delays. ltis herein proposed that a drive module or a functional module of such a modularvehicle detects such external disturbance and communicates information about theexternal disturbance to another drive module, which is either a drive module locatedin the same vehicle or a module of another vehicle. ln this way, the other drivemodule may become aware of the external disturbance before it is affected by theexternal disturbance, and may mitigate the impact of the external disturbance onthe vehicle, e.g. mitigate the impact of the external disturbance on the other drivemodule. For example, if the second drive module becomes aware of a pot holealong the route, it can steer around it such that its wheels will not drive into the pothole. Thereby, safety and comfort can be increased. This is especially importantwhen the modular vehicle is driving autonomously or is being remotely operated,and there is no driver in the vehicle that can see and react to external disturbances.With the proposed solution, information about external disturbances can be 8 determined, and the information may be used by other drive modules, to take appropriate action to avoid being affected by the external disturbance.

For better understanding of the proposed technique, the concept of assembling avehicle from modules will now be explained with reference to the example embodiment of Fig. 1.

Fig. t iiiustrates an example set ef nteduies 20 fer assembiing a vehicle f. Ancffbeard system, herein referred te as a first centrci device 100, and an exarnpie cfan asserneied vehicie t are aise iiinstrated. The set ef rneduiee 20 comprises apiuraiity ef drive rncduies 30 and a piuraiity ef functienai meduies 40.

The drive modules" 30 main function is typically to drive (e.g. propel, steer andbrake) a vehicle 1. The drive modules 30 comprise a pair of wheels 37 and areconfigured to be autonomously operated. The functional modules are configured toperform a certain function such as to carry a load, e.g. goods or people. Eachmodule 30, 40 in the set of modules 20 comprises at least one interface 50releasably connectable to a corresponding interface 50 of another module 30, 40.The drive nteduies 30 may be rerneteiy centreiied frem a centrei device t00 in ancff~beard system.

By combining drive rriedtiies 30 and iunctienai modules 40 different types efvehicies f can be achieved. Seine vehicies i require tvvc cr mere drive modules 30and seine vehicies i eniy require ene drive rneduie 30, deeending en the structuraicenfigriratien ef the functicrtai medufe 40. Each drive rneduie 30 cemprises a centrcidevice, nerein referred te as a secend centret device 200, and may thusccrrimtrnicate tvith a centret center er eff-beard system, i.e. the first certtrei device100. A functional module 40 may also comprise a control device, which is referredto as a third control device 300. Since the drive modules 30 may be configured tobe operated as independently driven units by means of the second control devices200, the drive modules 30 may be connected to, or disconnected from, the functional module(s) 40 without manual work. 9 The erincieie et assernhiirtg a vehicie t irern rneduies 3G, 4G vviii nevv he described.An eeerater rnay receive a rnissicn irern a ciient te transpert gceds treirt eneieeetieit te anether. The eeerater enters the inierrhetien aheut the rrtissien inte theiirst centrei device 'iGG via a user interiace, such as a teuch screen er sirniiar. it ispeinted eut that this is rnereiy an exerneie, and the received rhissien theyauternatieaiiy he transiated and/er ineutted te the tirst centret device 'iGG The tirstcentrei device "iGG then deterrnines vvhich tunctien te ee eeriernied and thus whichtype et vehieie 'i is reduired te cerneiete the rnissien. in this exerneie, the requiredvehicie i rnay he a itruck. The iirst centrei deviee tGG seiects vvhich rneduies 3G, 4Gte use ter the required truck. The type et vehieie t and the ineduies 3G, 4G requiredtc centeiete the rnissien rnay ter exarnpie ee seieeted eased en interrnaticn aheutthe geeds, the distance te travei end/'er the geegraehicei ieeetieit. The first eentreidevice iGG then cenverts the rnissien inte a eeirtntand ter ene er tvve seiected driverneduies 3G te ehysiceiiy and eiectricaiiy cennect vvith the seiected iunctienairneduie 4G. in this exarneie, the tfehicie t eerrierises tvve drive rneduies. The seeendcentret devices 2GG ei the drive rneduies 3G each receives the eerrtrnand andcenverts the eernrnartd te eentrei signais ter the respective drive rneduie 3G. Thedrive rneduies 3G are therehy eentreiied te ehysieaiiy and eieetricaiiy cennect vviththe iunetieitai nfteduie 4G. Centreiiing the drive rneduie 3G te eenneet vvith atunctienai rneduie 4G rnay ceinerise centreiiing the drive rneduie 3G te identity theeesitien et the seieeted iunetienei nteduie 4G and nteve te that eesitien. The eesitienet the seiected tunetienai rneduie 4G rriay he deterthined hesed en inierrnatienreceived in the cemrnand te cennect the drive rrteduie 3G vvith the iunctienai rneduie4G. Aiternativeiy, the eeritrriartd te cennect the drive rneduie 3G and the tunctienainteduie 4G is erevided, eg. sent, te eeth the drive rneduie 3G and the iunetienairneduie 4G, vvherehy the iunetienai rneduie 4G preeares ter the eenneetien andstarts transirtitting a signai. The drive rneduie 3G inay then deterrnine the ecsitienet the iunetienai nteduie hased en this erevided signei. The drive nteduies 3G erethus autenerncusiy eeerated te tind the seiected tunctienai rneduie 4G and cennecttvith that iunctienai rneduie 4G. At ieast ene senser device 6G arranged at the drivetrieduies 3G andier the tunetienai rneduie 4G rriay he eentigured te sense vvhen thephysicai end/er eiectricai cennectien has been pertermed. The at ieast ene senser lO device 60 mey send a signai to the second centret device 200 indiceting that theccnnectierns) have been perfcrrned. Based on the signai frem the at ieast onesenscr device 60, the second centroi device 200 may send a verification signai tothe first centret device 100 for verification of the cenriectionis). The first certtroidevice 100 :hey then generate a unique vehicie identity for the moduiar vehicie 1.

A vehicie i is thus assembied and the vehicie i is ready to perform the mission.

