Method and control device for controlling the drive operation of an articulated tracked vehicle

Abstract

The invention relates to a method (M1) performed by a control device (100) for controlling the drive operation of an articulated tracked vehicle (V). The articulated tracked vehicle (V) comprises a drive arrangement (120) for operating the vehicle. The articulated tracked vehicle (V) comprises a first vehicle unit (V1) and a second vehicle unit (V2), the second vehicle unit (V2) being steerably connected to the first vehicle unit (V1) via a steering device (D) for pivoting the vehicle units (V1, V2) relative to each other. The mutual pivoting comprises a steering movement around a steering axis (Y). The steering device (D) comprises a steering arrangement (A1) for the steering movement. The method comprises the following steps: controlling (S1) the steering arrangement (A1) of the steering device (D) to control the mutual steering movement of the vehicle units (V1, V2) for dynamic stability control. The invention also relates to a control device for controlling the drive operation of an articulated tracked vehicle. The invention also relates to a computer program and a computer-readable medium.

Description

Technical Field

[0001] The invention relates to a method performed by a control device for controlling the drive operation of an articulated tracked vehicle. The invention also relates to a control device for controlling the drive operation of an articulated tracked vehicle. The invention also relates to an articulated tracked vehicle. Furthermore, the invention also relates to a computer program and a computer readable medium. Background Art

[0002] An articulated tracked vehicle can be advantageously used for traveling in terrain. Such an articulated tracked vehicle comprises a drive arrangement for operating the vehicle. The drive arrangement may be any suitable drive arrangement, such as an internal combustion engine for operating the vehicle, an electric drive arrangement for electrically operating the vehicle, or a hybrid drive arrangement for hybrid operation of the vehicle. Such an articulated tracked vehicle comprises a front vehicle unit and a rear vehicle unit, the rear vehicle unit being steerably connected to the front vehicle unit by a steering device for pivoting the vehicle units relative to each other. Pivoting relative to each other may comprise pivoting around different axes. Pivoting relative to each other may comprise pivoting around a steering axis, the steering device comprising a steering arrangement for said steering. Pivoting relative to each other may comprise pivoting around a rolling axis, the steering device comprising a rolling arrangement for said rolling motion. Pivoting relative to each other may comprise tilting around a tilting axis, the steering device comprising a tilting arrangement for tilting motion.

[0003] When driving such an articulated tracked vehicle, the operator of the vehicle can change the angle of the horizontal plane between the front vehicle unit and the rear vehicle unit by means of the steering wheel. However, the operation of such a vehicle can be difficult, for example when driving on slippery surfaces where the risk of the articulated tracked vehicle sliding and skidding is high. This can lead to accidents.

[0004] Therefore, there is a need for improved control of the drive operation of such articulated tracked vehicles.

[0005] Purpose of the Invention

[0006] An object of the present invention is to provide a method performed by a control device for controlling the drive operation of an articulated tracked vehicle.

[0007] Another object of the present invention is to provide a control device for controlling the driving operation of an articulated tracked vehicle.

[0008] Another object of the present invention is to provide an articulated tracked vehicle comprising such a control device. Summary of the invention

[0009] These and other objects evident from the following description are achieved by a method, a control device, an articulated tracked vehicle, a computer program and a computer readable medium as set out in the attached independent claims. Preferred embodiments of the method and the control device are defined in the attached dependent claims.

[0010] A method performed by a control device for controlling the drive operation of an articulated tracked vehicle. The articulated tracked vehicle comprises a drive arrangement for driving a drive wheel to operate the vehicle. The articulated tracked vehicle comprises a first vehicle unit and a second vehicle unit, the second vehicle unit being steerably connected to the first vehicle unit by a steering device for pivoting the vehicle units relative to each other. The pivoting relative to each other comprises a steering movement around a steering axis. The steering device comprises a steering arrangement for the steering movement. The method comprises the steps of controlling a steering arrangement of the steering device to control the mutual steering movement of the vehicle units for dynamic stability control. Safety during travel of the vehicle is thereby improved, as the risk of side slip and skidding can be reduced. According to one aspect of the disclosure, the steering arrangement comprises a steering cylinder facilitating the steering movement around the steering axis. According to one aspect of the disclosure, the step of controlling the steering arrangement of the steering device to control the mutual steering movement of the vehicle units for dynamic stability control is configured to be performed during travel of the vehicle. According to one aspect of the disclosure, the step of controlling the steering arrangement of the steering device is configured to be performed to reduce the risk of side slip and / or skidding for dynamic stability control.

[0011] According to an embodiment of the method, the step of controlling the steering arrangement is performed by the control arrangement. Therefore, the mutual steering movement of the vehicle units can be effectively controlled to provide dynamic stability control of the articulated tracked vehicle. Controlling the steering arrangement by the control arrangement may include: providing a control function on the steering arrangement. The steering arrangement may include a pivotable steering shaft (steering shaft), and the control arrangement may act on the steering shaft, which provides the steering axis (steering axis). The steering arrangement may include a steering cylinder, and the control arrangement may act on the steering cylinder to control the steering arrangement. According to one aspect of the present disclosure, the step of controlling the steering arrangement by the control arrangement includes: acting on the steering cylinder by the control arrangement. According to one aspect of the present disclosure, the step of controlling the steering arrangement by the control arrangement includes: acting on the steering shaft by the control arrangement.

[0012] According to an embodiment of the method, the step of controlling the steering arrangement by the control arrangement comprises providing a braking function and / or a locking function and / or a damping function and / or an actuating function of the control arrangement. Thus, the mutual steering movement of the vehicle units can be effectively controlled to provide dynamic stability control of the articulated tracked vehicle. The step of controlling the steering arrangement by the control arrangement may comprise providing a braking function by a braking member acting on the steering arrangement. The step of controlling the steering arrangement by the control arrangement may comprise providing a locking function by a locking member acting on the steering arrangement. The step of controlling the steering arrangement by the control arrangement may comprise providing a damping function by a damping member acting on the steering arrangement. The step of controlling the steering arrangement by the control arrangement may comprise providing an actuating function by an actuating member acting on the steering arrangement. The control arrangement may be configured to act on an existing steering unit of the steering device, such as a hydraulic steering cylinder. The control arrangement may comprise an electric motor and / or a hydraulic motor configured to act on the steering arrangement. The step of controlling the roll arrangement may be performed by an electric motor and / or a hydraulic motor configured to act on a steering cylinder of the steering arrangement. The control arrangement may comprise a hydraulic cylinder or an actuator configured to be included in the steering device, wherein braking, damping, locking and / or actuating functions may be integrated in such a hydraulic cylinder or actuator.

[0013] According to an embodiment of the method, the step of controlling the mutual steering movement of the vehicle units further comprises controlling one or more of: the power supply of the drive arrangement; the braking system of the vehicle; and the transmission arrangement of the vehicle. Thus, the mutual steering movement of the vehicle units can be controlled more effectively to provide dynamic stability control of the articulated tracked vehicle. Thus, controlling the mutual steering movement of the vehicle units by controlling the steering arrangement of the steering device can be controlled more effectively, because the control of the steering arrangement can be performed in conjunction with controlling one or more of: the power supply of the drive arrangement; the braking system of the vehicle; and the transmission arrangement of the vehicle.

[0014] According to one aspect of the present disclosure, the step of controlling the steering arrangement of the steering device by the control arrangement to control the mutual steering movements of the vehicle units so as to reduce the risk of skidding and / or sliding for dynamic stability control can be performed based on the steps of controlling one or more of the following: the power supply of the drive arrangement; the braking system of the vehicle; and the transmission arrangement of the vehicle.

[0015] According to one aspect of the present disclosure, steps of controlling a steering arrangement of a steering device by means of the control arrangement and steps of controlling one or more of a power supply of a drive arrangement, a braking system of the vehicle and a transmission arrangement of the vehicle can be collaboratively performed and adapted during driving of the vehicle to optimize control of the mutual steering movements of the vehicle units, thereby reducing the risk of skidding and / or sliding for dynamic stability control.

[0016] According to one aspect of the present disclosure, the step of controlling the power supply of a drive arrangement, the braking system of the vehicle and one or more of the transmission arrangement of the vehicle to control the mutual steering movements of the vehicle units to reduce the risk of skidding and / or sliding for dynamic stability control can be performed based on the step of controlling the steering arrangement of the steering device by means of the control arrangement.

[0017] According to an embodiment of the method, the step of controlling the mutual steering movement of the vehicle units is performed based on one or more of the following: the steering angle between the vehicle units; the power of the drive arrangement; the speed of the drive wheels; the transmission speed; the steering wheel angle of the steering wheel of the vehicle. By controlling the mutual steering movement of the vehicle units based on this information, dynamic stability control for avoiding skidding and slipping can be effectively obtained. The method may include the step of determining one or more of the following: the steering angle between the vehicle units; the power of the drive arrangement; the speed of the drive wheels; the transmission speed; the steering wheel angle of the steering wheel of the vehicle. The method may include the step of comparing the steering angle between the vehicle units with the steering wheel angle of the steering wheel of the vehicle. The method may include the step of controlling the mutual steering movement of the vehicle units if the steering angle changes relative to the steering wheel angle of the vehicle, thereby reducing / canceling the power supply of the drive arrangement and / or providing a braking / locking / damping action for the steering angle movement of the steering arrangement by the control arrangement and / or providing a braking action for the tracks of one or more track assemblies by the braking system of the vehicle. The method may comprise the step of receiving information about one or more of: a steering angle between the vehicle units from a steering angle determination device; a power of the drive arrangement from a power determination device; a drive wheel speed from a drive wheel speed determination device; a transmission speed from a transmission speed determination device; a steering wheel angle of a steering wheel of the vehicle from a steering wheel angle determination device.

[0018] The method may comprise the step of determining a sideslip and / or a skid of the leading vehicle unit and / or the trailing vehicle unit and / or the entire articulated tracked vehicle. The method may further comprise the step of activating control of a steering arrangement of a steering device based on the sideslip and / or the skid so determined to control mutual steering movements of said vehicle units for dynamic stability control. The step of activating control of a steering arrangement based on the sideslip and / or the skid so determined may comprise controlling a drive arrangement of the vehicle and / or a power supply of the braking system to brake one or more tracks of a track assembly of the vehicle by activating one or more brakes of the braking system.

