Abstract: A method performed by a control arrangement for controlling a vehicle during a downhill start, the vehicle comprising an electric machine configured to propel and/or brake the vehicle and a brake system configured to apply a brake force to the vehicle. The method comprises, following a detection of a downhill start indication, when the vehicle is maintained stationary on an inclined road section by means of a brake force applied by a brake system, controlling the electric machine to apply a brake torque while controlling the brake system to release the applied brake force, and controlling the electric machine to gradually decrease the applied brake torque to control the acceleration of the vehicle when set in motion in a downhill direction on the inclined road section. Hereby, the downhill start is performed in a controlled, safe, and predictable way resulting in an increased comfort and drivability of the vehicle.

Abstract: A method is disclosed for changing an activation state of a power take-off (PTO) in a vehicle, where the activation state corresponds to either an activated state, where the PTO transfers a torque between the vehicle's power source for propelling the vehicle and an auxiliary load, or a deactivated state, where no torque is transferred by the PTO between the power source and the auxiliary load. The activation state of the PTO is changed by engaging or disengaging a clutch of the PTO. The method comprising, when the power source is connected to drive wheels of the vehicle, and the activation state of the PTO is to be changed, controlling the clutch to control a rate of change of torque transferred between the power source and the auxiliary load during the change of the activation state of the PTO based on at least one current operating condition of the vehicle.

Abstract: A method is provided for controlling a speed of a vehicle using a Pulse and Glide (PnG) operation whereby the speed of the vehicle is controlled about a reference speed. The PnG operation comprises a pulse-phase during which the speed of the vehicle is increased to a first speed, higher than the reference speed, followed by a glide-phase during which the speed of the vehicle is allowed to decrease to a second speed, lower than the reference speed. When the PnG operation is being carried out and a speed reduction operation is commenced to decrease the speed lower than the reference speed, the method comprises adjusting the PnG operation such that the speed reduction to the decreased speed is carried out immediately following a speed increase in the pulse-phase to at least the first speed, wherein no propulsive torque is applied during the speed decrease.

Abstract: A method is provided for controlling a speed of a vehicle, using a Pulse and Glide (PnG) operation, whereby the speed of the vehicle is controlled about a reference speed. The PnG operation comprises a pulse-phase during which the speed of the vehicle is increased to a first speed, higher than the reference speed, followed by a glide-phase during which the speed of the vehicle is allowed to decrease to a second speed, lower than the reference speed. The method is performed when the PnG operation is to be carried out and when a speed increase to an increased speed, higher than the reference speed, is to be commenced during the PnG operation. The method comprises adjusting the PnG operation such that the speed increase to the increased speed, is carried out by accelerating the vehicle immediately following a speed decrease in the glide-phase to at least the second speed.

Abstract: A method for operating a vehicle comprising at least one functional module, two or more drive modules, which are: autonomously operated, individually associated with a set of energy parameters, a pair of wheels, an electrical motor operating the wheels, and an interface releasably connected to an interface on the functional module, and wherein one drive module has a gear ratio different from any gear ratio of any other drive module. The method comprises: obtaining route information describing a planned route of the vehicle; determining a distribution of a requested driving torque between the respective at least one electrical motors of the two or more drive modules for operating the vehicle along the route based on the route information and the individual sets of energy parameters in order to meet energy criteria; and controlling the two or more drive modules to produce the requested driving torque, in accordance with the determined distribution.

Abstract: The invention relates to a powertrain for a vehicle. The powertrain comprising: at least one propulsion unit; a transmission connected to the at least one propulsion unit; a propeller shaft connected to the transmission, and at least one drive shaft of a rear axle, which at least one drive shaft is connected to the propeller shaft, so that the propeller shaft extends between the transmission and the at least one drive shaft. The at least one propulsion unit is arranged in a position between the transmission and the rear axle in a longitudinal direction of the vehicle. The invention also relates to a vehicle.