The modular vehicle 1 in Fig. 1 comprises a first drive module 30a, a functionalmodule 40 and a second drive module 30b. However, it should be understood thatthe modular vehicle 1 may comprise only a first drive module 30a and a functionalmodule 40, for example when the functional module 40 only comprises oneinterface 50 for connecting to a drive module, and also comprises an own pair ofwheels 37. Such a vehicle 2 is illustrated in Fig. 2. Also, the modular vehicle 1 maycomprise more than one functional module 40, thus, at least one functional module40. ln any case, the at least one functional module 40 is arranged for carrying aload, and the at least one functional module 40 is releasably connected with thefirst drive module 30a that is configured to be autonomously operated. The load ofthe vehicle 1 is a load in the at least one functional module 40, which thus constitutethe load of the vehicle 1. lf the vehicle 1 comprises several functional modules 40,the load of the vehicle 1 comprises all the individual loads in the functional modules40. The control devices 200 in the first drive module 30a and the second drivemodule 30b are in the modular vehicle 1 in Fig. 1 denoted 200a and 200b, respectively. ln order to be able to navigate autonomously, the vehicle 1 need to retrieveinformation about the surroundings, and how the vehicle behaves. As illustrated inthe modular vehicle 1 in Fig. 1, each individual module 30a, 30b, 40 individuallycomprises at least one detector 250a, 250b, 250c. Alternatively, only the drivemodules 30a, 30b comprises at least one detector 250a, 250b. These detectors250a, 250b, 250c may be used during driving to detect at least one property, orseveral properties, indicative of one or several external disturbances of the vehicle 1. A property is for example information or data that indicates at least one external ll disturbance to the vehicle 1. ln some embodiments, the detectors may also be usedduring autonomous driving, for detecting properties affecting, or may affect, adriving behavior of the vehicle 1. For example, the at least one detector 250a, 250b,250c that is normally used in the autonomous operation of the vehicle 1 such asautonomous driving of the vehicle including autonomous steering, autonomousaccelerating and braking, may be used to detect an external disturbance. Thedetectors are for simplicity not shown in the unassembled modules in Fig. 1, but itshould be understood that these modules comprise corresponding detectors. Atleast one property is provided, e.g. sent, to a control device 200a, 200b, 300 of themodules, e.g. as information or data. For example, information or data from at leastone detector 250a in the first drive module 30a, is provided, e.g. sent, to the controldevice 200a in the first drive module 30a. This information or data may be usedduring driving to detect properties indicative of one or several external disturbancesto the vehicle 1, and in particular to the first drive module 30a. Information or datafrom the at least one detector 250b in the second drive module 30b, is provided,e.g. sent, to the control device 200b in the second drive module 30b. Thisinformation or data may be used during driving to detect properties indicative of oneor several external disturbances to the vehicle 1, and in particular to the seconddrive module 30b. Data or information from at least one detector 250c in thefunctional module 40, is provided, e.g. sent, to the control device 300 in thefunctional module 40. This information or data may be used during driving to detectat least one property, or several properties, indicative of one or several externaldisturbances to the vehicle 1, and in particular to the functional module 40. Theinformation or data may thereafter be provided, e.g. sent, by wire 51 or by wirelesscommunication between the control devices 200a, 200b, 300 in the vehicle 1, andby wireless communication to the remotely located control device 100 located in anoff-board system. ln other words, the at least one property is detected by means ofat least one detector 250a, 250c in the first module 30a or the functional module40. ln some embodiments, the at least one detector 250a, 250b, 250c that is normallyused during autonomous operation of the vehicle, for example as feedback to the 12 autonomous control of the vehicle or as preparatory data to the autonomous control.The at least one detector 250a, 250b, 250c may comprise one or several detectorsof the same or of different kinds. For example, the at least one detector 250a, 250b,250c comprises one or several of at least one accelerometer, at least one gyrometer, a lidar, a forward sensing camera, a laser, at least one weight sensor, atleast one ultra-sonic sensor and a positioning device. For example, data orinformation including properties such as sideway forces, and/or lengthwise forcesand/or vertical forces, may be collected by means of accelerometers or forcedetectors. Accelerometers are used to measure forces caused by turning,accelerating or braking. An accelerometer is for example an electromechanicaldevice used to measure acceleration forces of the vehicle (e.g. any of the individualmodules 30a, 30b, 40). ln other words, dynamic acceleration forces of the vehicle.Fïotational forces may be measure by means of gyro meters. By means of gyrometers, the amount of static acceleration due to gravity can be measured, and thetilt angle of the vehicle (e.g. any of the individual modules 30a, 30b, 40) with respectto gravity can be determined. For example, each module 30a, 30b, 40 may beequipped with a three-axis accelerometer aligned along the body of the module.Three angular-rate sensors, in other words, three gyro meters, may be aligned withthe accelerometer axes, to measure the rate the module rotates around a givenaxis and subtract the gravity components produced by the tilt from theaccelerometer"s x-axis and y-axis data. Thereby, the true acceleration forcescaused by the vehicle"s motion, without gravity effects, can be calculated. Also, aproperty such as the inclination of the vehicle may be determined. lnformation ordata including properties such as axle load to a module, or to an individual wheelof the module, may be collected by means of weight detectors, pressure detectorsor degree of flexion detectors. The lidar, laser and forward sensing camera may beused to collect information or data that can be used to find sudden changes to theinclination of the vehicle 1 (e.g. any of the individual modules 30a, 30b, 40), thatmay be indicative of one or several external disturbances to the vehicle 1. Also, thedetectors may be used to find road surface irregularities in the road, e.g. a pot hole,a bump, pits, speed breakers etc. Ultra-sonic sensors may be used to detect thedistance and/or orientation of an object, and is typically used as a parking assistant, 13 to detect objects etc. A positioning device, e.g. Global Positioning System (GPS)receiver, detects or determines a position of the vehicle 1 (e.g. of an individualmodule 30a, 30b, 40).

Fig. 3 schematically illustrates a drive module 30 (e.g. any of the drive modules30a, 30b) in further detail in a side view. The drive module 30 comprises at leastone (only one illustrated) propulsion system 91, an energy storage device 92, aninterface 50 and a control device 200. The drive module 30 may also comprise asuspension system (not shown), that is arranged to suspend the wheels to the drivemodule 30. The suspension system may be configured, e.g. by the control device200 in the drive module 300, to have different suspension action. Also, thefunctional module 40 may include a suspension system (not shown).

The propulsion system(s) 91 comprises for example an electric machine(s)connected to the wheels 37. ln some embodiments, each wheel 37 is individuallydriven by its own electric machine. The electric machine(s) may also work asgenerators and generate electric energy when braking the wheels 37. Thus, thepropulsion system is typically the primary braking system of the vehicle 1. However,because the braking functionality system may in soitie sitoations be iosoffioieiit orfail for some reason, a secondary braking system is required. This secondarybraking system is hereiri referred to as the braking system. The braking systerncomprises for example standard disc brakes ariti eieotrorrieohanioai actuators that require reliabie power suppiy.