[0019] The method may comprise the step of determining a configuration of the ground on which the vehicle is travelling, including determining whether the ground is slippery. The method may further comprise the step of activating control of a steering arrangement of a steering device based on the ground configuration so determined to control mutual steering movements of the vehicle units for dynamic stability control. The step of activating control of the steering arrangement based on the ground configuration so determined may comprise controlling a drive arrangement of the vehicle and / or a power supply of the braking system to brake one or more tracks of a track assembly of the vehicle by activating one or more brakes of the braking system.

[0020] For an articulated tracked vehicle having a steering device equipped with a steering arrangement, the steering arrangement being provided with a hydraulic overflow function to prevent forces in the steering device from exceeding a certain threshold, which function can be activated during driving on bumpy and / or slippery ground leading to uncontrolled sideslip / skidding of the vehicle, the method may further comprise the step of activating control of the steering arrangement of the steering device based on the hydraulic overflow so determined to control the mutual steering movements of the vehicle units for dynamic stability control to prevent uncontrolled sideslip / skidding. The step of activating control of the steering arrangement based on the hydraulic overflow so determined may comprise controlling the drive arrangement of the vehicle and / or the power supply of the braking system by activating one or more brakes of the braking system to brake one or more tracks of a track assembly of the vehicle to prevent uncontrolled sideslip / skidding.

[0021] A control device for controlling the drive operation of an articulated tracked vehicle. The articulated tracked vehicle comprises a drive arrangement for driving a drive wheel to operate the vehicle. The articulated tracked vehicle comprises a first vehicle unit and a second vehicle unit, the second vehicle unit being steerably connected to the first vehicle unit via a steering device for pivoting the vehicle units relative to each other. The mutual pivoting comprises a steering movement about a steering axis. The steering device comprises a steering arrangement for the steering movement. The control device is configured to control the steering arrangement of the steering device and thereby control the mutual steering movement of the vehicle units for dynamic stability control.

[0022] According to an embodiment, the control device is configured to control the steering arrangement via the control arrangement.

[0023] According to an embodiment of the control device, the control arrangement comprises a braking member for providing a braking function and / or a locking member for providing a locking function and / or a damping member for providing a damping function and / or an actuating member for providing an actuating function.

[0024] According to an embodiment, the control device, while controlling the mutual steering movements of said vehicle units, is further configured to control one or more of: a power supply of the drive arrangement; a braking system of the vehicle; and a transmission arrangement of the vehicle.

[0025] According to an embodiment, the control device, when controlling the mutual steering movement of the vehicle units, is configured to perform the control based on one or more of the following: the steering angle between the vehicle units; the power of the drive arrangement; the speed of the drive wheels; the transmission speed; the steering wheel angle of the vehicle's steering wheel.

[0026] A control device according to the present disclosure has the advantages according to a corresponding method as described herein.

[0027] In particular, the objects of the invention are achieved by an articulated tracked vehicle comprising a control device as described herein.

[0028] In particular, the object of the invention is achieved by a computer program for controlling the steering of a vehicle, the computer program comprising a program code which, when run on a control device or another computer connected to the control device, causes the control device to perform the method steps as described herein.

[0029] In particular, the object of the present invention is achieved by a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to perform the method as described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] For a better understanding of the present invention, reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference numerals refer to like parts throughout the several views, and in which:

[0031] Figure 1a schematically illustrates a side view of an articulated tracked vehicle according to an embodiment of the present disclosure;

[0032] Figure 1b Schematically shows an embodiment according to the present disclosure Figure 1a A plan view of an articulated tracked vehicle in;

[0033] Figure 2aschematically illustrates a side view of a steering device according to an embodiment of the present disclosure;

[0034] Figure 2b Schematically shows an embodiment according to the present disclosure Figure 2a A side plan view of the steering device in FIG.

[0035] Figure 3a Schematically shows an embodiment of the present disclosure having Figure 2a Steering device in Figure 1a a side view of a portion of an articulated tracked vehicle;

[0036] Figure 3b Schematically shows an embodiment according to the present disclosure Figure 2a A three-dimensional diagram of the steering device in FIG.

[0037] Figure 4a schematically illustrates a plan view of an articulated tracked vehicle equipped with sensors for providing a basis for controlling the driving operation of the vehicle according to an embodiment of the present disclosure;

[0038] Figure 4b A schematic diagram of a vehicle equipped with a control member for controlling a driving operation of a vehicle according to an embodiment of the present disclosure is shown. Figure 4a A plan view of an articulated tracked vehicle in;

[0039] Figure 5 Schematically showing a block diagram of a control device for controlling the steering of an articulated tracked vehicle according to an embodiment of the present disclosure;

[0040] Figure 6 A flow chart schematically illustrates a method performed by a control device for controlling the steering of an articulated tracked vehicle according to an embodiment of the present disclosure;

[0041] Figure 7 A flow chart schematically illustrates a method performed by a control device for controlling the steering of an articulated tracked vehicle according to an embodiment of the present disclosure; and

[0042] Figure 8 A computer according to an embodiment of the invention is schematically shown. DETAILED DESCRIPTION

[0043] In the following, the term "link" refers to a communication link, which may be a physical connector such as an optoelectronic communication line, or a non-physical connector such as a wireless connection, for example a radio or microwave link.

[0044] Figure 1aschematically shows a side view of an articulated tracked vehicle V according to an embodiment of the present disclosure, and Figure 1b Schematically shows Figure 1a . The articulated tracked vehicle V comprises a first vehicle unit V1 and a second vehicle unit V2, which is steerably connected to the first vehicle unit via a steering device D for pivoting the vehicle units V1, V2 of the articulated tracked vehicle V relative to each other. The first vehicle unit V1 is here the leading vehicle unit, i.e. the front vehicle unit. The second vehicle unit V2 is here the trailing vehicle unit, i.e. the rear vehicle unit.

[0045] The first vehicle unit V1 includes a pair of track assemblies. The pair of track assemblies includes a left track assembly TA1 and a right track assembly for driving the first vehicle unit V1. The left track assembly TA1 is Figure 1a The second vehicle unit V2 includes a pair of track assemblies. The pair of track assemblies includes a left track assembly TA3 and a right track assembly for driving the second vehicle unit V2. The left track assembly TA3 is Figure 1a Shown in.

[0046] The first vehicle unit V1 includes a vehicle body 5, which according to one aspect of the present disclosure may include a chassis and a body of the first vehicle unit V1. The pair of track assemblies of the first vehicle unit V1 may be suspendedly connected to the vehicle body 5. The second vehicle unit V2 includes a vehicle body 6, which according to one aspect of the present disclosure may include a chassis and a body of the second vehicle unit V2. The pair of track assemblies of the second vehicle unit V2 may be suspendedly connected to the vehicle body 6.

[0047] Each track assembly includes a driving wheel 1, a tensioning wheel 2, a set of road wheels 3, and an endless track 4 arranged to run on the wheels. Here, the driving wheel 1 is arranged at the front, the tensioning wheel 2 is arranged at the rear, and the road wheels 3 are arranged between the driving wheel 1 and the tensioning wheel 2. However, the articulated track vehicle V according to the present disclosure may include a track assembly having any suitable arrangement of driving wheels, tensioning wheels, and road wheels.

[0048] The exemplary articulated tracked vehicle may be operated in any suitable manner. The exemplary vehicle may be operated by an internal combustion engine. The exemplary vehicle may be an electrically operated vehicle. The exemplary vehicle may be a diesel-electrically operated vehicle. The exemplary articulated tracked vehicle may be a hybrid articulated tracked vehicle.

[0049] The exemplary articulated tracked vehicle may include any suitable drive arrangement for driving the vehicle. The articulated tracked vehicle V includes a drive arrangement 120, see Figure 1a .

[0050] The articulated tracked vehicle V comprises a steering device D according to the present disclosure. The steering device D is arranged for mutually steering a first vehicle unit V1 and a second vehicle unit V2 of the articulated tracked vehicle V. The second vehicle unit V2 is thus steerably connected to the first vehicle unit V1 via the steering device D which pivots said vehicle units V1, V2 relative to each other. The first vehicle unit V1 and the second vehicle unit V2 of the articulated tracked vehicle V are thus steerably connected to each other via the steering device D. The mutual pivoting of the first vehicle unit V1 and the second vehicle unit V2 comprises a steering movement about a steering axis Y, see Figure 1b The steering axis Y is provided by the steering device D. Figure 1b In the embodiment, the first vehicle unit V1 and the second vehicle unit V2 are pivoted relative to each other by an angle α.

[0051] A control device 100 for controlling the driving operation of an articulated tracked vehicle V is provided. According to an embodiment, the control device 100 is included in the articulated tracked vehicle V. According to an embodiment, the articulated tracked vehicle V includes Figure 5 A control device 100 for controlling the driving operation of an articulated tracked vehicle.

[0052] According to an embodiment, the articulated tracked vehicle V is arranged according to Figure 6 A method M1 for controlling a drive operation of an articulated tracked vehicle is operated.

[0053] According to an embodiment, the articulated tracked vehicle V is arranged according to Figure 7 A method M2 for controlling the driving operation of an articulated tracked vehicle is operated.

[0054] Figure 2a schematically shows a side view of a steering device according to an embodiment of the present disclosure, Figure 2b Schematically shows Figure 2a The plan view of the steering device in Figure 3a Schematically shows a steering device D Figure 1a a side view of a portion of an articulated tracked vehicle V, and Figure 3b Schematically shows Figure 2a A three-dimensional diagram of the steering device in FIG.

[0055] The steering device D is configured to enable an articulated tracked vehicle (e.g. Figure 1a to Figure 1b The first vehicle unit and the second vehicle unit of the articulated tracked vehicle) are steerably interconnected to enable the first vehicle unit and the second vehicle unit to pivot relative to each other.

[0056] The steering device D has a longitudinal extension corresponding to the longitudinal extension of the vehicle units V1, V2 of the articulated tracked vehicle V, see Figure 1a and Figure 3a .

[0057] The steering device D comprises a front fastening member 12 arranged to be assembled at the first vehicle unit, ie the front vehicle unit. The front fastening member 12 is intended to be arranged to be connected to the rear end of the front vehicle unit V1 of the articulated tracked vehicle, see also Figure 1a and Figure 3a .

[0058] The front fastening member 12 is intended for fixed non-rotating assembly at the rear end of the front vehicle unit V1 of an articulated tracked vehicle, see also Figure 1a The fastening member 12 includes a plurality of fasteners 12a, 12b, 12c, 12d for assembling the steering device D to the rear portion of the front vehicle unit.