Abstract: The invention relates to a battery box arrangement for a vehicle, the arrangement comprising: a battery box configured to comprise at least one electric battery; at least one elongated beam element connected to the battery box; and at least one vibration damping element configured for connecting the at least one elongated beam element to a chassis frame of the vehicle; wherein the at least one elongated beam element is configured to extend transverse to the chassis frame of the vehicle; wherein a first end part of the at least one elongated beam element is connected to a first battery box module of the battery box, and wherein a second end part of the at least one elongated beam element is connected to a second battery box module of the battery box. The invention also relates to a vehicle with such a battery box arrangement.

Abstract: A vehicle driving assembly is disclosed comprising an axle beam and a propulsion unit. The axle beam comprises a mounting section comprising a cavity with an opening facing in a direction perpendicular to an axial direction of the axle beam. The cavity accommodates a portion of the propulsion unit protruding into the cavity via the opening. The propulsion unit is attached to the mounting section of the axle beam with a number of fastening elements arranged at a first mounting interface and at a second mounting interface arranged at a respective side of an axial plane extending through a respective rotation axis of at least two opposing ground engaging wheels of the axle beam. The present disclosure further relates to a vehicle comprising a vehicle driving assembly.

Abstract: The invention relates to a method and a control arrangement for controlling a speed of a vehicle in an upcoming road section comprising a road crest. The method comprises: determining a speed reduction to be performed before reaching the road crest based on at least a gradient of a downhill slope following the road crest; determining whether the upcoming road section has a single lane or multiple lanes; controlling the speed of the vehicle in the upcoming road section based on the speed reduction and based on whether the upcoming road section has a single lane or multiple lanes, wherein the speed reduction is limited when the upcoming road section has a single lane compared to when the upcoming road section has multiple lanes. In some embodiments, the speed reduction of the vehicle is limited in situations when there is a risk of queues building up behind the vehicle.

Abstract: A retarder arrangement (1) is configured to brake rotation of a shaft (3) of a vehicle (5). The arrangement (1) includes a retarder rotor (7), a retarder transmission (9), a lubricant feed conduit (11) arranged to conduct lubricant to the retarder transmission (9), a coupling device (13), and an actuator element (15). The actuator element (15) is moveable between an actuated position and an unactuated position to move the coupling device (13) between an engaged state and a disengaged state. The coupling device (13) is configured, in the engaged state, to connect the retarder rotor (7) to the shaft (3) via the retarder transmission (9), and in the disengaged state, to disconnect the retarder rotor (7) from the shaft (3). The lubricant teed conduit (11) includes a valve (17) mechanically connected to the actuator element (15). The present disclosure further relates to a transmission arrangement (40), a power train (50), and a vehicle (5).

Abstract: A method includes initiating a low engine-out NOx (LEON) mode by controlling a component of a vehicle having an aftertreatment system to decrease an instantaneous engine-out NOx (EONOx) amount. The method also includes comparing a temperature of the aftertreatment system to a threshold temperature. The method also includes responsive to determining that the temperature of the aftertreatment system exceeds the threshold temperature, disengaging the LEON mode. The method also includes responsive to determining that the temperature of the aftertreatment system is below the threshold temperature, comparing a NOx value to a NOx value threshold. The method also includes disengaging the LEON mode responsive to determining that the NOx value exceeds the NOx value threshold.

Abstract: A method for enabling authentication of transport missions, performed in a control device of a member of a group comprising a plurality of autonomous vehicles and an off-board system. Each member in the group comprises a cryptographic function known by all other members. The method comprises signing, using the cryptographic function, information defining at least one transport mission to be performed by at least one of the autonomous vehicles in the group; and sending the signed information to a plurality of the other members of the group, in order to request them to authenticate the transport mission. The disclosure also relates to a corresponding method for authenticating transport missions, to control devices implementing the methods, to computer programs, to computer-readable storage mediums, and to autonomous vehicles.

Abstract: The disclosure proposes a method for controlling discharge of a solenoid valve arranged in a vehicle, wherein the solenoid valve comprises an inductor and a plunger arranged to be moved by the inductor from a hold position to a rest position, whereby the solenoid valve is opened or closed. The method comprises stepwise discharging the inductor by discharging the inductor at a slow decay rate during an operating time period during which a final part of a movement of the plunger from the hold position to the rest position takes place. The method further comprises discharging the inductor at a fast decay rate during at least one other time period, wherein the plunger is stagnant during at least a part of said other time period, wherein the fast decay rate is faster than the slow decay rate.