The drive module 30 also comprises at least one energy storage device 92 forproviding the propulsion system 91 with energy. The energy storage device 92 isfor example an electric battery that may be recharged with electric energy.

The control device 200 is configured to operate the drive module 30 as anindependently driven unit. The drive module 30 may transport itself without anyexternally driven unit such as a towing vehicle. The drive module 30 may transportitself by means of the at least one propulsion system 91. The drive module 30 maybe configured to be autonomously operated. Thus, the control device 200 may be 14 configured to control the operation of the drive module 30. The control device 200may be configured to transmit control signals to the various systems andcomponents of the drive module 30 for controlling for example the steering and thepropulsion of the drive module 30. The control device 200 may be configured tooperate the drive module 30 autonomously based on received commands. Thecontrol device 200 may thus be configured to receive commands from a remotelylocated off-board system i.e. the first control device 100, and to convert thecommands into control signals for controlling the various systems and componentsof the drive module 30. The control device 200 may also be configured to receivedata about the surroundings from at least one sensor and based on this data controlthe drive module 30. The control device 200 will be described in further detail inconnection with Fig. 7.

The drive module 30 may be configured to be releasably connected to either asecond drive module 30 and/or a functional module 40 for forming an assembledvehicle 1. At least one of the sides of the drive module 30 may thus have a shapethat allows the drive module 30 to be releasably connected to the second drivemodule 30 and/or the functional module 40.

The at least one interface 50 of the drive module 30 is configured to physicallyconnect the drive module 30 with a second drive module 30 and/or a functionalmodule 40. The interface(s) 50 of the drive module 30 may be releasablyconnectable to a corresponding interface 50 of a second drive module 30 and/or a functional module 40. in Fig. t the drive rnodoiee 30 are iiiuetrated with oniy one interface 50, on one sideof the drive rriodoie 30. iiotivever, it ie to be understood that each drive ntoduie 30rnay cornpriee a pitiraiity of interfeces 50 for reieeeebie connection with otherrnoduiee 40. The interface(s) 50 of the drive rnodoies 30 rnay be arranged ondifferent sides of the drive rnoduie 30 and thus eneoie connection with otherrnodtiiee 30, 40 on rrioitipie sides of the drive rnoduie 30. The interface-ae 50 on thedrive rnodoiee 30 and the iunctionei ntodoiee 40 respectiveiy, are etiitabiy arrenged on corresponding positions to enabie connection between the rnodtiiee 30, 40. ln some embodiments, the at least two interfaces 50 comprises electric interfaces,arranged for transferring electric power and/or transmitting electric signals betweenthe drive module 30 and another module e.g. to a functional module 40 to whichthe drive module is connected. The electrical interface 50 may be a wirelessinterface, for example, a conductive interface. ln other words, by connecting thedrive module 30 and the functional module 40 electrically the modules 30, 40 maytransfer power between each other and share information. The drive module 30may, for example, control parts of the functional module 40, such as opening andclosing of doors, heating and cooling. Also, one drive module 40 of the modularvehicle 1 may transmit electric power and/or electric signals via a functional module30 and further to another drive module of the same vehicle 1, as illustrated by theconnection 51 in Fig. 1. Thus, the connection 51 comprises e.g. at least one of acable, bus or electrical line. ln some embodiments, the second control device 200 of the drive module 30 isconfigured to communicate with another drive module 30 being a part of the sameassembled vehicle 1, as illustrated by dashed lines in Fig. 1. ln some embodiments, the second control device 200 of the drive module 30 isconfigured to communicate with a further control device e.g. the control device 300of a functional module 40. The communication between the modules 30, 40 may bewireless or conductively or by wire. The wireless communication may be directlybetween the modules or via the off-board system (i.e. first control device 100). Themodules 30, 40 of an assembled vehicle may communicate with each other and/orthe first control device via 4G, 5G, V2V (Vehicle to Vehicle), Wi-Fi or any other wireless communication means. lf the modular vehicle 1 comprises two drive modules, the first control device 100may appoint one drive module to be master drive module and the other to be slave drive module.

The proposed technique *will llovv be explained with reference to the flow charts ofFig. 4 and Fig. 5. As described above, this disclosure proposes, according to a 16 first aspect, a method for determining information about external disturbances to avehicle, for example to the modular vehicle 1 illustrated in Figs. 1, determined bythe first drive module 30a or the thereto connected functional module 40. Theinformation is for use by the second drive module 30b of the same vehicle 1, or foruse by a second drive module 30b of another vehicle, for example of the modularvehicle 2 illustrated in Fig. 2. The method may be implemented as a computerprogram comprising instructions which, when the program is executed by acomputer (e.g. a processor in a second control device 200 (Fig. 5)), cause thecomputer to carry out the method. According to some embodiments the computerprogram is stored in a computer-readable medium (e.g. a memory or a compactdisc) that comprises instructions which, when executed by a computer, cause thecomputer to carry out the method. The proposed inethod is eg. performed in asecond control device 200 of a drive rriodtite 40 assigned to be a master drivemoduie. Hovvever, it must be appreciated that the method may atterrtativety, atieast partiy, be impternented in the iirst controi device 100 oi' in any one of thecentret devices 200, 300 ot the ntodtiies of the vehieie or the intpiemeritation may be distributed among severai or att of the controt devices t00, 200, 300.

