Volvo Truck Corporation

Volvo Autonomous Solutions Ab

Volvo Car Corporation

Jonas Hellgren

Esteban Gelso

Hanna Bryngelsson

Mohammad Manjurul Islam

Leo Laine

Bjorn Fridholm

Hannes Veen

Hannes Kuusisto

Björn Fridholm

Abdullah Mamun

Martin Byrhult

Hanna Ryngelsson

Stefan Kojchev

Åsa Rogenfelt

William Sörensen

Helena Johansson

Tomas Mörk

Claus Biller

The invention relates to a method for controlling charging of at least one electrically driven vehicle of a vehicle fleet including a plurality of vehicles at a charging area, the method includes the step of defining a reference minimum charging energy level for a battery of the vehicle. Further the method includes the step of determining a charging energy level of the battery of the vehicle and comparing the charging energy level with the reference minimum charging energy level. Lastly the method includes assigning a charging command to the vehicle to charge the vehicle if the determined charging energy level of the battery is below said reference minimum charging energy level, and wherein the charging command depends from a charging parameter or a combination of multiple charging parameters if the determined charging energy level of the battery of the vehicle is above said reference minimum charging energy level.

Method for controlling charging of electrically driven vehicles, a computer program, a computer readable medium, a control unit and a battery charging system

There is provided a method for controlling a plurality of vehicles sharing a set of common resources Each vehicle's motion is controllable by a finite set of predefined commands. The method includes forming subsets of the common resources on the basis of predefined motion constraints of individual ones of the vehicles; partitioning the vehicles into disjoint clusters on the basis of the subsets; executing a tree-based planning algorithm. Each execution including an evaluation of sequences of the predefined commands to be fed to the vehicles in a single cluster and a selection of a preferred sequence of the commands; and feeding the preferred sequence of commands to the vehicles in each cluster.

Method and system for controlling a plurality of vehicles, in particular autonomous vehicles

A method for controlling a vehicle travelling along a route is provided. The method includes obtaining a first value of a balance parameter, indicative of a balance between a cost for operating the vehicle along at least a part of the route, and a time of arrival at a position along the route, establishing, in dependence on the first balance parameter value, a plurality of desired position and time correlations for the travel of the vehicle along at least a part of the route, when the vehicle travels along the route, determining a progress deviation comprising a deviation, for a point in time, of an actual position of the vehicle from a desired position according to the desired position and time correlations, or a deviation, for a position of the vehicle, of an actual point in time from a desired point in time according to the desired position and time correlations, when the vehicle travels along the route, obtaining a second balance parameter value, different from the first balance parameter value, the second balance parameter value being dependent on the progress deviation, and controlling the vehicle in dependence on the second balance parameter value.

Method for controlling a vehicle

The present disclosure generally relates to a computer implemented method for operating a vehicle (), specifically in relation to efficient transporting of a predefined cargo. The present disclosure also relates to a corresponding arrangement and computer program product.

Method for operating a vehicle

The invention provides a method for controlling a plurality of vehicles which are repeating a cycle of driving along a route, which has at least one single vehicle area (SLTA, . . . , SLTAm, SP, TP), characterized by—determining speed profiles for the vehicles,—creating a set of different activation times (t, t, tr, tr) for the vehicles, from an activation position (SP, TP) of the cycle,—simulating vehicle movements through the cycle, with the speed profiles, and the created set of activation times (t, t, tr, tr),—repeating, a plurality of times, the steps of creating a set of activation times, and simulating vehicle movements, wherein the created set of activation times are different from one repetition to another,—selecting, for controlling the vehicles, from the sets of activation times created by the repetition of the step of creating a set of activation times, a set of activation times (t, t, tr, tr) for which the simulation shows that there is a minimum time overlap (to) of vehicles at any of the at least one single vehicle area, and—controlling the vehicles according to the speed profiles and the selected set of activation times.

Method for controlling vehicles repeating a cycle

The invention relates to a method for determining an operational parameter indicative of the power capability of an energy storage system (ESS) of a vehicle, wherein the method comprises the steps of determining a state temperature of the ESS; determining an acceptable temperature increase of the ESS for a given time period based on the determined state temperature of the ESS and a maximum temperature threshold of ESS, the maximum temperature threshold being indicative of any one of a safety temperature level of the ESS and an operational life time temperature level of the ESS; and determining a maximum operational power level of the ESS for the given time period based on the determined acceptable temperature increase of the ESS.

Method for management of an energy storage system of a vehicle

A method of visualizing output data of a traffic planning method for controlling a plurality of vehicles (v, v, . . . ), wherein each vehicle occupies one node in a shared set of planning nodes (wp, wp, . . . ) and is movable to other nodes along predefined edges between pairs of the nodes, wherein the output data indicates respective planned node occupancies of the vehicles for a sequence of time steps, the method comprising: obtaining a graphical representation of the planning nodes; and in the graphical representation, indicating each vehicle's planned movements between the nodes by linear graphical elements, wherein an appearance parameter of the linear graphical elements has a time variation with respect to the time step, which time variation is common to all vehicles. The appearance parameter may be a line width, line style, color or texture.