[0059] The steering device D comprises a rear fastening member 14 arranged to be assembled at the second vehicle unit, ie the rear vehicle unit. The rear fastening member 14 is intended to be arranged to be connected to the front end of the rear vehicle unit V2 of the articulated tracked vehicle V, see also Figure 1a and Figure 3a The rear fastening member 14 is thus intended for assembly at the front end of a rear vehicle unit.

[0060] The rear fastening member 14 is intended for fixed non-rotating assembly at the front end of the rear vehicle unit V2 of an articulated tracked vehicle, see also Figure 1a and Figure 3a The fastening member 14 includes a plurality of fasteners 14a, 14b, 14c, 14d, 14e, 14f for assembling the steering device to the front portion of the rear vehicle unit.

[0061] The steering device D further comprises a front steering link 16. The front steering link 16 is pivotally connected to the front fastening member 12 about a front tilting axis Z1 extending in a transverse direction relative to the longitudinal extension of the steering device D. The front tilting axis Z1 extends in a transverse direction of the front vehicle unit when the steering device D is connected to the front vehicle unit. The front steering link 16 is pivotally connected to the front fastening member 12 about a front tilting axis configuration T1 to be pivotally movable about the front tilting axis Z1, thereby facilitating a tilting movement of the front vehicle unit of the articulated tracked vehicle relative to the front steering link 16.

[0062] The steering device D further comprises a rear steering link 18. When the steering device D is connected to the rear vehicle unit, the rear steering link 18 is rotatably connected to the rear fastening member 14 about a roll axis X extending in the longitudinal direction of the rear vehicle unit. According to this example, the rear steering link 18 is rotatably connected to the rear fastening member 14 about the roll axis X via a rotating member R, which is configured to facilitate the rotatable movement of the rear steering member 14 relative to the rear steering link 18. According to this example, the rotating member R is rotatably journaled in a bearing to facilitate the rotational movement of the rear steering member 14 relative to the rear steering link 18 about the roll axis X. Therefore, the rear steering link 18 is rotatably connected to the rear fastening member 14 to allow the front vehicle unit to rotate about the roll axis X relative to the rear vehicle unit. Therefore, different lateral tilting positions of the front vehicle unit relative to the rear vehicle unit are facilitated. The rotating member R may be included in the roll arrangement A2. The rotating member R, the rear fastening member 14 and the rear steering link 18 may be included in the roll arrangement A2. The steering device D may thus include a roll arrangement A2 including the rotating member R, the rear fastening member 14 and the rear steering link 18 .

[0063] The rear steering link 18 is pivotally connected to the rear fastening member 14 about a rear tilting axis Z2 extending in a transverse direction relative to the longitudinal extension of the steering device D. When the steering device D is connected to the rear vehicle unit, the rear tilting axis Z2 extends in the transverse direction of the rear vehicle unit. The rear steering link 18 is pivotally connected to the rear fastening member 14 about a rear tilting axis configuration T2 to be pivotally movable about the rear tilting axis Z2, thereby facilitating a tilting movement of the rear vehicle unit of the articulated tracked vehicle relative to the rear steering link 18.

[0064] The front steering link 16 and the rear steering link 18 are pivotably connected about a steering axis Y, which extends in a vertical direction relative to the longitudinal extension of the steering device D. The front steering link 16 and the rear steering link 18 pivot about a steering axis S. The front steering link 16 and the rear steering link 18 form a steering linkage unit. The steering device D thus comprises a substantially vertical steering axis S, about which a vehicle unit can pivot when connected to the steering device D.

[0065] The front fastening member 12, the rear fastening member 14, the front steering link 16 and the rear steering link 18 may be included in the steering member 10. The steering device D may thus include the steering member 10 to facilitate mutual pivoting about the steering axis Y. The steering device D may thus include the steering member 10 including the front fastening member 12, the rear fastening member 14, the front steering link 16 and the rear steering link 18.

[0066] The steering device D further includes a front tilt cylinder unit 22 connected to the front fastening member 12 and arranged at the front upper portion of the steering device D. The front tilt cylinder unit 22 includes a cylinder portion 22a and a piston rod portion 22b.

[0067] According to an embodiment, the front tilt cylinder unit 22 is a hydraulic tilt cylinder unit 22. The front cylinder unit 22 is configured to operate along a longitudinal extension of the steering device D. The front cylinder unit 22 is configured to operate along a longitudinal extension of the front vehicle unit when the steering device D is connected to the front vehicle unit.

[0068] The steering device D further includes a rear tilt cylinder unit 24 connected to the rear fastening member 14 and arranged at the front upper portion of the steering device D. The rear tilt cylinder unit 24 includes a cylinder portion 24a and a piston rod portion 24b.

[0069] According to an embodiment, the rear tilt cylinder unit 24 is a hydraulic tilt cylinder unit 24. The rear cylinder unit 24 is configured to operate along a longitudinal extension of the steering device D. The rear cylinder unit 24 is configured to operate along a longitudinal extension of the rear vehicle unit when the steering device D is connected to the rear vehicle unit.

[0070] The front cylinder unit 22 is pivotally connected to the upper part of the front fastening member 12 about the front upper tilting axis Z3. The front upper tilting axis Z3 extends in a transverse direction relative to the longitudinal extension of the steering device D. When the steering device D is connected to the front vehicle unit, the front upper tilting axis Z3 extends in the transverse direction of the front vehicle unit. The front cylinder unit 22 is pivotally connected to the upper part of the front fastening member 12 about the front upper tilting axis configuration T3 to be pivotally moved about the front upper tilting axis Z3 to facilitate the tilting movement of the front vehicle unit of the articulated crawler vehicle relative to the front cylinder unit 22.

[0071] The piston rod portion 22 b of the front cylinder unit 22 is pivotably connected to the steering link unit, ie, the steering shaft S, so that the front cylinder unit 22 can pivot about the steering axis Y.

[0072] The rear cylinder unit 24 is pivotally connected to the upper part of the rear fastening member 14 about a rear upper tilting axis Z4. The rear upper tilting axis Z4 extends in a transverse direction relative to the longitudinal extension of the steering device D. The rear cylinder unit 24 is pivotally connected to the upper part of the rear fastening member 14 about a rear upper tilting axis configuration T4 to be pivotally moved about the rear upper tilting axis Z4 to facilitate tilting movement of the rear vehicle unit of the articulated tracked vehicle relative to the rear cylinder unit 24.

[0073] The piston rod portion 24 b of the rear cylinder unit 24 is pivotably connected to the steering link unit, ie, the steering shaft S, so that the rear cylinder unit 24 can pivot about the steering axis Y.

[0074] The steering device D further includes a first steering cylinder unit 30 arranged at a lower portion of the steering device D along the left side of the steering device. The first steering cylinder unit 30 includes a cylinder portion 30a and a piston rod portion 30b. According to an embodiment, the first steering cylinder unit 30 is a hydraulic steering cylinder unit 30. The first steering cylinder unit 30 is configured to run along the longitudinal extension of the steering device D. Figure 3b .

[0075] The cylinder portion 30a of the first steering cylinder unit 30 is pivotally connected to the front steering link 16 about a left front steering axis Y1 extending in a vertical direction at the left front side of the steering device D. The cylinder portion 30a of the first steering cylinder unit 30 is pivotally connected to the front steering link 16 about a left front steering axis configuration S1 to pivotally move about the left front steering axis Y1 to facilitate mutual pivoting of the front vehicle unit and the rear vehicle unit of the articulated crawler vehicle about the steering axis Y. See Figure 3b .

[0076] The piston rod portion 30b of the first steering cylinder unit 30 is pivotally connected to the rear steering link 18 about the left rear steering axis Y2 on the left rear side of the steering device D. The piston rod portion 30b of the first steering cylinder unit 30 is pivotally connected to the rear steering link 18 about the left rear steering axis configuration S2 to pivotally move about the left rear steering axis Y2 to facilitate the mutual pivoting of the front vehicle unit and the rear vehicle unit of the articulated crawler vehicle about the steering axis Y. See Figure 3b .

[0077] The steering device D further includes a second steering cylinder unit 32 arranged at a lower portion of the steering device D along the right side of the steering device. The second steering cylinder unit 32 includes a cylinder portion 32a and a piston rod portion 32b. According to an embodiment, the second steering cylinder unit 32 is a hydraulic steering cylinder unit 32. The second steering cylinder unit 32 is configured to run along the longitudinal extension of the steering device D. Figure 2a .

[0078] The cylinder portion 32a of the second steering cylinder unit 32 is pivotally connected to the front steering link 16 about the right front steering axis Y3, which extends in the vertical direction at the right front side of the steering device D. The cylinder portion 32a of the second steering cylinder unit 32 is pivotally connected to the front steering link 16 about the right front steering axis configuration S1 to pivotally move about the right front steering axis Y3 to facilitate the mutual pivoting of the front vehicle unit and the rear vehicle unit of the articulated crawler vehicle about the steering axis Y. See Figure 2a .

[0079] The piston rod portion 32b of the second steering cylinder unit 32 is pivotally connected to the rear steering link 18 about the right rear steering axis Y4 on the right rear side of the steering device D. The piston rod portion 32b of the second steering cylinder unit 32 is pivotally connected to the rear steering link 18 about the right rear steering axis configuration S2 to pivotally move about the right rear steering axis Y4 to facilitate the mutual pivoting of the front vehicle unit and the rear vehicle unit of the articulated crawler vehicle about the steering axis Y. See Figure 2a .

[0080] The steering member 10 and the first steering cylinder unit 30 and the second steering cylinder unit 32 may be included in a steering arrangement A1. The steering device D may therefore include the steering arrangement A1 to facilitate a steering movement about a steering axis Y. The steering device D may therefore include the steering arrangement A1, the steering arrangement A1 including the steering member 10, the first steering cylinder unit 30 and the second steering cylinder unit 32, the steering member 10 including a front fastening member 12, a rear fastening member 14, a front steering link 16, and a rear steering link 18.

[0081] The steering device D may include a protective casing, not shown, which is arranged to surround and protect components of the steering device D.

[0082] Figure 4a A plan view of an articulated tracked vehicle V equipped with sensors for providing a basis for controlling the driving operation of the vehicle V according to an embodiment of the present disclosure is schematically shown. Figure 4b A schematic diagram of a vehicle equipped with a control member for controlling a driving operation of a vehicle according to an embodiment of the present disclosure is shown. Figure 4a Plan view of the articulated tracked vehicle V in FIG.