With reference to the flow chart in Fig. 4, the method comprises S1 detecting atleast one property indicative of an external disturbance to the vehicle 1, andindicative of a type of the external disturbance. The method may use informationor data provided by the previously described at least one detector 250a, 250b,250c to detect at least one property, of the environment or of the vehicle 1, that isindicative of an external disturbance to the vehicle 1. An external disturbance is adisturbance in the environment of the vehicle that may cause a problem to thevehicle, for example in the sense that the propulsion of the vehicle may bedisturbed, the load of the vehicle may be disturbed, the vehicle may be damaged,or the vehicle may be delayed. lt should be understood that a plurality of differentdetected properties, or the same type or of different type, may be collected andincluded in an analysis to determine that an external disturbance is detected, andthat a detected at least one property is indicative of an external disturbance. 17 The type of external disturbance is, for example, a pot hole, a patch of ice, abump or another type of obstacle. The external disturbance may be anotherobstacle such as a road kill, a dropped load etc. Such external disturbances mayalso be detected in similar manner as a bump. The type of external disturbancemay alternatively be a traffic jam or road work. ln order to detect such externaldisturbances, the data or information including properties of the environment or ofthe vehicle 1, from the at least one detectors, is analyzed to find out if theproperties show abnormalities, for example differs from values that the propertiesshould have if no disturbances were present. A property may for example includea property of the environment such as a magnitude (of an external disturbance),e.g. a depth, a height, a length, a width, an area, a distribution, a distance, or acamera image etc. of the surroundings of the vehicle. Alternatively, the at leastone property may include a property of the vehicle such as an acceleration, arotation, an inclination, a weight or pressure, a suspension action etc. of thevehicle, e.g. of the first drive module 30a and/or the functional module 40. ln orderto find out if a property is indicative of an external disturbance, the type of thepossible external disturbance may first be determined. Thereby, the at least oneproperty may be evaluated in a relevant context for that type of externaldisturbance, e.g. compared with one or several relevant references for that type ofexternal disturbance. ln other words, in some embodiments, the detecting S1comprises determining a type of the external disturbance, based upon whetherthe detected at least one property is meeting at least one predetermined typecriterion. For example, the type may be determined based upon the type and/orlocation of the detector from which the detected at least one property is receivedfrom. Thus, a predetermined type criterion then includes that the type and/orlocation of the detector matches a certain detector type and/or location on thevehicle. For example, if the property is detected with a detector that monitors thesuspension action, it may be determined that the type is a bump or a pot hole, oranother type of obstacle. ln one example, if the property is detected by means ofone or several wheel rotation detectors, e.g. that one or several wheels areslipping, it may indicate that the type is a patch of ice. ln one further exampleembodiment, an electro-optical sensor may be used to detect hazardous road 18 conditions such as ice, snow and water. The spectral differences of the roadconditions are used to determine the surface state. The spectral data is analyzedin real-time and a road condition is reported. Thus, if the detected at least oneproperty is detected with the electro-optical sensor, it may be determined that thetype of external disturbance is a road condition disturbance. ln another example, ifthe property is detected with a camera, an object in the image may be recognizedor identified by means of an object identification algorithm. For example, thedetected object may be determined to be a bump, a hole, a traffic jam or a roadwork etc. Thereafter, it may be determined if the detected at least one propertyactually is indicating an external disturbance that is worth taking notice of. Stateddifferently, if the detected disturbance is significant. ln other words, in someembodiments, the detecting S1 comprises detecting at least one property anddetermining that the detected at least one property is indicating an externaldisturbance upon the detected at least one property meeting at least onepredetermined disturbance criterion for the at least one property. The disturbancecriterion for example include that a difference between the detected at least oneproperty, e.g. a magnitude of a detected hole, and the at least one referenceproperty, is going beyond at least one predetermined threshold. ln other words,the property is greater than the reference property, and is greater to such anextent that it is an external disturbance worth taking notice of. Then, the methodcomprises determining that at least one property indicative of an externaldisturbance has been detected, upon the difference between the detected at leastone property and the at least one reference property going beyond thepredetermined threshold. The predetermined threshold may be a numeric valuethat has been experimentally determined. For different types of properties, itshould be understood that there are individual type specific predeterminedthreshold to compare with. Thus, for depth, a height, a length, a width, an area, adistribution, or an acceleration, a rotation, an inclination, an axle load, a weight orpressure, a suspension action, or camera images there are correspondingthresholds to compare with. The at least one reference property may be obtainedin a plurality of ways, as will be exemplified below, and is considered to be orshow the "correct" property or data that the detected at least one property or 19 information or data should be or show if no external disturbance of that type waspresent. ln some embodiments, the at least one property indicates that theexternal disturbance is a traffic jam, traffic line or a road work, for exampleidentified by camera or by monitoring the movement or velocity of the vehicle (thevelocity of the vehicle is zero or close to zero for a longer period of time) thatinformation and the position of the external disturbance may be communicateddirectly, without comparing with at least one reference property.

Thus, one or several of a plurality of different methods may be used for determiningat least one property indicative of an external disturbance. ln one embodiment, thedetecting S1 comprises comparing the at least one property with at least onereference property being detected at a different time instance and determining thatat least one property indicative of an external disturbance has been detected, uponthe difference between the at least one property and the at least one referenceproperty going beyond at least one predetermined threshold. Thus, by continuallyor continuously collecting information or data indicative of properties, changes tothe properties may be detected. The at least one reference property may then beinformation or data collected at a different time when it is known that no externaldisturbances occurred. ln another embodiment, the detecting S1 comprises comparing at least oneproperty with at least one reference property being a predicted property retrievedfrom a model of expected behavior of the vehicle 1 and determining that at leastone property indicative of an external disturbance has been detected, upon thedifference between at least one property and the at least one reference propertygoing beyond at least one predetermined threshold. Thus, a model that isreplicating an expected behavior of the vehicle, and thus a behavior withoutexternal disturbances to the vehicle, may be used that gives reference propertiesthat is known to not indicate any disturbances. ln order to take action to the detected external disturbance, position dataindicative of the position of the external disturbance should be determined. The position of the vehicle 1, or a module 30a, 40, may be used to determine theposition of the external disturbance. The position data indicative of the position ofthe external disturbance may thus include the position of the vehicle 1, or aposition related to the position of the vehicle 1. Thus, the method comprisesobtaining S2 a position of the vehicle 1. The position of the vehicle 1 may bedetermined with a positioning device in the vehicle 1. The position data of theexternal disturbance may alternatively include a more precise position of theexternal disturbance, for example determined based on from which detector theexternal disturbance is determined from. The method may also include todetermine a distance to the external disturbance, by means of detected data, inrelation to the position of the vehicle 1, and including the distance in the positiondata or using the distance to determine a position of the external disturbance.Thus, in some embodiments, the method comprises determining S3 a position ofthe external disturbance based on the obtained position of the vehicle 1 andincluding the determined position of the external disturbance in the information tobe communicated. Additionally, a location or place of the external disturbancemay be determined. Also, an area or distribution of the external disturbance maybe determined. This information, that is location, place, area and/or distributionmay be included in the information communicated to the second drive module 30b and/or functional module 40.

When an external disturbance has been detected, information about the externaldisturbance should be communicated to another entity such as the second drivemodule 30b, such that the second drive module 30b, if possible, can takeappropriate action. ln other words, the method comprises communicating S4information about the external disturbance to the second drive module 30b,wherein the information includes the type of external disturbance and positiondata indicative of the position of the external disturbance based on the position ofthe vehicle 1. The second drive module 30b is located, or comprised, in themodular vehicle 1 or in another modular vehicle 2. Thus, the information includesfor example that there is an external disturbance in the shape of a pot hole, an ice 21 patch, a bump, a traffic jam or a road work, and position data indicative of the position of the same.

