Method for controlling a lifting and lowering sequence of a vehicle and a vehicle comprising a chassis structure and a load carrying body
The present disclosure relates to a method for controlling a lifting and lowering sequence of a load carrying body ( 20 ) of a vehicle ( 1 ) and to a vehicle comprising a chassis structure ( 10 ) and the load carrying body ( 20 ) pivotally mounted on the chassis structure ( 10 ) with respect to a pivot axis being substantially parallel to either a pitch axis (Y) or a roll axis (X) of the vehicle, wherein the vehicle ( 1 ) comprises sensing means ( 11 ) provided on the chassis structure for measuring roll angle and pitch angle of the chassis structure and sensing means ( 21 ) provided on the load carrying body for measuring roll angle and pitch angle of the load carrying body. The method comprises the steps of: —(S 1 ) measuring roll angle and pitch angle of the chassis structure and of the load carrying body during the lifting and lowering sequence, by means of the sensing means, —(S 2 ) determining absolute roll angle and pitch angle of the chassis structure and the load carrying body, respectively, with respect to a reference, —(S 3 ) determining a relative roll angle between the chassis structure and the load carrying body by comparing the measured roll angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or determining a relative pitch angle between the chassis structure and the load carrying body by comparing the measured pitch angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis, —(S 4 ) controlling the lifting and lowering sequence at least based on the determined absolute and relative angles.
1. A method for controlling a lifting and lowering sequence of a load carrying body of a vehicle comprising a chassis structure and the load carrying body pivotally mounted on the chassis structure with respect to a pivot axis being substantially parallel to either a pitch axis or a roll axis of the vehicle,
characterized in that
the vehicle comprises sensing means provided on the chassis structure for measuring roll angle and pitch angle of the chassis structure and sensing means provided on the load carrying body for measuring roll angle and pitch angle of the load carrying body,
the method comprising:
measuring roll angle and pitch angle of the chassis structure and of the load carrying body during the lifting and lowering sequence, by means of the respective sensing means,
determining absolute roll angle and pitch angle of the chassis structure and the load carrying body, respectively, with respect to a reference,
determining a relative roll angle between the chassis structure and the load carrying body by comparing the measured roll angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or determining a relative pitch angle between the chassis structure and the load carrying body by comparing the measured pitch angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis,
controlling the lifting and lowering sequence at least based on the determined absolute angles and the determined relative angle, wherein the method further comprises:
emergency lowering the load carrying body if the relative roll angle is equal to or exceeds a first predetermined relative roll angle threshold value when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or emergency lowering the load carrying body if the relative pitch angle is equal to or exceeds a first predetermined relative pitch angle threshold value when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis.
2. The method according to claim 1 , whereby the lifting and lowering sequence is controlled by a control loop, wherein the measured roll and pitch angles are provided as input, and wherein at least a first request for lifting the load carrying body is provided as output.
3. The method according to claim 1 , further comprising a step of emergency lowering the load carrying body and/or preventing lifting of the load carrying body if the absolute roll angle of the chassis structure or of the load carrying body is equal to or exceeds a first predetermined absolute roll angle threshold value.
4. The method according to claim 1 , further comprising a step of emergency lowering the load carrying body and/or preventing lifting of the load carrying body if the absolute pitch angle of the chassis structure is equal to or exceeds a first predetermined absolute pitch angle threshold value.
5. The method according claim 1 , further comprising a step of emergency lowering the load carrying body if the absolute pitch angle of the load carrying body is equal to or exceeds a second predetermined absolute pitch angle threshold value.
6. The method according to claim 1 , further comprising a step of determining a relative pitch angle between the chassis structure and the load carrying body by comparing the measured pitch angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or determining a relative roll angle between the chassis structure and the load carrying body by comparing the measured roll angles of the chassis structure and the load carrying body when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis.
7. The method according to claim 6 , further comprising a step of determining that the load carrying body is fully lifted when the relative pitch angle is equal to or above a second predetermined relative pitch angle threshold value when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or determining that the load carrying body is fully lifted when the relative roll angle is equal to or above a second predetermined relative roll angle threshold value when the load carrying body is pivotally mounted with respect to a pivot axis being substantially parallel to the roll axis.
8. The method according to claim 7 , further comprising a step of stopping a request for lifting the load carrying body when it is determined that the load carrying body is fully lifted.
9. The method according to claim 6 , further comprising a step of determining that the lifting and lowering sequence is completed when the relative pitch angle is equal to or below a third predetermined relative pitch angle threshold value when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or determining that the lifting and lowering sequence is completed when the relative roll angle is equal to or below a third predetermined relative roll angle threshold value when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis.
10. The method according to claim 9 , further comprising a step of providing a request for initiating driving of the vehicle if it is determined that the lifting and lowering sequence is completed.
11. The method according to claim 1 , further comprising a step of measuring a pitch angular velocity of the load carrying body during the lifting and lowering sequence, by means of the sensing means provided on the load carrying body, and further controlling the lifting and lowering sequence based on the measured pitch angular velocity when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the pitch axis, or measuring a roll angular velocity of the load carrying body during the lifting and lowering sequence, by means of the sensing means provided on the load carrying body, and further controlling the lifting and lowering sequence based on the measured roll angular velocity when the load carrying body is pivotally mounted with respect to the pivot axis being substantially parallel to the roll axis.
12. A control unit for controlling a lifting and lowering sequence of a load carrying body of a vehicle, the control unit being configured to perform the steps of the method according to claim 1 .
13. A vehicle comprising a chassis structure and a load carrying body pivotally mounted on the chassis structure with respect to a pivot axis being substantially parallel to either a pitch axis or a roll axis of the vehicle, the vehicle further comprising,
sensing means provided on the chassis structure for measuring roll and pitch angle thereof and sensing means provided on the load carrying body for measuring roll and pitch angle thereof, and
a control unit according to claim 12 .
14. The vehicle according to claim 13 , wherein the sensing means of the chassis structure and/or the load carrying body is any one of an inclination sensor, an accelerometer, or a gyroscope.
15. The vehicle according to claim 13 , wherein the vehicle is an autonomous vehicle.
16. A non-transitory computer readable medium carrying a computer program comprising program code for performing the steps of claim 1 , when said computer program is run on a computer.