[0083] The articulated tracked vehicle V comprises a first vehicle unit V1 and a second vehicle unit V2, which is steerably connected to the first vehicle unit via a steering device D for mutually pivoting the vehicle units V1, V2 of the articulated tracked vehicle V. The mutual pivoting comprises a steering movement about a steering axis. The steering device D comprises a steering arrangement A1 for the steering movement. The first vehicle unit V1 is here the leading vehicle unit, while the second vehicle unit V2 is here the trailing vehicle unit.

[0084] The first vehicle unit V1 includes a pair of track assemblies TA1, TA2, including a left track assembly TA1 and a right track assembly TA2 for driving the first vehicle unit V1. The second vehicle unit V2 includes a pair of track assemblies TA3, TA4, including a left track assembly TA3 and a right track assembly TA4 for driving the second vehicle unit V2.

[0085] The first vehicle unit V1 includes a vehicle body 5 / vehicle chassis 5. The track assembly pair TA1, TA2 of the first vehicle unit V1 can be suspendedly connected to the vehicle body 5. The second vehicle unit V2 includes a vehicle body 6 / vehicle chassis. The track assembly pair TA3, TA4 of the second vehicle unit V2 can be suspendedly connected to the vehicle body 6.

[0086] Each track assembly comprises a driving wheel 1. Each track assembly may also comprise a tensioning wheel and a set of road wheels, not shown, and an endless track 4 arranged to run on said wheels.

[0087] The articulated tracked vehicle V comprises a drive arrangement 120 for driving the drive wheels 1 for operating the vehicle V. The mutual pivoting comprises a steering movement about a steering axis of the steering arrangement A1 .

[0088] The articulated tracked vehicle V comprises a braking system 130 for braking the drive wheels 1 of the vehicle V.

[0089] The articulated tracked vehicle V comprises a transmission arrangement 140 for providing a gear shift of the drive wheels 1 during operation of the vehicle V.

[0090] The articulated tracked vehicle V comprises a control device 100 for controlling driving operations of the articulated tracked vehicle V. The control device 100 is configured to control a steering arrangement A1 of a steering device to control mutual steering movements of the vehicle units V1 , V2 for dynamic stability control.

[0091] like Figure 4a As shown, the articulated tracked vehicle V may include a steering angle determination device 150 for determining the steering angle between the vehicle units V1, V2. The steering angle determination device 150 may include one or more angle sensors for determining the steering angle between the vehicle units V1, V2. The control device 100 may be arranged to receive information about the steering angle between the vehicle units V1, V2 from the steering angle determination device 150.

[0092] like Figure 4a As shown, the articulated tracked vehicle V may comprise a drive arrangement power determination device 160 for determining the power of said drive arrangement 120. The control device 100 may be arranged to receive information about the power of said drive arrangement 120 from the drive arrangement power determination device 160.

[0093] like Figure 4aAs shown, the articulated tracked vehicle V may include a driving wheel speed determining device 170 for determining the speed of the driving wheel 1 of the articulated tracked vehicle V. The driving wheel speed determining device 170 may include one or more wheel sensors arranged in connection with the driving wheel 1. The control device 100 may be arranged to receive information about the speed of the driving wheel 1 from the driving wheel speed determining device 170.

[0094] like Figure 4a As shown, the articulated tracked vehicle V may include a transmission speed determination device 180 for determining the transmission speed of the transmission arrangement 140 of the articulated tracked vehicle V. The transmission speed determination device 180 may include one or more sensors arranged in connection with the transmission arrangement 140 of the articulated tracked vehicle to detect the transmission speed. The control device 100 may be arranged to receive information about the transmission speed of the transmission arrangement 140 from the transmission speed determination device 180.

[0095] like Figure 4a As shown, the articulated tracked vehicle V may include a steering wheel angle determination device 190 for determining the steering wheel angle of the steering wheel of the articulated tracked vehicle. The steering wheel angle determination device 190 may include one or more sensors arranged to be connected to the steering wheel of the articulated tracked vehicle to detect the steering wheel angle. The control device 100 may be arranged to receive information about the steering wheel angle of the steering wheel from the steering wheel angle determination device 190.

[0096] like Figure 4b As shown, the control device 100 is configured to control the steering arrangement A1 through the control arrangement 110, thereby controlling the mutual steering movement of the vehicle units for dynamic stability control. The control arrangement 110 may include a braking member for providing a braking function on the steering arrangement A1 and / or a locking member for providing a locking function on the steering arrangement A1 and / or a damping member for providing a damping function on the steering arrangement A1 and / or an actuating member for providing an actuating function on the steering arrangement A1.

[0097] The control arrangement 110 may be configured to act on an existing steering unit of the steering device, such as a hydraulic steering cylinder. The control arrangement 110 may include an electric motor and / or a hydraulic motor configured to act on the steering arrangement A1. The steering arrangement A1 may be controlled by an electric motor and / or a hydraulic motor configured to act on a steering cylinder of the steering arrangement. The control arrangement 110 may include a hydraulic cylinder or an actuator configured to be included in the steering device, wherein braking, damping, locking and / or actuating functions may be integrated in such a hydraulic cylinder or actuator.

[0098] According to one aspect of the present disclosure, when the relative steering movement of the vehicle units V1, V2 is controlled by controlling the control arrangement 110, the control device 100 can be configured to perform the control based on one or more of the following: a determined steering angle between the vehicle units; a determined power of the drive arrangement 120; a determined speed of the drive wheel 1; a determined transmission speed of the transmission arrangement 140; and a determined steering wheel angle of the steering wheel of the vehicle V.

[0099] like Figure 4b As shown, the control device 100 can be configured to control the power supply of the drive arrangement 120 to further facilitate the control of the mutual steering movement of the vehicle units V1, V2 for dynamic stability control. The control of the power supply of the drive arrangement 120 can be performed by a power supply control member 122 controlled by the control device 100.

[0100] According to one aspect of the present disclosure, when the mutual steering movement of the vehicle units V1, V2 is controlled by controlling the power supply of the drive arrangement 120, the control device 100 may be configured to perform the control based on one or more of: a determined steering angle between the vehicle units; a determined power of the drive arrangement 120; a determined speed of the drive wheel 1; a determined transmission speed of the transmission arrangement 140; and a determined steering wheel angle of the steering wheel of the vehicle V. According to one aspect of the present disclosure, when the mutual steering movement of the vehicle units V1, V2 is controlled by controlling the power supply of the drive arrangement 120, the control device 100 may be configured to perform the control based on and / or taking into account the control of the mutual steering movement of the vehicle units V1, V2 by controlling the steering arrangement A1 using the control arrangement 110.

[0101] like Figure 4b As shown, the control device 100 may be configured to control a braking system 130 of the vehicle V, thereby further facilitating control of the mutual steering movements of said vehicle units V1 , V2 for dynamic stability control.

[0102] According to one aspect of the present disclosure, when the mutual steering movement of the vehicle units V1, V2 is controlled by controlling the brake system 130, the control device 100 may be configured to perform the control based on one or more of: a determined steering angle between the vehicle units; a determined power of the drive arrangement 120; a determined speed of the drive wheel 1; a determined transmission speed of the transmission 140; and a determined steering wheel angle of the steering wheel of the vehicle V. According to one aspect of the present disclosure, when the mutual steering movement of the vehicle units V1, V2 is controlled by controlling the brake system 130, the control device 100 may be configured to perform the control based on and / or taking into account the control of the mutual steering movement of the vehicle units V1, V2 by controlling the steering arrangement A1 using the control arrangement 110.

[0103] like Figure 4b As shown, the control device 100 may be configured to control the transmission speed of the transmission arrangement 140, thereby further facilitating control of the mutual steering movement of the vehicle units V1 , V2 for dynamic stability control.

[0104] According to one aspect of the present disclosure, when the mutual steering movement of the vehicle units V1, V2 is controlled by controlling the transmission speed of the transmission arrangement 140, the control device 100 may be configured to perform the control based on one or more of: a determined steering angle between the vehicle units; a determined power of the drive arrangement 120; a determined speed of the drive wheel 1; a determined transmission speed of the transmission arrangement 140; and a determined steering wheel angle of the steering wheel of the vehicle V. According to one aspect of the present disclosure, when the mutual steering movement of the vehicle units V1, V2 is controlled by controlling the transmission speed of the transmission arrangement 140, the control device 100 may be configured to perform the control based on and / or taking into account the control of the mutual steering movement of the vehicle units V1, V2 by controlling the steering arrangement A1 using the control arrangement 110.

[0105] According to one aspect of the present disclosure, when the steering arrangement A1 is controlled by the control arrangement 110 to control the mutual steering movement of the vehicle units V1 and V2 to reduce the risk of skidding and / or sliding for dynamic stability control, the control device 100 can be configured to perform the control based on and / or taking into account the following: the control of the mutual steering movement of the vehicle units V1 and V2 by one or more of the power supply of the drive arrangement 120, the braking system 130 of the vehicle and the transmission arrangement 140 of the vehicle.

[0106] According to one aspect of the present disclosure, when the steering arrangement A1 of the steering device D is controlled by the control arrangement 110 and the power supply of the drive arrangement 120, the braking system 130 of the vehicle and one or more of the transmission arrangement 140 of the vehicle are controlled, the control device 100 can be configured to collaboratively execute and adjust the control during vehicle travel to optimize the control of the mutual steering movements of the vehicle units to reduce the risk of skidding and / or sliding for dynamic stability control.

[0107] According to one aspect of the present disclosure, when controlling the power supply of the drive arrangement 120, the vehicle's braking system 130 and one or more of the vehicle's transmission arrangement 140 to control the mutual steering movements of the vehicle units to reduce the risk of skidding and / or sliding for dynamic stability control, the control device 100 can be configured to perform the control based on and / or taking into account: the control of the steering arrangement A1 of the steering device by the control arrangement 110.

[0108] Figure 5 A block diagram of a control device 100 for controlling a driving operation of an articulated tracked vehicle according to an embodiment of the present disclosure is schematically shown.