The communication may be performed in different ways. ln one embodiment, themethod comprises communicating S4 the information about the externaldisturbance to a second drive module 30b via an off board system, wherein thesecond drive module 30b is located in a modular vehicle being different from themodular vehicle 1 where the first drive module 30a is located. The second drivemodule 30b is for example located in the second vehicle 2 illustrated in Fig. 2, orin another modular vehicle not shown. Thereby, a completely different vehiclemay take action to mitigate the impact of the external disturbance on that othervehicle. ln an alternative embodiment, the method comprises communicating S4 theinformation about the external disturbance to the second drive module 30b,wherein the second drive module 30b is located in the same vehicle 1 as the firstdrive module 30a is located. Thereby the second drive module 30b may takeaction upon an external disturbance that that a first drive module 30a or afunctional module 40 in the same vehicle has detected, to mitigate the impact ofthe external disturbance on the second drive module 30b and thus to the vehicle.

Reference will now be made to the flowchart in Fig. 5, which illustrates acorresponding method performed in a receiving second control device 200b of adifferent drive module 30b, that received information about the externaldisturbance. The flowchart illustrates, according to a third aspect, a method forusing the information about external disturbances determined as explained above,thus information determined by a first drive module 30a or a thereto connectedfunctional module 40. The method thus comprises receiving S5, from the firstdrive module 30a or the thereto connected functional module 40, informationabout an external disturbance including disturbance type and position dataindicative of the position of the external disturbance. This step corresponds toreceiving the information communicated in step S4 of the method in Fig. 4. The 22 disturbance type is for example used to determine what action that is to be taken.For example, if the disturbance type is a pot hole, the pot hole could be drivenaround along the same road. lf the disturbance type is a road work, another routemight be considered. The position data indicative of the position of the externaldisturbance is used to know where the external disturbance is located in relationto the drive module 30b. Thereby the external disturbance can be taken intoaccount, when planning a route, or when driving where the external disturbance is located.

As explained, the information may be communicated via an off board system. lnother words, in some embodiments, the method comprises receiving S5 thedetermined information about the external disturbance at the second drive module30b via an off board system, wherein the second drive module 30b is located in amodular vehicle being different from the modular vehicle 1 where the first drivemodule 30a and the thereto connected functional module 40 are located. Therebyother vehicles may make use of the determined information that has been determined in a vehicle. ln some other embodiments, the method comprises receiving S5 the informationabout the external disturbance at the second drive module 30b, wherein thesecond drive module 30b is located in the same vehicle 1 as the first drive module20a and a thereto connected functional module 40 is located. Thereby the seconddrive module 30b of the same vehicle 1 may make use of the determined information.

The received information is typically used to avoid that the same externaldisturbance affects the other drive module 30b or to mitigate further externaldisturbances that are related to the detected disturbance. l\/lore specifically, themethod comprises controlling S6 a vehicle function of the second drive module30b or the thereto connected functional module 40, based on the informationabout the external disturbance, to mitigate the impact of the external disturbanceon the modular vehicle. The modular vehicle is here the vehicle comprising the 23 second drive module 30b or the thereto connected functional module 40. By usingthe information, the vehicle may mitigate or completely obviate any impact of theexternal disturbance on the vehicle. The controlling S6 may include controlling avehicle function based on the type of external disturbance. Thus, depending onwhat type, or kind, of external disturbance, different control actions may be taken.One or several vehicle functions of the second drive module 30b may for examplebe controlled, e.g. operated, based on the disturbance type and position data,such that the second drive module 30b avoids the detected external disturbance,thus drives around a pot hole, a bump or a patch of ice, that is, such that itswheels do not drive on or into the pot hole, the bump or the patch of ice. lf thesecond drive module 30b is located in another vehicle, the drive module 30b maycontrol the another vehicle to take another way to avoid a communicated externaldisturbance such as a traffic jam or a road work. Also, by increasing thesuspension action in the second drive module 30b and/or the functional module40 before driving over an external disturbance such as a pothole or bump, thevehicle will be spared, and any load of the vehicle may be less affected by theexternal disturbance. Such actions may be taken by controlling vehicle functionssuch as steering, propulsion, braking and/or suspension. ln other words, in someembodiments, the controlling S6 comprises controlling a vehicle function of thesecond drive module 30b or a thereto connected functional module 40, the vehiclefunction being any one or several of steering, propulsion, braking and suspension.ln order to control the second drive module 30b or a thereto connected functionalmodule 40, the position of the module 30b, 40 should be known, to be able toknow where the module 30b, 40 is in relation to the location or position of thedetected external disturbance. Thus, the method may comprise to obtain theposition of the second drive module 30b and/or the thereto connected functionalmodule 40 and use the position in order to determine when and/or where tocontrol the one or several vehicle functions to mitigate or obviate the effects of theexternal disturbance. The position may be obtained from a position device in thesecond drive module 30b and/or the thereto connected functional module 40. lnsome embodiments, the controlling a vehicle function comprises controlling S6navigation of the vehicle. For that purpose, the vehicle may have access to map 24 data, a destination and optionally several waypoints, and the position of thevehicle. The map data may be received from the off-board system or saved to thesecond drive module 30b.

Controlling a vehicle function may include configuring operation of the seconddrive module 30b and/or the functional module 40. Configuring operation mayinclude one or several of: configuring steering, configuring propulsion e.g.configuring braking, acceleration and/or speed, and/or configuring suspensionaction. Configuring operation of the vehicle 1 may also include performing amission, e.g. driving the vehicle comprising the second drive module 30b and/orthe functional module 40 an alternative route. These configurations may beautomatically made by the vehicle 1, e.g. by means of one or several of thecontrol devices 200b, 300 in the modules, or remotely performed by the controldevice 100 in the off-board system. For example, in order to configure theoperation of the second drive module 30b and/or the functional module 40, thecontrol device 100, 200b, 300 may, based on the communicated informationabout the external disturbance, automatically send control signals or control datato one or several functions in the vehicle comprising the second drive module 30band/or the functional module 40, where the control signals or control data includesinformation to configure the one or several functions in the second drive module30b and/or the functional module 40. The functions may for example include thebraking system of the driving module 30b, the propulsion system(s) 91 of the drivemodule 30b, a navigation system of the drive module 30b, or the suspensionsystem of the drive modules 30b and/or functional module 40.