Method and device for visualizing multiple vehicle trajectories

The invention relates to a system for and method of determining a model for estimating battery properties in a hybrid or electrical drive system () for a vehicle (), the method comprising: providing () a function approximator estimating a battery property as a function of two or more measured battery parameters; providing () a stream of measured battery parameter values as a function of time for a predetermined period to a predetermined battery cell model describing the relationship between the measured battery parameter and the battery property; determining (S) a battery property value using the cell model based on a selected portion of the stream of measured battery parameter values; determining (S) if a predetermined condition for the selected portion of the stream of measured battery parameter values is fulfilled; and if (S) the predetermined condition is fulfilled, updating (S) the function approximator based on the battery property value determined by the cell model.

Method and system for estimating battery properties in a vehicle drive system

A method and system for estimating the state-of-health of a battery The invention relates to a method for estimating the state-of-health, SoH, of a battery in a vehicle, the method comprising: determining () a first battery property and a battery temperature of a battery in a vehicle; calculating () a state-of-health, SoH, of a battery cell based on the determined first battery property using a predetermined model; providing () a function f estimating a battery cell degradation rate; updating () a state-of health estimated in a previous time step according to SoH←SoH+ƒ·dt+K·(SoH−SoH), where K is a gain factor which is dependent on operating conditions of the vehicle, and wherein K is modified () for each time step using a reinforcement learning agent.

Method and system for estimating the state-of-health of a battery

The invention relates to a method () for estimating an operating parameter of a battery cell of a battery unit in an electrical propulsion system of a vehicle, the operating parameter being indicative of one of capacity and impedance of the battery cell, the method comprising: selecting () at least one battery cell in the battery unit for determining the operating parameter of the battery cell; providing () a set of state-of-charge (SOC) estimators, each SOC estimator having a selected operating parameter value for a given time period; and using () the set of SOC estimators to determine a value of the operating parameter of the battery cell by performing voltage error minimization.

Method for estimating an operating parameter of a battery cell in a vehicle

The invention relates to a method for controlling vehicles (V-V) in a mission along a route, comprising&#x2014;selecting at least two progress control value sets (u, tw), each value set comprising a respective value (u, u, u, tw) of a progress control parameter for at least one of the vehicles, wherein each progress control parameter value influences the rate of progress of the respective vehicle, &#x2014;determining, for each of the selected progress control value sets, a respective distribution (SoBfut) of the vehicles, if the at least one of the vehicles is controlled based on the respective selected progress control value set (u, tw), so that each progress control value set is correlated to a respective distribution (SoBfut) of the vehicles, &#x2014;identifying, from the selected progress control value sets, based at least partly on the determinations of the distributions (SOBfut), a progress control value set (u, tw) for controlling the at least one of the vehicles, and&#x2014;controlling the at least one of the vehicles (V-V) according to the identified progress control value set (u).

Method for controlling vehicles in a mission along a route

The invention relates to a method for balancing an electrical energy storage module () comprising a plurality of units () for an electric vehicle (). The energy storage module () is operative according to a first balancing target type. A present operating condition of the energy storage module is determined (S), and a future operating condition of the energy storage module is determined (S). Further, there is selected (S) a second balancing target type among a plurality of predetermined balancing targets () based on the present operating condition and the future operating condition, each of the balancing targets being indicative of an energy storage unit characteristic to be balanced in order to achieve the balancing target type. There is further provided to switch (S) from balancing the energy storage module according to the first balancing target type to balancing the energy storage module according to the second balancing target type.

Method for balancing an electrical energy storage module

The invention relates to a method of controlling a vehicle battery management system comprising a battery arranged in a vehicle, the battery being controlled by a battery control unit comprising a battery model describing a relation between a battery state and a time varying battery property. The method comprises, in the battery control unit: measuring at least one time varying battery sensor output of the battery; determining a battery state based on the measured battery sensor output; updating the battery model based on the determined battery state, thereby forming an updated battery model, receiving a second battery model; and combining the received second model with the existing battery model. The invention also relates to a battery management system and to a vehicle comprising such a battery management system.

Battery management system and a method for controlling a battery management system

The invention relates to a method for selecting candidate energy storage cells for balancing of an electrical energy storage pack () comprising a plurality of energy storage cells (). The method comprises calculating (S) a probability that a balancing action on the selected group of cells results in that at least one of the future state of charge is lower than a lower threshold present state of charge or higher than a higher threshold present state of charge, the probability being indicative of superfluous leakage or overcharging. The probability is based on the future state of charge for each of the cells and on the statistical inaccuracy. If the probability is indicative of that superfluous leakage or overcharging is unlikely to occur, selecting (S, S') the group of cells as candidates for a balancing action. The invention further relates to a corresponding system and to a vehicle.

System and a method for selecting energy storage cells for balancing of an electrical energy storage pack

The invention relates to a method which comprises communicating a power capacity of a battery of a vehicle in a system comprising a battery and a battery control unit for controlling said battery. The method further comprises, in the battery control unit, receiving a request comprising a power profile describing a power transfer to or from the battery as a function of time, determining if the battery is capable of receiving or providing power corresponding to the requested power profile.

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Gothenburg, Sweden

Jonas Hellgren