[0109] The articulated tracked vehicle comprises a drive arrangement for driving a drive wheel for operating the vehicle. The articulated tracked vehicle comprises a first vehicle unit and a second vehicle unit, the second vehicle unit being steerably connected to the first vehicle unit by a steering device for pivoting the vehicle units relative to each other. The mutual pivoting comprises a steering movement about a steering axis. The steering device comprises a steering arrangement for the steering movement. The steering device may be any suitable steering device having a steering axis for providing mutual pivoting of the vehicle units, including a steering movement about a steering axis. The steering device may be a steering arrangement with reference to Figure 2a to Figure 2b , Figure 3a to Figure 3b The steering arrangement of the steering device may be any suitable steering arrangement having a tap, a shaft and a steering cylinder unit. The steering arrangement may be any suitable steering arrangement having a tap, a shaft and a steering cylinder unit. Figure 2a to Figure 2b , Figure 3a to Figure 3b Steering arrangement described.

[0110] The control device 100 is configured to control the driving operation of the articulated track vehicle during operation of the vehicle.

[0111] The control device 100 for controlling the driving operation of an articulated tracked vehicle may be included in the system 1 for controlling the driving operation of an articulated tracked vehicle.

[0112] The control device 100 may be implemented as a separate entity or distributed in two or more physical entities. The control device 100 may include one or more computers. The control device 100 may therefore be implemented or realized by a control device including a processor and a memory, the memory including instructions that, when executed by the processor, cause the control device to perform the method disclosed herein.

[0113] The control device 100 may include one or more electronic control units, processing units, computers, server units, etc., for controlling the driving operation of the articulated tracked vehicle during operation of the vehicle. The control device 100 may include a control device such as one or more electronic control units arranged on the vehicle. The control device 100 may include one or more electronic control units of the vehicle.

[0114] As described above, the control device 100 may include at least one processing unit. According to one aspect, the processing unit may be represented as a processor. The control device 100 may include at least one processor. The at least one processor may include any physical device having a circuit that performs a logical operation on input data. For example, at least one processor may include all or part of one or more integrated circuits, microchips, microcontrollers, microprocessors, central processing units (CPUs), digital signal processors (DSPs), field programmable gate arrays (FPGAs), or other circuits for executing instructions or performing logical operations.

[0115] The control device 100 may include a random access memory (RAM), a read-only memory (ROM), a hard disk, an optical disk, a magnetic medium, a flash memory, or any other mechanism capable of storing instructions or data. The memory may be integrated with or embedded in at least one processor, or may be a separate memory hardware device.

[0116] According to one aspect of the present disclosure, the actions and method steps described herein as being performed by the control device 100 may be performed by the at least one processor when executing a computer program stored in the memory.

[0117] The control device 100 is configured to control a steering arrangement of a steering device to control mutual steering movements of said vehicle units for dynamic stability control.

[0118] According to one aspect of the present disclosure, the control device 100 may be configured to control the steering arrangement via a control arrangement 110. According to one aspect of the present disclosure, the control arrangement 110 is operatively connected to the control device 100.

[0119] According to one aspect of the present disclosure, a system 1 for controlling drive operations of an articulated tracked vehicle may include a control arrangement 110 .

[0120] The control arrangement 110 may include a brake member 112 for providing a braking function. The brake member 112 for providing a braking function may be arranged to be connected to a steering arrangement to provide a braking function of a steering device, thereby controlling the mutual steering movement of the vehicle units. The brake member 112 may include a mechanically operated brake arranged to be connected to the steering arrangement. The brake member 112 may include a hydraulically operated brake arranged to be connected to the steering arrangement. The brake member 112 may include an electrically operated brake arranged to be connected to the steering arrangement. The brake member 112 may be arranged to be connected to one or more taps and / or shafts and / or steering cylinder units of the steering arrangement.

[0121] The control arrangement 110 may include a locking member 114 for providing a locking function. The locking member 114 for providing a locking function may be arranged in connection with a steering arrangement to provide a locking function of the steering device, thereby controlling the mutual steering movement of the vehicle units. The locking member 114 may include a mechanically operated lock arranged in connection with the steering arrangement. The locking member 114 may include a hydraulically operated lock arranged in connection with the steering arrangement. The locking member 114 may include an electrically operated lock arranged in connection with the steering arrangement. The locking member 114 may be arranged in connection with one or more taps and / or shafts and / or steering cylinder units of the steering arrangement.

[0122] The control arrangement 110 may include a damping member 116 for providing a damping function. The damping member 116 for providing a damping function may be arranged in connection with a steering arrangement to provide a damping function of the steering device, thereby controlling the mutual steering movement of the vehicle units. The damping member 116 may include a mechanically operated damping member arranged in connection with the steering arrangement. The damping member 116 may include a hydraulically operated damping member arranged in connection with the steering arrangement. The damping member 116 may include an electrically operated damping member arranged in connection with the steering arrangement. The damping member 116 may be arranged in connection with one or more taps and / or shafts and / or steering cylinder units of the steering arrangement.

[0123] The control arrangement 110 may include an actuating member 118 for providing an actuating function. The actuating member 118 for providing an actuating function may be arranged in connection with a steering arrangement to provide an actuating function of the steering device, thereby controlling the mutual steering movement of the vehicle units. The actuating member 118 may include a mechanically operated actuating member arranged in connection with the steering arrangement. The actuating member 118 may include a hydraulically operated actuating member arranged in connection with the steering arrangement. The actuating member 118 may include an electrically operated actuating member arranged in connection with the steering arrangement. The actuating member 118 may be arranged in connection with one or more taps and / or shafts and / or steering cylinder units of the steering arrangement.

[0124] The control arrangement 110 may comprise a braking member 112 for providing a braking function and / or a locking member 114 for providing a locking function and / or a damping member 116 for providing a damping function and / or an actuating member 118 for providing an actuating function.

[0125] According to one aspect of the present disclosure, when controlling the mutual steering movements of the vehicle units, the control device 100 may also be configured to control one or more of: the power supply of the vehicle's drive arrangement 120; the vehicle's braking system 130; and the vehicle's transmission arrangement 140.

[0126] When controlling the mutual steering movements of the vehicle units, the control device 100 may be configured to control the power supply to a drive arrangement 120 of the vehicle in addition to the control arrangement 110. The drive arrangement 120 may comprise an internal combustion engine and / or one or more electric motors for driving the vehicle, i.e. driving the drive wheels of the track assembly of the vehicle.

[0127] When controlling the mutual steering movements of the vehicle units, the control device 100 may be configured to control a vehicle's brake system 130 in addition to the control arrangement 110. The vehicle's brake system 130 may comprise brake members arranged in connection with drive wheels of a track assembly of the vehicle.

[0128] When controlling the mutual steering movement of the vehicle units, the control device 100 may be configured to control the vehicle's transmission arrangement 140 in addition to the control arrangement 110. The vehicle's transmission arrangement 140 may comprise any suitable gear arrangement for providing gear shifting of the drive wheels of the vehicle's track assembly.

[0129] According to one aspect of the present disclosure, when controlling the mutual steering movement of the vehicle units, the control device 100 can be configured to perform the control based on one or more of the following: the steering angle between the vehicle units; the power of the drive arrangement; the speed of the drive wheels; the transmission speed; the steering wheel angle of the vehicle's steering wheel.

[0130] The control device 100 may be configured to determine a steering angle between the vehicle units as a basis for controlling the mutual steering movements of the vehicle units.

[0131] According to one aspect of the present disclosure, a system 1 for controlling a driving operation of an articulated tracked vehicle may include a steering angle determination device 150 for determining a steering angle between the vehicle units. The steering angle determination device 150 may include one or more angle sensors for determining a steering angle between the vehicle units. One or more angle sensors may be arranged in connection with a steering device for determining a steering angle between the vehicle units.

[0132] The control device 100 may be configured to determine the power of the drive arrangement as a basis for controlling the mutual steering movements of the vehicle units.

[0133] According to one aspect of the present disclosure, the system 1 for controlling the drive operation of an articulated tracked vehicle may comprise a drive arrangement power determination device 160 for determining the power of said drive arrangement.

[0134] The control device 100 may be configured to determine the speed of the drive wheels of the articulated tracked vehicle as a basis for controlling the mutual steering movements of said vehicle units.

[0135] According to one aspect of the present disclosure, the system 1 for controlling the driving operation of an articulated tracked vehicle may include a driving wheel speed determining device 170 for determining the speed of the driving wheels of the articulated tracked vehicle. The driving wheel speed determining device 170 may include one or more wheel sensors arranged to be connected to the driving wheels of the articulated tracked vehicle to detect the speed of the driving wheels detected thereby.

[0136] The control device 100 may be configured to determine the transmission speed of the articulated tracked vehicle as a basis for controlling the mutual steering movements of said vehicle units.

[0137] According to one aspect of the present disclosure, the system 1 for controlling the driving operation of an articulated tracked vehicle may include a transmission speed determination device 180 for determining the transmission speed of the articulated tracked vehicle. The transmission speed determination device 180 may include one or more sensors arranged to be connected to the transmission of the articulated tracked vehicle to detect the transmission speed.

[0138] The control device 100 may be configured to determine a steering wheel angle of a steering wheel of the articulated tracked vehicle as a basis for controlling mutual steering movements of said vehicle units.

[0139] According to one aspect of the present disclosure, a system 1 for controlling a driving operation of an articulated tracked vehicle may include a steering wheel angle determination device 190 for determining a steering wheel angle of a steering wheel of the articulated tracked vehicle. The steering wheel angle determination device 190 may include one or more sensors arranged to be connected to a steering wheel of the articulated tracked vehicle to detect a steering wheel angle.

[0140] The control device 100 may be configured to determine a sideslip and / or a skid of the leading vehicle unit and / or the trailing vehicle unit and / or the entire articulated tracked vehicle. The control device 100 may also be configured to activate control of a steering arrangement of a steering device based on the sideslip and / or the skid so determined to control the mutual steering movements of the vehicle units for dynamic stability control. When activating control of the steering arrangement based on the sideslip and / or the skid so determined, the control device 100 may be configured to control the drive arrangement of the vehicle and / or the power supply of the braking system by activating one or more brakes of the braking system to brake one or more tracks of a track assembly of the vehicle.

[0141] The control device 100 may be configured to determine the configuration of the ground on which the vehicle is travelling, including determining whether the ground is slippery. The control device 100 may also be configured to activate control of a steering arrangement of a steering device based on the configuration of the ground so determined to control the mutual steering movements of the vehicle units for dynamic stability control. When activating control of the steering arrangement based on the configuration of the ground so determined, the control device 100 may be configured to control the drive arrangement of the vehicle and / or the power supply of the braking system by activating one or more brakes of the braking system to brake one or more tracks of a track assembly of the vehicle.