Fig. 6 is illustrating an example traffic scenario where the method may be used. Avehicle i comprising a iirat driving module 30a, a functional nicduie 40, and aeeccnd driving rnedule 30b, such as the nioduiar vehicle i in Fig. i, is drivingautenernnusiy along a read 450 and ie apprnaching a pet licie 500. The firstdriving mcduie CšOa is equipped with at least dne detecter 250a, e.g. a fcrvvardsensing carnera, a three-axis accelerometer and/cr a gyre meter. in cne scenario, the ierward sensing camera detects the pet hcie by identiiying tiie pet hele in irnage data trern the earnera, eg. hy eernparing vvith reterenee irnages et petheies (step St in tiewehart in Fig. 4), er eg. hy identityirtig shadevvs er edges inthe irnage. The pet heie rnay have severai preperties itseit, seeh as an area and adepth, that rnay pe deterrriined trern the irnage data. The depth et the pet heie ishere deterrriined and is eenfipared te a depth reterenee ter the pet heie. Thedifference is greater than a predeternftined depth thresheid, and it is deterrninedthat the pet heie is an externai distereanee that sheeid ee eerrtrnenieated teseeend drive rnedeies Bee. The pesitien, ieeatien er piaee et the pet heie isdeterrnined hy rising the pesitien ei the tirst drive rnediiie ßea (step S2 in iievvehartin Fig. 4) and distance te the pet heie trern the pesitien et the tirst drive rneduieSea (step S3 in iietrvehart in Fig. fi). The interrnatien that an externai disterpanee inthe shape et a pet heie has heen deteeted is eernrneriieated te the seeend driverneduie See in the sarne vehieie i, tegether with interrnatien aheet the piaee et thepet heie (step S4 in tievvehart in Fig. ri). The interrnatien rnay ineiede the area erthe distrihutien ei the externai disterhanee, here the pet iteie. Aiternativeiy, the petheie is deteeted hy nteans ei the aeeeiererneter and/er the gyre rneter, eydeteeting that the vehieie irieiines vvhen it drives inte the petheie, eg. ineiinesrnere than a predeterrrtined thresheid. The ineiinatien rnay indireetiy he a rneasereet the depth et the pet heie, and the hy eernparing the ineiinatien et the vehieievvitit a thresheid, it ean pe deterrrtined it the pet heie shetiid pe eernrnenieated ernet. it the ditterenee is greater than a predeterntined depth thresheid, and it isdeterrhined that the pet iteie is ari externai distereanee that sheeid iee eerrtrnenieated te seeend drive ntedeies See The seeend eentrei device 20th: in the seeend drive rnedeie íšíip reeeives theinterntatien (step 85 in the tievveitart et Fig. 5), and diseevers eperi anaiysis et theinterrriatien that the pet heie 509 is ieeated aieng the retite ei (i et the seeenddrive niedeie Bee and that heth vvheeis et the seeend drive ntedeie ßee vviii driveinte the pet heie 500 ii the seeend drive rrredtiie Sep dees net steer areund the petheie. The seeend eentrei device âtttfte in the seeerid drive rnediiie 30%: neweentreis the steeririg et the seeend drive rnedeie See te take the aiternative reete429 seeh that vvheeis et the seeend drive rnedeie íšep drives areerid the pet heie 26 500 and thus de net drive inte the pet hete 500. The second drive rnedeie 30hthereattet" continties atortg the sarne route et 0 ae hetore.

The information ie atse sent te a tirst centret device t00 iecated in an ett beardsystern. The interntation is provided, eg. sent, trem the iirst centret deviee "t00 tesecond drive rnedeies 30h in other vehictes, thus a second vehicte 2 and a thirdvehiete 3. The information is received to second centret devices 200b in the drivemoduiea 30h. The secend centret devices 200h recegnizes, by eerriparing theposition et the detected externai distttrbance vvith the roetes et the vehiciee, thatthe externai disturbanee is iecated atong the route et the vehictes. The seeondcentret device .200b in the second drive rnedeie 30b et the second vehicte 2determines a new route 430 te steer around the pet hete 500 and centrets theeteering ttinctien ot the second drive inoduie 30%: accordingiy. The steeringfonetien ot any other drive ntedoies ef the second vehicte 2 may heeerresporidittgty centroited by the second centret device 200h, eg. appointed asmaster. The preptttsien ei the second vehiete 2 rnay atse he ceniigttred, eg.tevvered, trorn the current speed. The third vehieie 3 may toe eerrespendingiycontreiied.

The proposed technique is applicable on all sorts of road vehicles. However, thedisclosure may relate to heavy vehicles, such as buses, trucks etc. Specifically, the present disclosure may relate to vehicles for use on public roads.

Now turning to Fig. 7 which illustrates an example implementation a control device,configured to implement the proposed methods, here referred to as a secondcontrol device 200. The second control device 200 may be any of the controldevices of the vehicle 1 in Figs. 1 to 3, for example the second control device 200ain the first drive module 30a. lt should be understood that the method may also beimplemented by a third control device 300, thus, a control device in the functionalmodule 40, and that the third control device 300 then comprises the same featuresas the second control device 200. The second control device 200 comprises a processor 210, a memory 220 and one or more communication interfaces 230. The 27 second control device 200 is, according to the second aspect, used for determininginformation about external disturbances to be used by a second drive module 30,e.g. the second rive module 30b illustrated in any of the Figs. 1-3. The secondcontrol device 200 is configured to detect at least one property indicative of anexternal disturbance to the vehicle 1, and indicative of a type of externaldisturbance. The at lest one property is detected by means of at least one detector250a, 250c in the first module 30a or the functional module 40. The second controldevice 200 is also configured to obtain a position of the vehicle 1. ln someembodiments, the control device 200 is configured to receive the at least onedetected at least one property e.g. as information or data, and the position asposition data, by means of the communication interface 230 in the second controldevice 200. The second control device 200 is then configured to communicateinformation about the external disturbance to the second drive module 30b, e.g. viathe communication interface 230, wherein the information includes the type ofexternal disturbance and position data indicative of the position of the externaldisturbance based on the position of the vehicle 1. The second drive module 30b islocated, or comprised, in the modular vehicle 1 or in another modular vehicle 2.

According to some embodiments, the second control device 200 is configured tocommunicate the determined information about the external disturbance to asecond drive module 30b via an off board system, wherein the second drivemodule 30b is located in a modular vehicle, for example the second vehicle in Fig.2 or 6, being different from the modular vehicle 1 where the first drive module 30ais located (e.g. the vehicle in Fig. 1).

