Vehicle provided with a control system, and a method related to the vehicle

Abstract

A vehicle () comprising at least one working unit () and a vehicle control system () comprising control units for controlling the vehicle to work in accordance with one or many working procedures. The vehicle is provided with a plurality of sensor units () configured to generate a sensor signal (). Each control unit () is configured to determine control signals () to control its working unit (), and the control unit designated to the vehicle is configured to determine control signals to control the vehicle, and also to determine control signals () for controlling at least one of the other working units () or the vehicle, and specifically to determine control signals () capable of controlling steps of a working procedure. At each point in time one of the control units is a master control unit being the control unit that is responsible for controlling its own working unit () and also at least one other working unit (), and that at least two control units () are configured to be a master control unit. A determination procedure is provided to continuously determine if handover to another control unit, then being the new master control unit, should be made, and enabling the new master control unit to take control in accordance with the current working procedure if handover has been determined.