[0142] For an articulated tracked vehicle having a steering device equipped with a steering arrangement (the steering arrangement is provided with a hydraulic overflow function to prevent the force in the steering device from exceeding a certain threshold, which function can be activated during driving on bumpy and / or slippery ground causing uncontrolled side slip / skidding of the vehicle), the control device 100 can be configured to determine such hydraulic overflow; and based on the hydraulic overflow so determined, activate control of the steering arrangement of the steering device to control the mutual steering movements of the vehicle units for dynamic stability control, thereby preventing uncontrolled side slip / skidding. When activating control of the steering arrangement based on the hydraulic overflow so determined, the control device 100 can be configured to control the drive arrangement of the vehicle and / or the power supply of the braking system to brake one or more tracks of a track assembly of the vehicle by activating one or more brakes of the braking system, thereby preventing uncontrolled side slip / skidding.

[0143] According to one aspect of the present disclosure, the control device 100 may be operatively connected to the steering angle determination device 150 via the link 150a. According to one aspect of the present disclosure, the control device 100 may be arranged to receive a signal from the steering angle determination device 150 via the link 150a, the signal representing data about the steering angle between the vehicle units of the articulated tracked vehicle.

[0144] According to one aspect of the present disclosure, the control device 100 may be operatively connected to the drive arrangement power determination device 160 via the connecting rod 160a. According to one aspect of the present disclosure, the control device 100 may be arranged to receive a signal from the drive arrangement power determination device 160 via the connecting rod 160a, the signal representing data about the current power of the drive arrangement of the articulated tracked vehicle.

[0145] According to one aspect of the present disclosure, the control device 100 may be operatively connected to the drive wheel speed determination device 170 via the link 170a. According to one aspect of the present disclosure, the control device 100 may be arranged to receive a signal from the drive wheel speed determination device 170 via the link 170a, the signal representing data about the drive wheel speed of the drive wheels of the articulated track vehicle.

[0146] According to one aspect of the present disclosure, the control device 100 may be operatively connected to the transmission speed determination device 180 via the link 180a. According to one aspect of the present disclosure, the control device 100 may be arranged to receive a signal from the transmission speed determination device 180 via the link 180a, the signal representing data regarding the transmission speed of the transmission arrangement of the articulated tracked vehicle.

[0147] According to one aspect of the present disclosure, the control device 100 may be operatively connected to the steering wheel angle determination device 190 via the link 190a. According to one aspect of the present disclosure, the control device 100 may be arranged to receive a signal from the steering wheel angle determination device 190 via the link 190a, the signal representing data regarding the steering wheel angle of the steering wheel of the articulated tracked vehicle.

[0148] According to one aspect of the present disclosure, the control device 100 may be operably connected to the control arrangement 110 via the connecting rod 110a. According to one aspect of the present disclosure, the control device 100 may be arranged to send a signal to the control arrangement 110 via the connecting rod 110a, the signal representing data about the steering arrangement of the control steering device to control the mutual steering movement of the vehicle units for dynamic stability control. The data about the steering arrangement of the control steering device may be based on processed data about the steering angle between the vehicle units from the steering angle determination device 150. The data about the steering arrangement of the control steering device may be additionally based on one or more of the following: data about the power of the drive arrangement from the drive arrangement power determination device 160, data about the speed of the drive wheel from the drive wheel speed determination device 170, data about the transmission speed from the transmission speed determination device 180, and data about the steering wheel angle from the steering wheel angle determination device 190.

[0149] According to one aspect of the present disclosure, the control device 100 may be operably connected to the brake member 112 via the link 112a. According to one aspect of the present disclosure, the control device 100 may be arranged to send a signal to the brake member 112 via the link 112a, the signal representing data about providing a braking action on the steering arrangement of the steering device to control the mutual steering movement of the vehicle units for dynamic stability control.

[0150] According to one aspect of the present disclosure, the control device 100 may be operably connected to the locking member 114 via the link 114a. According to one aspect of the present disclosure, the control device 100 may be arranged to send a signal to the locking member 114 via the link 114a, the signal representing data regarding providing a locking action on the steering arrangement of the steering device to control the mutual steering movement of the vehicle units for dynamic stability control.

[0151] According to one aspect of the present disclosure, the control device 100 may be operably connected to the damping member 116 via the link 116a. According to one aspect of the present disclosure, the control device 100 may be arranged to send a signal to the damping member 116 via the link 116a, the signal representing data regarding providing a damping action on the steering arrangement of the steering device to control the mutual steering movement of the vehicle units for dynamic stability control.

[0152] According to one aspect of the present disclosure, the control device 100 may be operably connected to the actuation member 118 via the linkage 118a. According to one aspect of the present disclosure, the control device 100 may be arranged to send a signal to the actuation member 118 via the linkage 118a, the signal representing data regarding providing an actuation action on a steering arrangement of the steering device to control the mutual steering movement of the vehicle units for dynamic stability control.

[0153] According to one aspect of the disclosure, the control device 100 may be operably connected to the drive arrangement 120 via the connecting rod 120a. According to one aspect of the disclosure, the control device 100 may be arranged to send a signal to the drive arrangement 120 via the connecting rod 120a, the signal representing data about controlling the drive arrangement to control the mutual steering movement of the vehicle units for dynamic stability control. The data about controlling the drive arrangement 120 to control the mutual steering movement of the vehicle units may be based on processed data about the steering angle between the vehicle units from the steering angle determination device 150. The data about controlling the drive arrangement 120 to control the mutual steering movement of the vehicle units may be additionally based on one or more of the following: data about the power of the drive arrangement from the drive arrangement power determination device 160, data about the speed of the drive wheel from the drive wheel speed determination device 170, data about the transmission speed from the transmission speed determination device 180, and data about the steering wheel angle from the steering wheel angle determination device 190.

[0154] According to one aspect of the disclosure, the control device 100 may be operably connected to a braking system 130 of the vehicle via a connecting rod 130a. According to one aspect of the disclosure, the control device 100 may be arranged to send a signal to the braking system 130 via the connecting rod 130a, the signal representing data about controlling the braking system to control the mutual steering movement of the vehicle units for dynamic stability control. The data about controlling the braking system 130 to control the mutual steering movement of the vehicle units may be based on processed data about the steering angle between the vehicle units from the steering angle determination device 150. The data about controlling the braking system 130 to control the mutual steering movement of the vehicle units may be additionally based on one or more of the following: data about the power of the drive arrangement from the drive arrangement power determination device 160, data about the speed of the drive wheel from the drive wheel speed determination device 170, data about the transmission speed from the transmission speed determination device 180, and data about the steering wheel angle from the steering wheel angle determination device 190.

[0155] According to one aspect of the disclosure, the control device 100 may be operably connected to the transmission arrangement 140 via the connecting rod 140a. According to one aspect of the disclosure, the control device 100 may be arranged to send a signal to the transmission arrangement 140 via the connecting rod 140a, the signal representing data about controlling the transmission arrangement to control the mutual steering movement of the vehicle units for dynamic stability control. The data about controlling the transmission arrangement 140 to control the mutual steering movement of the vehicle units may be based on processed data about the steering angle between the vehicle units from the steering angle determination device 150. The data about controlling the transmission arrangement 140 to control the mutual steering movement of the vehicle units may be additionally based on one or more of the following: data about the power of the drive arrangement from the drive arrangement power determination device 160, data about the speed of the drive wheel from the drive wheel speed determination device 170, data about the transmission speed from the transmission speed determination device 180, and data about the steering wheel angle from the steering wheel angle determination device 190.

[0156] The control device 100 according to the present disclosure may be configured to compare the steering angle between the vehicle units with the steering wheel angle of the vehicle's steering wheel. The control device 100 may be configured to: if the steering angle changes relative to the vehicle's steering wheel angle, for example if the steering angle changes without a change in the steering wheel angle, control the mutual steering movement of the vehicle units so that the power supply to the drive arrangement is reduced / cancelled, and / or a braking / locking / damping action is provided for the steering angle movement of the steering arrangement by the control arrangement 110, and / or a braking action is provided to the tracks of one or more track assemblies by the vehicle's braking system 130.

[0157] The control device 100 according to the present disclosure may be configured to compare the speeds of the different drive wheels. The control device 100 may be configured to control the mutual steering movement of the vehicle units to influence the speed and / or torque of one or more drive wheels if the speeds of the different drive wheels are different and / or the speed of the drive wheels is different from the required speed. The speed and / or torque of the drive wheels may be influenced / controlled by the vehicle's braking system 130 and / or by one or more electric motors. Such electric motors may be associated with a drive arrangement 120 of the vehicle.

[0158] When controlling the mutual steering movements of the vehicle units V1, V2 to reduce the risk of skidding and / or slipping for dynamic stability control, the control device 100 can therefore be configured to perform said control by controlling the steering arrangement A1 and, in order to further improve maneuverability and avoid skidding and / or slipping, in addition, to coordinately and adaptively control one or more of: the power supply of the drive arrangement 120; the vehicle's braking system 130; and the vehicle's transmission arrangement 140.

[0159] According to an embodiment, the control device 100 for controlling the driving operation of an articulated tracked vehicle is adapted to perform the following operations with reference to Figure 6 Described method M1.

[0160] According to an embodiment, the control device 100 for controlling the driving operation of an articulated tracked vehicle is adapted to perform the following operations with reference to Figure 7 Described method M2.

[0161] Figure 6 A flow chart of a method M1 performed by a control device for controlling a driving operation of an articulated tracked vehicle according to an embodiment of the present disclosure is schematically shown.

[0162] The articulated tracked vehicle comprises a drive arrangement for driving a drive wheel to operate the vehicle. The articulated tracked vehicle comprises a first vehicle unit and a second vehicle unit, the second vehicle unit being steerably connected to the first vehicle unit via a steering device for pivoting the vehicle units relative to each other. The pivoting relative to each other comprises a steering movement about a steering axis. The steering device comprises a steering arrangement for the steering movement.

[0163] According to an embodiment, the method comprises a step S1 . In this step, a steering arrangement of a steering device is controlled to control mutual steering movements of said vehicle units for dynamic stability control.

[0164] The method M1 performed by the control device for controlling the driving operation of an articulated tracked vehicle is based on the method adapted to be used by the above reference Figure 5 The control device 100 described here performs the embodiment.