According to some embodiments, the second control device 200 is configured tocommunicate the information about the external disturbance to the second drivemodule 30b, wherein the second drive module 30b is located in the same vehicle,e.g. the vehicle 1 in Fig. 1, as the first drive module 30a is located. 28 According to some embodiments, the second control device 200 is configured todetermine a type of the external disturbance, based upon whether the detected atleast one property meeting at least one predetermined type criterion.

According to some embodiments, the second control device 200 is configured todetermine that the detected at least one property is indicating an externaldisturbance upon the detected at least one property meeting at least onepredetermined disturbance criterion for the at least one property.

According to some embodiments, the second control device 200 is configured todetermine a position of the external disturbance based on the obtained position ofthe vehicle 1 and including the determined position of the external disturbance in the information.

According to the fourth aspect, the disclosure relates to a control device 200, e.g.any of the control devices of the vehicle 1 in Figs. 1 to 3, for example the secondcontrol device 200b in the second drive module 30b. lt should be understood thatthe method may also be implemented by a third control device 300, thus, a controldevice in the functional module 40, and that the third control device 300 thencomprises the same features as the second control device 200. The secondcontrol device 200 is here used, according to the fourth aspect, for usinginformation about external disturbances determined by a first drive module 30a orthe thereto connected functional module 40 of a vehicle. The second controldevice 200 is configured to receive, from the first drive module 30a or the theretoconnected functional module 40, information about an external disturbanceincluding disturbance type and position data indicative of the position of theexternal disturbance. The second control device 200 is also configured to controla vehicle function of the second drive module 30b or a thereto connectedfunctional module 40, based on the information about the external disturbance, tomitigate the impact of the external disturbance on the vehicle 1, 2. As previouslyexplained, this may be performed by sending control signals or control data tofunctions of the vehicle 1. ln some embodiments, the second control device is 29 configured to obtain a position of the second drive module 30b and/or thefunctional module 40, and to locate the external disturbance in relation to theposition of the second drive module 30b and/or the functional module 40.

According to some embodiments, the control device 200b is configured to receivethe determined information about the external disturbance via an off boardsystem, wherein the second drive module 30b and the thereto connectedfunctional module 40 are located in a vehicle 2 being different from the modularvehicle 1 where the first drive module 30a is located.

According to some embodiments, the control device 200b is configured to receivethe information about the external disturbance, wherein the second drive module30b and the thereto connected functional module 40 are located in the same vehicle 1 as the first drive module 30a is located.

According to some embodiments, the control device 200b is configured to controla vehicle function of the second drive module 30b or the thereto connectedfunctional module 40, the vehicle function being any one or several of: steering,propulsion, braking and suspension.

According to some embodiments, the first vehicle 1 comprises a second controldevice 200a according to the second aspect, a first drive module 30a and athereto connected functional module 40. The second control device 200a iscomprised in the first drive module 30a. According to some embodiments, the firstvehicle 1 also comprises a second control device 200b according to the secondaspect and a second drive module 30b comprising the second control device200b. ln some embodiments, the second control device 200 is a "unit" in a functionalsense. Hence, in some embodiments the second control device 200 is a controlarrangement comprising several physical control units that operate in corporation.The second control device 200 comprises hardware and software. The hardware basically comprises various electronic components on a Printed Circuit Board,PCB. The most important of those components is typically a processor 210 alongwith a memory 220.

The second control device 200 also comprises one or more communicationinterfaces 230, enabling the second control device 200 to communicate with othermodules 30, 40 of the modular vehicle 1, or of other vehicles. The communicationbetween the modules is as mentioned above wireless, conductive or wired. Wiredcommunication may be implemented standard protocols such as Controller AreaNetwork, CAN. CAN is a robust vehicle bus standard designed to allowmicrocontrollers and devices to communicate with each other in applicationswithout a host computer. Wireless communication between the modules may beimplemented using any short-range communication protocol such as Bluetooth or1002.11.

The one or more communication interfaces 230 is also configured to enablewireless communication with the first control device 100, i.e. with the off-boardsystem. The wireless communication between the second control device 200 andthe first control device is e.g. implemented using 4G, 5G, V2V (Vehicle to Vehicle) or any other suitable wireless communication protocol.

The second control device 200, or more specifically the processor 210 of thesecond control device 200, is configured to cause the second control device 200 toperform all aspects of the method described above and below. This is typically doneby running computer program code stored in the memory 220 in the processor 210of the second control device 200.

The terminology used in the description of the embodiments as illustrated in theaccompanying drawings is not intended to be limiting of the described method;control arrangement or computer program. Various changes, substitutions and/oralterations may be made, without departing from invention embodiments as definedby the appended claims. 31 The term "or" as used herein, is to be interpreted as a mathematical OR, i.e., as aninclusive disjunction; not as a mathematical exclusive OR (XOR), unless expresslystated otherwise. ln addition, the singular forms "a", "an" and "the" are to beinterpreted as "at least one", thus also possibly comprising a plurality of entities ofthe same kind, unless expressly stated otherwise. lt will be further understood thatthe terms "includes", "comprises", "including" and/ or "comprising", specifies thepresence of stated features, actions, integers, steps, operations, elements, and/ orcomponents, but do not preclude the presence or addition of one or more otherfeatures, actions, integers, steps, operations, elements, components, and/ orgroups thereof. A single unit such as e.g. a processor may fulfil the functions of several items recited in the claims.

Claims (1)