Abstract: The invention relates to a method, performed by a control device associated with a vehicle assembled from a set of modules, the vehicle comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be autonomously operated and drive the assembled vehicle, the method comprising: identifying an erroneous function of the at least one drive module; physically connecting an autonomously operated assisting drive module to the at least one drive module; and controlling the assisting drive module to perform at least the erroneous function of the at least one drive module.

Abstract: A method is disclosed for controlling flow of electrical energy between electrical energy repositories each coupled to a respective internal load and a power grid, the method comprising charging the electrical energy repositories based on a set of parameters using energy drawn from the power grid to charge the electrical energy repositories, to a respective first threshold level of energy indicated by the set of parameters, controlling a flow of energy to the power grid using the set of parameters, wherein energy is drawn from any of the electrical energy repositories in a first period between a respective first time, indicative of when the respective first threshold level of energy is reached, and a respective second time, indicative of when energy is expected to be drawn from the one or more electrical energy repositories to the respective internal load, wherein the set of parameters is determined using a trained model.

Abstract: A system for braking a vehicle is provided. The system comprises a powertrain comprising an electric machine arranged to propel the vehicle and a transmission arranged to transfer power between the electric machine and the driving wheels of the vehicle. The system further comprises a resistor device arranged to dissipate electric energy generated by the electric machine during braking of the vehicle, and an airflow generating device arranged to generate an airflow over the resistor device. The airflow generating device is arranged to be mechanically driven by the powertrain so as to generate said airflow. By (mechanically) driving the airflow generating device by means of the powertrain, the airflow generating device does not need its own motor, thereby making the system less complex. Further, the driving of the airflow generating device by means of the powertrain will consume energy itself, contributing to braking the vehicle.

Abstract: A shelving system comprising at least one guide track and at least one shelf assembly, the guide track and shelf assembly comprising mutually interacting means to provide for the shelf assembly being carried by the guide track while carrying a load. The guide track provides for a displacement of the shelf assembly along the guide track while carrying the shelf assembly, and allow releasably fixing the shelf assembly to a plurality of different positions along the at least one guide track. The shelf assembly comprises at least two displacement elements for displacing the shelf assembly along the guide track, and the displacement is effectuated by an actuator controlling a motion of the displacement elements. Following release from a first position along the at least one guide track and displacement to a second position along the guide track, the shelf assembly is releasably fixed at the second position.

Abstract: The invention is related to a battery cell module comprising two end battery cells and a number of intermediate battery cells arranged between the two end battery cells to form a row of battery cells. At least one of the two end battery cells is electrically coupled in parallel with at least one intermediate battery cell, allowing state-of-charge of the parallel coupled battery cells to be balanced. Thereby, achieving an improved balancing which can reduce uneven aging of the battery cells in the battery cell module and increase the life-length of the battery cell module.

Abstract: The invention relates to a method, performed by a first control device, for controlling physically connecting a first and a second module to assemble a vehicle, wherein the first control device is comprised in the first module, the method comprising: activating a sensor device in the first module; identifying an area between the two modules by means of the sensor device; transmitting information about the identified area to the second module; continuously determining the position of the second module in relation to the first module, by means of the sensor device, while the second module is moving towards the first module, and transmitting the determined position to the second module; and physically connecting the modules when the second module has reached the first module.

Abstract: A modular fire extinguishing vehicle comprising a drive module and a releasable connected fire extinguishing module and comprising a plurality of containers comprising different types of fire distinguishing agents and a fluid line connected thereto. The fluid line comprises a connecting interface for connection to a port of another vehicle. The vehicle also comprises a control device configured to obtain information about an ongoing or imminent fire in another vehicle and a position of the other vehicle and to autonomously or remotely operate the modular fire extinguishing vehicle to drive to a position of the other vehicle based on the position information, to connect the fluid line to a port of the other vehicle; and control transfer of a selected one of the different types of fire extinguishing agents into the fluid line, wherein the selected type of fire extinguishing agent is based on the information about the ongoing or imminent fire.