[0165] The method M1 performed by the control device for controlling the driving operation of an articulated tracked vehicle is based on the method adapted to be used by the above reference Figure 5 The described system I performs an implementation.

[0166] Figure 7 A flow chart of a method M2 performed by a control device for controlling a driving operation of an articulated tracked vehicle according to an embodiment of the present disclosure is schematically shown.

[0167] The articulated tracked vehicle comprises a drive arrangement for driving a drive wheel to operate the vehicle. The articulated tracked vehicle comprises a first vehicle unit and a second vehicle unit, the second vehicle unit being steerably connected to the first vehicle unit via a steering device for pivoting the vehicle units relative to each other. The pivoting relative to each other comprises a steering movement about a steering axis. The steering device comprises a steering arrangement for the steering movement.

[0168] The steering device may be any suitable steering device having a steering axis for providing mutual pivoting of the vehicle units, including steering movement about the steering axis. Figure 2a to Figure 2b , Figure 3a to Figure 3b The steering arrangement of the steering device may be any suitable steering arrangement having a tap, a shaft and a steering cylinder unit. The steering arrangement may be any suitable steering arrangement having a tap, a shaft and a steering cylinder unit. Figure 2a to Figure 2b , Figure 3a to Figure 3b Steering arrangement described.

[0169] According to an embodiment, the method comprises a step S11. In this step, a steering arrangement of a steering device is controlled by a control arrangement to control mutual steering movements of said vehicle units for dynamic stability control. The control arrangement may be any suitable control arrangement by which the steering arrangement may be controlled, for example by locking and / or damping an axle / cylinder of a control arrangement etc., to control mutual steering movements of said vehicle units of an articulated tracked vehicle.

[0170] According to one aspect of the present disclosure, the method steps of controlling the steering arrangement by means of the control arrangement may comprise step S11A: providing a braking function and / or a locking function and / or a damping function and / or an actuating function of the control arrangement.

[0171] Step S11A may therefore comprise the step of providing a braking function on the steering arrangement by means of a braking member. The braking member may be any suitable braking member for providing a braking function on the steering arrangement, for example, as described with reference to Figure 5 The brake member 112 is described.

[0172] Step S11A may therefore comprise the step of providing a locking function on the steering arrangement by means of a locking member. The locking member may be any suitable locking member for providing a locking function on the steering arrangement, for example, as described with reference to Figure 5 The locking member 114 is described.

[0173] Step S11A may therefore comprise the step of providing a damping function on the steering arrangement by means of a damping member. The damping member may be any suitable damping member for providing a damping function on the steering arrangement, for example, as described with reference to Figure 5 The damping member 116 is described.

[0174] Step S11A may therefore comprise the step of providing an actuation function on the steering arrangement by means of an actuation member. The actuation member may be any suitable actuation member for providing an actuation function on the steering arrangement, for example as described with reference to Figure 5 The actuation member 118 is described.

[0175] According to one aspect of the present disclosure, the method step S11 of controlling the mutual steering movements of the vehicle units may further comprise a step S11B of controlling one or more of: a power supply of a drive arrangement; a braking system of the vehicle; and a transmission arrangement of the vehicle.

[0176] Step S11B may therefore comprise the step of controlling the power supply to a drive arrangement of the articulated tracked vehicle. The drive arrangement may comprise an internal combustion engine and / or one or more electric motors for driving the vehicle, i.e. the drive wheels of the track assembly of the vehicle. The drive arrangement may be as described with reference to Figure 5 A drive arrangement 120 is described.

[0177] Step S11B may therefore comprise the step of controlling a braking system of the articulated tracked vehicle. The braking system of the vehicle may comprise a braking member arranged to be connected to a drive wheel of a track assembly of the vehicle. The braking system may be as described with reference to Figure 5 A braking system 130 is described.

[0178] Step S11B may therefore comprise the step of controlling the transmission arrangement of the articulated tracked vehicle. The transmission arrangement 140 of the vehicle may comprise any suitable gear arrangement for providing gear shifting of the drive wheels of the track assembly of the vehicle. The transmission arrangement may be as described with reference to Figure 5 A transmission arrangement 140 is described.

[0179] According to one aspect of the present disclosure, method step S11 of controlling the mutual steering movement of the vehicle units can be executed S11C based on one or more of: the steering angle between the vehicle units; the power of the drive arrangement; the speed of the drive wheels; the transmission speed; the steering wheel angle of the vehicle's steering wheel.

[0180] According to one aspect of the present disclosure, method M2 may comprise the steps of determining one or more of: the steering angle between the vehicle units; the power of the drive arrangement; the speed of the drive wheels; the transmission speed; the steering wheel angle of the vehicle's steering wheel.

[0181] Step S11C may comprise: performing control of the mutual steering movement of the vehicle units based on the steering angle between the vehicle units. According to one aspect of the present disclosure, method M2 may comprise the step of determining the steering angle between the vehicle units as a basis for controlling the mutual steering movement of the vehicle units. The steering angle between the vehicle units of the articulated tracked vehicle may be determined by any suitable angle sensor.

[0182] Step S11C may comprise performing control of mutual steering movements of the vehicle units based on the power of the drive arrangement. According to one aspect of the disclosure, method M2 may comprise the step of determining the power of the drive arrangement as a basis for controlling mutual steering movements of the vehicle units.

[0183] Step S11C may comprise performing control of the mutual steering movement of the vehicle units based on the speed of the drive wheels of the articulated tracked vehicle. According to one aspect of the disclosure, method M2 may comprise the step of determining the speed of the drive wheels as a basis for controlling the mutual steering movement of the vehicle units. The speed of the drive wheels of the articulated tracked vehicle may be determined by any suitable wheel sensor arranged in connection with the drive wheels of the vehicle.

[0184] Step S11C may comprise performing control of the mutual steering movement of the vehicle units based on the transmission speed of the articulated tracked vehicle. According to one aspect of the disclosure, method M2 may comprise the step of determining the transmission speed as a basis for controlling the mutual steering movement of the vehicle units. The transmission speed of the articulated tracked vehicle may be determined by any suitable wheel sensor arranged in connection with the transmission of the vehicle.

[0185] Step S11C may comprise performing control of the mutual steering movement of the vehicle units based on a steering wheel angle of a steering wheel of the articulated tracked vehicle. According to one aspect of the disclosure, method M2 may comprise the step of determining a steering wheel angle of a steering wheel as a basis for controlling the mutual steering movement of the vehicle units. The steering wheel angle of the steering wheel of the articulated tracked vehicle may be determined by any suitable angle sensor arranged in connection with the steering wheel of the vehicle.

[0186] The method may comprise the step of receiving information about one or more of: a steering angle between the vehicle units from a steering angle determination device; the power of the drive arrangement from a power determination device; the speed of the drive wheel from a drive wheel speed determination device; the transmission speed from a transmission speed determination device; the steering wheel angle of the steering wheel of the vehicle from a steering wheel angle determination device.

[0187] According to one aspect of the present disclosure, step S11A of providing a braking function and / or a locking function and / or a damping function and / or an actuating function on a steering arrangement by means of a control arrangement for controlling the mutual steering movement of the vehicle units can be based on information received about one or more of: the steering angle between the vehicle units from a steering angle determination device; the power of the drive arrangement from a power determination device; the speed of the drive wheel from a drive wheel speed determination device; the transmission speed from a transmission speed determination device.

[0188] According to one aspect of the present disclosure, step S11B of controlling one or more of the power supply of the drive arrangement, the braking system of the vehicle, and the transmission arrangement of the vehicle can be based on and / or take into account information received about one or more of the following: the steering angle between the vehicle units from a steering angle determination device; the power of the drive arrangement from a power determination device; the speed of the drive wheel from a drive wheel speed determination device; the transmission speed from a transmission speed determination device.

[0189] According to one aspect of the present disclosure, step S11B of controlling one or more of the power supply of the drive arrangement, the braking system of the vehicle and the transmission arrangement of the vehicle can be based on and / or take into account step S11A of providing a braking function and / or a locking function and / or a damping function and / or an actuating function on the steering arrangement by controlling the arrangement.

[0190] According to one aspect of the present disclosure, step S11A of providing a braking function and / or a locking function and / or a damping function and / or an actuating function on a steering arrangement by means of a control arrangement for controlling the mutual steering movements of the vehicle units can be performed in coordination and adaptively with step S11B of controlling the power supply of a drive arrangement, a braking system of the vehicle and one or more of a transmission arrangement of the vehicle.

[0191] The method according to the present disclosure may comprise the step of comparing the steering angle between the vehicle units with the steering wheel angle of the vehicle's steering wheel. The method may comprise the step of controlling the mutual steering movement of the vehicle units such that the power supply to the drive arrangement is reduced / canceled and / or a braking / locking / damping action is provided for the steering angle movement of the steering arrangement by the control arrangement and / or a braking action is provided to the tracks of one or more track assemblies by the vehicle's braking system if the steering angle changes relative to the vehicle's steering wheel angle, for example if the steering angle changes without a change in the steering wheel angle.

[0192] The method according to the present disclosure may comprise the step of comparing the speeds of the different drive wheels. The method may comprise the step of controlling the mutual steering movement of the vehicle units to influence the speed and / or torque of one or more drive wheels if the speeds of the different drive wheels are different and / or the speeds of the drive wheels are different from the required speed.

[0193] The method according to the present disclosure may comprise the step of determining a sideslip and / or a skid of the leading vehicle unit and / or the trailing vehicle unit and / or the entire articulated tracked vehicle. The method may further comprise the step of activating control of a steering arrangement of a steering device based on the sideslip and / or the skid so determined to control the mutual steering movements of the vehicle units for dynamic stability control. The step of activating control of a steering arrangement based on the sideslip and / or the skid so determined may comprise controlling a drive arrangement of the vehicle and / or a power supply of the braking system by activating one or more brakes of the braking system to brake one or more tracks of a track assembly of the vehicle.

[0194] The method according to the present disclosure may include the step of determining the configuration of the ground on which the vehicle is traveling (including determining whether the ground is slippery). The method may also include the step of activating control of a steering arrangement of a steering device based on the configuration of the ground so determined to control the mutual steering movements of the vehicle units for dynamic stability control. The step of activating control of the steering arrangement based on the configuration of the ground so determined may include controlling the drive arrangement of the vehicle and / or the power supply of the braking system by activating one or more brakes of the braking system to brake one or more tracks of a track assembly of the vehicle.