1. _ 32 laims A method for use in a modular vehicle (1) comprising a first drive module (30a)and a functional module (40), for determining information about externaldisturbances to be used by a second drive module (30b), the methodcomprising: detecting (S1) at least one property indicative of an external disturbance tothe vehicle (1 ), and indicative of a type of the external disturbance; obtaining (S2) a position of the vehicle (1 ); and communicating (S4) information about the external disturbance to thesecond drive module (30b), wherein the information includes the type ofexternal disturbance and position data indicative of the position of the externaldisturbance based on the position of the vehicle (1 ), and wherein the seconddrive module (30b) is located in the modular vehicle (1) or in another modularvehicle (2). _ The method according to claim 1, comprising communicating (S4) the information about the external disturbance to asecond drive module (30b) via an off board system,wherein the second drive module (30b) is located in a modular vehicle (2)being different from the modular vehicle (1) where the first drive module (30a)is located. The method according to claim 1, comprising communicating (S4) the information about the external disturbance to thesecond drive module (30b),wherein the second drive module (30b) is located in the same modular vehicle(1) as the first drive module (30a) is located. The method according to any one of the preceding claims, wherein thedetected at least one property is detected by means of a detector (250a, 250c)comprising at least one of an accelerometer, a gyro meter, a lidar, a forward sensing camera and a weight sensor. 33 _ The method according to any one of the preceding claims, wherein the type of external disturbance is a pot hole, a patch of ice, a bump or another type ofobstacle_ _ The method according to any one of the preceding claims, wherein the detecting (S1) comprises:determining a type of the external disturbance, based upon whetherthe detected at least one property meeting at least one predetermined type criterion. _ The method according to any one of the preceding claims, wherein the detecting (S1) comprises detecting a property; determining that the detected at least one property is indicating anexternal disturbance upon the detected at least one property meeting at least one predetermined disturbance criterion for the at least one property. _ The method according to any one of the preceding claims, comprising: determining (S3) a position of the external disturbance based on theobtained position of the vehicle (1) and including the determined position of the external disturbance in the information. _ A computer program comprising instructions which, when the program is executed by a control unit, cause the control unit to carry out the method ofany one of the claims 1 to 8. 10_A computer-readable storage medium comprising instructions which, when executed by a control unit, cause the control unit to carry out the method ofany one of the claims 1 to 8. 34 11.A control device (200a, 300) of a modular vehicle (1), comprising a first drive module (30a) and a functional module (40), for determining information aboutexternal disturbances to be used by a second drive module (30b), wherein thecontrol device (200a, 300) is configured to: detect at least one property indicative of an external disturbance to thevehicle (1 ), and indicative of a type of external disturbance, wherein the atleast one property is detected by means of at least one detector (250a, 250c)in the first module (30a) or the functional module (40); obtain a position of the vehicle (1 ); communicate information about the external disturbance to the seconddrive module (30b), wherein the information includes the type of externaldisturbance and position data indicative of the position of the externaldisturbance based on the position of the vehicle (1 ), and wherein the seconddrive module (30b) is located in the modular vehicle (1) or in another modularvehicle (2). 12.The control device (200a, 300) according to claim 11, wherein the control device (200a, 300) is configured to:communicate the determined information about the external disturbance to a second drive module (30b) via an off board system, wherein the second drive module (30b) is located in a modular vehicle (2)being different from the modular vehicle (1) where the first drive module (30a)is located. 13.The control device (200a, 300) according to claim 11, configured to communicate the information about the external disturbance to the seconddrive module (30b),wherein the second drive module (30b) is located in the same modular vehicle(1) as the first drive module (30a) is located. 14.The control device (200a, 300) according to any one of the claims 11 to 13, wherein the at least one detector (300) comprises at least one of an accelerometer, a gyro meter, a lidar, a forward sensing camera and a weight SGFISOI". 15.The control device (200a, 300) according to any one of the claims 11 to 14,wherein the type of external disturbance is a pot hole, a patch of ice, a bump or another type of obstacle. 16.The control device (200a, 300) according to any one of the claim 11 to 15,wherein the control device (20a) is configured to determine a type of theexternal disturbance, based upon whether the detected at least one property meeting at least one predetermined type criterion. 17.The control device (200a, 300) according to any one of the claims 11 to 16,wherein the control device (200a, 300) is configured to: determine that thedetected at least one property is indicating an external disturbance upon thedetected at least one property meeting at least one predetermined disturbance criterion for the at least one property. 18.The control device (200a, 300) according to any one of the claim 11 to 17,wherein the control device (20a) is configured to determine a position of theexternal disturbance based on the obtained position of the vehicle (1) andincluding the determined position of the external disturbance in the information. 19.A method, for use in a modular vehicle (1, 2) comprising a second drivemodule (30b), for using information about external disturbances determined bya first drive module (30a) or a thereto connected functional module (40), themethod comprisingreceiving (S5), from the first drive module (30a) or the thereto connectedfunctional module (40), information about an external disturbance including adisturbance type and position data indicative of a position of the external disturbance; 36 controlling (S6) a vehicle function of the second drive module (30b) or thefunctional module (40), based on the information about the externaldisturbance, to mitigate the impact of the external disturbance on the modularvehicle (1, 2). 20.The method according to claim 19,receiving (S5) the determined information about the external disturbanceat the second drive module (30b) via an off board system,wherein the second drive module (30b) is located in a modular vehicle (2)being different from the modular vehicle (1) where the first drive module (30a) and the thereto connected functional module (40) are located. 21.The method according to claim 19, comprisingreceiving (S5) the information about the external disturbance at the seconddrive module (30b),wherein the second drive module (30b) is located in the same vehicle (1) asthe first drive module (20a) and a thereto connected functional module (40) is located. 22. The method according to any one of claims 19 to 21, wherein the controlling(S6) comprises:controlling a vehicle function of the second drive module (30b) or athereto connected functional module (40), the vehicle function being any oneor several of: steering, propulsion, braking and suspension. 23.A computer program comprising instructions which, when the program isexecuted by a computer, cause the computer to carry out the method of anyone of the claims 19 to 22. 24. A computer-readable storage medium comprising instructions which, whenexecuted by a computer, cause the computer to carry out the method of anyone of the claims 19 to 22. 37 25.A control device (200b), in a modular vehicle (1, 2) comprising a second drive module, for using information about external disturbances determined by a firstdrive module (30a) or a thereto connected functional module (40), wherein thecontrol device (200b) is configured to: receive, from the first drive module (30a) or the thereto connectedfunctional module (40), information about an external disturbance includingdisturbance type and position data indicative of the position of the externaldisturbance; and to control a vehicle function of the second drive module (30b) or a theretoconnected functional module (40), based on the information about the externaldisturbance, to mitigate the impact of the external disturbance on the vehicle(1, 2). 26.The control device (200b) according to claim 25, wherein the control device (200b) is configured to receive the determined information about the externaldisturbance via an off board system, wherein the second drive module (30b)and the thereto connected functional module (40) are located in a modularvehicle (2) being different from the modular vehicle (1) where the first drive module (30a) is located. 27.The control device (200b) according to claim 26, wherein the control device (200b) is configured to receive the information about the external disturbance,wherein the second drive module (30b) and the thereto connected functionalmodule (40) are located in the same vehicle (1) as the first drive module (30a) is located. 28. The control device (200b) according to any one of the claims 25 to 27, wherein the control device (200b) is configured to control a vehicle function ofthe second drive module (30b) or the thereto connected functional module(40), the vehicle function being any one or several of: steering, propulsion, braking and suspension. 38 29.A vehicle (1) comprising a control device (200a) according to any one of theclaims 11 to 18, a first control module (30a) and a thereto connected functionalmodule (40). 30.The vehicle according to claim 29, comprising a control device (200b)according to any of the claims 25 to 28 and a second drive module (30b).