[0195] For an articulated tracked vehicle having a steering device equipped with a steering arrangement, the steering arrangement being provided with a hydraulic overflow function to prevent the forces in the steering device from exceeding a certain threshold, which function can be activated during driving on bumpy and / or slippery ground leading to uncontrolled skidding / slipping of the vehicle, the method according to the present disclosure may also include the steps of determining such hydraulic overflow; and activating control of the steering arrangement of the steering device based on the hydraulic overflow so determined to control the mutual steering movements of the vehicle units for dynamic stability control, thereby preventing uncontrolled skidding / slipping. The step of activating control of the steering arrangement based on the hydraulic overflow so determined may include controlling the drive arrangement of the vehicle and / or the power supply of the braking system by activating one or more brakes of the braking system to brake one or more tracks of the track assembly.

[0196] The method M2 performed by the control device for controlling the driving operation of an articulated tracked vehicle is based on the method adapted to be used by the above reference Figure 5 The control device 100 described here performs the embodiment.

[0197] The method M2 performed by the control device for controlling the driving operation of an articulated tracked vehicle is based on the method adapted to be used by the above reference Figure 5 The described system I performs an implementation.

[0198] refer to Figure 8 , showing a schematic diagram of a computer 500 / device 500. According to an embodiment, referring to Figure 5 The control device 100 described may include an apparatus 500. The apparatus 500 includes a non-volatile memory 520, a data processing device 510 and a read / write memory 550. The non-volatile memory 520 has a first memory portion 530, in which a computer program such as an operating system for controlling the functions of the apparatus 500 is stored. In addition, the apparatus 500 includes a bus controller, a serial communication port, an I / O device, an A / D converter, a time and date input and transmission unit, an event counter and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.

[0199] A computer program P is provided which comprises routines for controlling the drive operation of an articulated tracked vehicle.

[0200] The articulated tracked vehicle comprises a drive arrangement for driving a drive wheel to operate the vehicle. The articulated tracked vehicle comprises a first vehicle unit and a second vehicle unit, the second vehicle unit being steerably connected to the first vehicle unit via a steering device for pivoting the vehicle units relative to each other. The pivoting relative to each other comprises a steering movement about a steering axis. The steering device comprises a steering arrangement for the steering movement.

[0201] The program P comprises routines for controlling a steering arrangement of a steering device to control mutual steering movements of said vehicle units for dynamic stability control.

[0202] The routines for controlling the steering arrangement comprise routines for performing said control by the control arrangement.

[0203] Routines for controlling the steering arrangement by means of the control arrangement comprise routines for providing a braking function and / or a locking function and / or a damping function and / or an actuating function of the control device.

[0204] The routines for controlling the mutual steering movements of the vehicle units may also include routines for controlling one or more of: a power supply to the drive arrangement; a braking system of the vehicle; and a transmission arrangement of the vehicle.

[0205] A routine for controlling the mutual steering movement of the vehicle units is performed based on one or more of: a steering angle between the vehicle units; a power of the drive arrangement; a speed of the drive wheels; a transmission speed; a steering wheel angle of a steering wheel of a vehicle.

[0206] The computer program P may be stored in the separate memory 560 and / or the read / write memory 550 in an executable manner or in a compressed state.

[0207] When it is stated that the data processing device 510 performs a certain function, it should be understood that the data processing device 510 executes a certain part of the program stored in the separate memory 560 or a certain part of the program stored in the read / write memory 550 .

[0208] The data processing device 510 can communicate with the data communication port 599 via the data bus 515. The non-volatile memory 520 is adapted to communicate with the data processing device 510 via the data bus 512. The separate memory 560 is adapted to communicate with the data processing device 510 via the data bus 511. The read / write memory 550 is adapted to communicate with the data processing device 510 via the data bus 514. For example, a link connected to the control device 100 can be connected to the data communication port 599.

[0209] When data is received on the data port 599, the data is temporarily stored in the second memory portion 540. When the received input data has been temporarily stored, the data processing means 510 is arranged to execute the execution of the code in the manner described above.

[0210] The device 500 may use the signals received on the data port 599 to control a steering arrangement of a steering device to control the mutual steering movements of the vehicle units for dynamic stability control.

[0211] The signals used by the device 500 to control the steering arrangement comprise signals used to perform said control by the control arrangement.

[0212] The signals used by the device 500 for controlling the steering arrangement via the control arrangement comprise signals for providing a braking function and / or a locking function and / or a damping function and / or an actuating function of the control arrangement.

[0213] The signals used by the device 500 to control the mutual steering movements of the vehicle units also include signals used to control one or more of: the power supply of the drive arrangement; the braking system of the vehicle; and the transmission arrangement of the vehicle.

[0214] The signal of the device 500 for controlling the mutual steering movement of the vehicle units is performed based on one or more of the following: the steering angle between the vehicle units; the power of the drive arrangement; the speed of the drive wheels; the transmission speed; the steering wheel angle of the steering wheel of the vehicle.

[0215] Part of the method described herein may be performed by the device 500 through the data processing apparatus 510 running a program stored in the separate memory 560 or the read / write memory 550. When the device 500 runs the program, part of the method described herein is performed.

[0216] The foregoing description of preferred embodiments of the present invention is provided for the purpose of illustration and description. It is not intended to be exhaustive of the present invention or to limit the present invention to the precise form disclosed. Obviously, many modifications and variations will be apparent to those skilled in the art. These embodiments are selected and described to best explain the principles of the present invention and the practical application of the present invention, so that other persons skilled in the art can understand the various embodiments of the present invention and the various modifications suitable for the intended specific use.

Claims

1. A method (M1) performed by a control device (100) for controlling the driving operation of an articulated tracked vehicle (V), the articulated tracked vehicle (V) comprising a drive arrangement (120) for driving a drive wheel (1) to operate the vehicle (V), a braking system (130) for braking the drive wheel (1) of the vehicle, and a transmission arrangement (140) for providing a gear shift of the drive wheel (1), the articulated tracked vehicle (V) comprising a first vehicle unit (V1) and a second vehicle unit (V2), the second vehicle unit A first vehicle unit (V2) is steerably connected to a first vehicle unit (V1) by a steering device (D) for pivoting the first vehicle unit (V1) and the second vehicle unit (V2) relative to each other, the pivoting relative to each other comprising a steering movement about a steering axis (Y), the steering device (D) comprising a steering arrangement (A1) for performing the steering movement about the steering axis (Y), the steering arrangement (A1) comprising a steering cylinder for facilitating the pivoting relative to each other about the steering axis (Y), the method comprising the following steps, during travel of the vehicles: - determining a steering angle between the first vehicle unit (V1) and the second vehicle unit (V2), a power of the drive arrangement (120), a speed of the drive wheels, a transmission speed of the transmission arrangement (140), and a steering wheel angle of a steering wheel of the vehicle; and - controlling (S1) a steering arrangement (A1) of the steering device (D) by a control arrangement (110) acting on the steering arrangement, comprising acting on the steering cylinder based on a steering angle between the first vehicle unit (V1) and the second vehicle unit (V2), a power of the drive arrangement (120), a speed of the drive wheels, a transmission speed of the transmission arrangement (140), and the steering wheel angle of the steering wheels of the vehicles, thereby controlling the mutual steering movement of the first vehicle unit (V1) and the second vehicle unit (V2) to reduce the risk of skidding and / or sliding for dynamic stability control, in, The step of controlling the mutual steering movement of the first vehicle unit (V1) and the second vehicle unit (V2) further comprises controlling the power supply of the drive arrangement (120), the braking system (130) of the vehicle, and the transmission arrangement of the vehicle.

2. The method according to claim 1, wherein: The step of controlling the steering arrangement by means of the control arrangement (110) comprises providing a braking function and / or a locking function and / or a damping function and / or an actuating function of the control arrangement (110).

3. A control device (100) for controlling the driving operation of an articulated tracked vehicle (V), the articulated tracked vehicle comprising a drive arrangement (120) for driving drive wheels to operate the vehicle, a braking system (130) for braking the drive wheels (1) of the vehicle, and a transmission arrangement (140) for providing gear shifting of the drive wheels (1), the articulated tracked vehicle comprising a first vehicle unit (V1) and a second vehicle unit (V2), the second vehicle unit (V2) being steerably connected to the first vehicle unit (V1) by a steering device for pivoting the first vehicle unit (V1) and the second vehicle unit (V2) relative to each other, the mutual pivoting comprising a steering movement about a steering axis (Y), the steering device (D) comprising a steering arrangement (A1) for performing the steering movement about the steering axis, the steering arrangement (A1) comprising a steering cylinder for facilitating the mutual pivoting about the steering axis (Y), the control device being configured such that, during travel of the vehicle: - determining a steering angle between the first vehicle unit (V1) and the second vehicle unit (V2), a power of the drive arrangement (120), a speed of the drive wheels, a transmission speed of the transmission arrangement (140), and a steering wheel angle of a steering wheel of the vehicle; and - controlling (S1) a steering arrangement (A1) of a steering device by a control arrangement (110) acting on the steering arrangement, comprising acting on the steering cylinder based on a steering angle between the first vehicle unit (V1) and the second vehicle unit (V2), a power of the drive arrangement (120), a speed of the drive wheels, a transmission speed of the transmission arrangement (140), and the steering wheel angle of the steering wheels of the vehicles, thereby controlling the mutual steering movement of the first vehicle unit (V1) and the second vehicle unit (V2) to reduce the risk of skidding and / or sliding for dynamic stability control, in, The control device (100) is also configured to control the power supply of the drive arrangement (120), the braking system (130) of the vehicle (V), and the transmission arrangement (140) of the vehicle (V) when controlling the mutual steering movement of the first vehicle unit (V1) and the second vehicle unit (V2).

4. The control device according to claim 3, wherein the control arrangement (110) comprises a braking member (112) for providing a braking function and / or a locking member (114) for providing a locking function and / or a damping member (116) for providing a damping function and / or an actuating member (118) for providing an actuating function.

5. An articulated tracked vehicle (V) comprising a control device (100) according to any one of claims 3 to 4.

6. A computer program product (P) for controlling the drive operation of an articulated tracked vehicle, the computer program product (P) comprising program code which, when run on a control device (100) or another computer (500) connected to the control device (100), causes the control device to perform the steps according to claims 1 to 2.

7. A computer-readable medium comprising instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 2.

Images